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State-space generalized predictive control for redundant parallel robots
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
The paper deals with the design and properties of Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and root minimization of the quadratic criterion and direct and two-step design of actuators respectively. As an example, the planar redundant parallel robot is used. Moreover, the paper presents several possibilities to use Predictive control for compliance of additional requirements (smooth trends of actuators or fulfillment antibacklash condition).
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The direct kinematics of redundant parallel robot for predictive control
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
This paper deals with the design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this considerably simplifies model of the robot and computation of high level control based on knowledge of such model, eg. Predictive Control. As a subtask of design of the direct kinematics, the trajectory planning is discussed.
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Design and simulation of predictive control of drives of planar redundant parallel robot
Böhm, Josef ; Belda, Květoslav ; Valášek, M.
Actual industrial robots have a low operation speed. This is caused mainly by the max. reachable acceleration for whole velocity interval. Parallel robots seem to be one of the promising solution of this. The paper deals with design and simulation of Generalized Predictive Control (GPC) of such robots. GPC is suitable, because the model of the robot is well known and used Quadratic criterion can be easily modified. And moreover the algorithmization of GPC is relatively simple and suitable for real control.
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Modelově orientované řízení pro paralelní kinematiky robotů
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
The paper deals with the application of the model-based control approach within robotic system that includes the parallel structure and adequate drives. As an example, several prototypes of planar parallel redundant structures driven by DC motors are used. The suitable form of mathematical model, both mechanical and drive part, will be introduced and subsequently used for control design. The design is based on discrete predictive control, which can compete and surpass the classical feedback strategies.
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Studie prediktivních řídicích algoritmů pro paralení struktury robotů
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
This paper focuses on several possible variants of discrete predictive algorithms for design of control actions applied to the parallel robot structures; i.e. absolute, incremental, incremental with nonlinear simulative prediction and predictive algorithm, used for the planning of quadratically-optimal trajectories. The control design is based on mathematical models describing the mechanical parallel robotic structures. All algorithms are illustrated by simulation in MATLAB - SIMULINK environment.
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The economic analysis of the integration of the travel agents Obnova Ltd. and Travel Agent Marcela Drašnarová
Abrahamová, Jana ; Valentová, Jana (advisor) ; Valášek, Miroslav (referee)
The thesis looks at a detailed evaluation of the potential merger of two travel agents (Travel Agent Obnova Ltd., and Travel Agent Marcela Drašnarová). The first part deals with a comprehensive analysis of both companies. The theoretical characteristic of financial analysis builds its practical implementation on the example of Travel Agent Obnova. Qualitative analysis is based on PEST analysis, competitive analysis and SWOT analysis for the two above mentioned companies. The second part is devoted to the integration of enterprises in the tourism sector as part of the globalization process. The paper presents specific examples of merger based on real experience. In conclusion, the thesis characterizes and assesses the options for the integration of those travel agents.
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employee benefits
Valášek, Martin ; Šikýř, Martin (advisor) ; Salabová, Eliška (referee)
The main aim of this bachelor thesis is to introduce current reward and employee benefit system of Citibank company. The thesis not only uncovers what benefits are preferred by employees, but it also monitors whether employees are well-informed about these benefits. The paper depicts pros and cons of current employee benefit system. Considering expenses, it tries to set suitable and motivating type of employee benefits which should suite employees' wishes and needs. The bachelor thesis consists of theoretical and practical section. Theoretical part precisely defines the term employee benefits and it is grounded on the human resource management definition. Futhermore, this part deals with segmentation, financial demands and tax advantage of employee benefits. Understandably, employer and empoyee's points of view are considered. Practical part briefly introduces Citibank company. It tries to diagnose the market position of the company in the Czech Republic. Moreover, it characterizes its employee benefit policy. Particular benefits are introduced and on the basis of thorough examination preferred ones are detailed. It also monitors employees' awareness of these benefits. Furthermore, suggestions of improvement offered by employees themselves are involved in practical part as well. To collect all the data anonymous questionnaire was used, the results of this research were used as key facts for further analysis. Conclusion of the bachelor thesis offers possible improvements which should satisfy needs of employees. However, considering economy of Citibank company.
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