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Design of a Universal Digital-Twin for the EDUset ONE Robotic Cell
Hrubý, Tomáš ; Hůlka, Tomáš (referee) ; Lacko, Branislav (advisor)
This thesis focuses on the creation of a digital twin for the EDUSet ONE robotic cell, which is part of the Intemac research centre. The theoretical part introduces the concept of Industry 4.0 and describes its sub-elements. The following part of the theory is dedicated to the digital twin, its history, definition and types. It also includes examples of applications in several different sectors of human activity. The next chapter explores the available visualization environments for creating robotic applications. The last theoretical part of the thesis focuses on the robotic cell and its components, which consist mainly of the UR10e collaborative robotic arm and a 5-axis CNC milling machine. The actual solution includes the creation of the twin, which consists of the modification of CAD models and development in Unity. Integral to the practical implementation of the digital twin is the design of the robotic cell scene, the implementation of a wide range of subroutines, a user-friendly interface and an OPC UA client solution for system integration with a Siemens programmable logic controller (PLC).
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Graphical Environment for Robot Simulation
Binko, Petr ; Drozdová, Martina (referee) ; Zbořil, František (advisor)
The work describes the Microsoft Robotics Studio tool, its logic and simulation environment. It also deals with simulation and modeling. It describes various features of simulation and model division and creation. In the next part the work deals with robotics and it contains the description of a robot and its use. Last there is the description of a program I created which generates scenes for the Microsoft Robotics Studio.
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IEC 61850 simulation environment
Rusz, Lukáš ; Fujdiak, Radek (referee) ; Blažek, Petr (advisor)
The work deals with communication protocols of the IEC 61850 standard. The protocols GOOSE (Generic Object Oriented Substation Events), SMV (Sampled Measured Values) and MMS (Manufacturing Message Specification) are described. The protocols are used to create a simulation network, which is described in this work. The simulation network is created in the OMNeT ++, program installed in the Ubuntu virtual environment.
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Design of a simulation environment for testing the operation of autonomous vehicles
Šůstek, Jan ; Krejsa, Jiří (referee) ; Věchet, Stanislav (advisor)
This thesis deals with the design of simulation environment for testing autonomous vehicles. In the theoretical part, the search of available autonomous driving simulators was carried out. Furthermore, the tools commonly used in autonomous vehicles such as sensors or software modules were presented. In the practical part, the CARLA simulator was selected from the available solutions. Firstly, the installation of CARLA simulator is explained. Then, the simulation map was created by the Roadrunner to simulate a specific street in Brno. Afterwards, the work with the CARLA simulator is shown. Finally, the work with the CARLA simulator is evaluated and the concrete outputs of simulation are shown.
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IEC 61850 simulation environment
Rusz, Lukáš ; Fujdiak, Radek (referee) ; Blažek, Petr (advisor)
The work deals with communication protocols of the IEC 61850 standard. The protocols GOOSE (Generic Object Oriented Substation Events), SMV (Sampled Measured Values) and MMS (Manufacturing Message Specification) are described. The protocols are used to create a simulation network, which is described in this work. The simulation network is created in the OMNeT ++, program installed in the Ubuntu virtual environment.
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Integration Paradigms for Ensemble-based Smart Cyber-Physical Systems
Matěna, Vladimír ; Bureš, Tomáš (advisor) ; Carlson, Jan (referee) ; Brada, Přemysl (referee)
Smart Cyber-Physical Systems (sCPS) are complex systems performing smart coordination that often require decentralized and network resilient operation. New development in the fields of the robotic systems, Industry 4.0 and autonomous vehicular system brings challenges that can be tackled with deployment of ensemble based sCPS, but require further refinement in terms of network resilience and data propagation. This thesis maps the use cases of the sCPS in the aforementioned domains, discusses requirements on the ensemble based architecture in terms of network properties, and proposes recommendations and technical means that help to design network aware ensemble based sCPS. The proposed solutions are evaluated by the means of target systems simulation using state of the art realistic network and vehicular simulators.
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Graphical Environment for Robot Simulation
Binko, Petr ; Drozdová, Martina (referee) ; Zbořil, František (advisor)
The work describes the Microsoft Robotics Studio tool, its logic and simulation environment. It also deals with simulation and modeling. It describes various features of simulation and model division and creation. In the next part the work deals with robotics and it contains the description of a robot and its use. Last there is the description of a program I created which generates scenes for the Microsoft Robotics Studio.
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