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Parallel robotic structures and their control in SIMULINK environment
Belda, Květoslav
Machine centers for industrial purposes should be accurate and proportionally flexible. One possible direction solving such requirements is utilization of parallel robots. In the paper, modeling and control of such robots are discussed. They are demonstrated by comparative SIMULINK simulation of PID/PSD controllers and discrete model-based predictive controllers. Predictive controllers design control with either mechanical or global model. The global model, in comparison with mechanical, includes drives.
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The Controlling Study
Herda, Tomáš ; Mikovcová, Hana (advisor) ; Herda, Zdeněk (referee)
The main goal of this Diploma´s Thesis is to make a model for calculation of water and sewer rates for the company Vodovody a kanalizace Náchod, a.s. when sticking to the set criteria both from the side of VaK Náchod, a.s. and law regulations. Based on the theoretical part an analysis of customer sensitivity to the price changes using the data for last 20 years follows. Findings from the first two parts are used in risk analysis in next part. The created model calculates the water and sewer rates based on the information from the company accounting system in the way to generate sufficient financial resources to fulfill the renovation plan of infrastructural property plant and equipment and to transfer given amount to the company funds. In addition, the model monitors whether the legal condition of maximal allowable increase of profit per m3 is met. In the customer sensitivity to the price changes part the price elasticity of demand for water and sewer rates is calculated based on the data from 1995 to 2015. The assumption of inelastic demand is confirmed. Risk analysis part is deals with potential risk regarding the demand and prices. Potential impacts for the most significant risk are quantified. The analysis uses knowledge gained in the first two parts. It was confirmed that potential risks are exiting but do not have any significant impact on the going concern of VaK Náchod, a.s. The created model has been already used for the calculation of prices for the year 2017. Customer sensitivity analysis to the price changes and link to the potential risks is an additional information for VaK Náchod, a.s. which validates that nowadays, there are no significant threats which could affect the demand and water and sewer rates significantly.
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Modelling, parameter estimation, optimisation and control of transport and reaction processes in bioreactors.
ŠTUMBAUER, Václav
With the significant potential of microalgae as a major biofuel source of the future, a considerable scientific attention is attracted towards the field of biotechnology and bioprocess engineering. Nevertheless the current photobioreactor (PBR) design methods are still too empirical. With this work I would like to promote the idea of designing a production system, such as a PBR, completely \emph{in silico}, thus allowing for the in silico optimization and optimal control determination. The thesis deals with the PBR modeling and simulation. It addresses two crucial issues in the current state-of-the-art PBR modeling. The first issue relevant to the deficiency of the currently available models - the incorrect or insufficient treatment of either the transport process modeling, the reaction modeling or the coupling between these two models. A correct treatment of both the transport and the reaction phenomena is proposed in the thesis - in the form of a unified modeling framework consisting of three interconnected parts - (i) the state system, (ii) the fluid-dynamic model and (iii) optimal control determination. The proposed model structure allows prediction of the PBR performance with respect to the modelled PBR size, geometry, operating conditions or a particular microalgae strain. The proposed unified modeling approach is applied to the case of the Couette-Taylor photobioreactor (CTBR) where it is used for the optimal control solution. The PBR represents a complex multiscale problem and especially in the case of the production scale systems, the associated computational costs are paramount. This is the second crucial issue addressed in the thesis. With respect to the computational complexity, the fluid dynamics simulation is the most costly part of the PBR simulation. To model the fluid flow with the classical CFD (Computational Fluid Dynamics) methods inside a production scale PBR leads to an enormous grid size. This usually requires a parallel implementation of the solver but in the parallelization of the classical methods lies another relevant issue - that of the amount of data the individual nodes must interchange with each other. The thesis addresses the performance relevant issues by proposing and evaluation alternative approaches to the fluid flow simulation. These approaches are more suitable to the parallel implementation than the classical methods because of their rather local character in comparison to the classical methods - namely the Lattice Boltzmann Method (LBM) for fluid flow, which is the primary focus of the thesis in this regard and alternatively also the discrete random walk based method (DRW). As the outcome of the thesis I have developed and validated a new Lagrangian general modeling approach to the transport and reaction processes in PBR - a framework based on the Lattice Boltzmann method (LBM) and the model of the Photosynthetic Factory (PSF) that models correctly the transport and reaction processes and their coupling. Further I have implemented a software prototype based on the proposed modeling approach and validated this prototype on the case of the Coutte-Taylor PBR. I have also demonstrated that the modeling approach has a significant potential from the computational costs point of view by implementing and validating the software prototype on the parallel architecture of CUDA (Compute Unified Device Architecture). The current parallel implementation is approximately 20 times faster than the unparallized one and decreases thus significantly the iteration cycle of the PBR design process.
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DCTOOL-A3
Bakule, Lubomír ; Papík, Martin ; Rehák, Branislav
DCTOOL-A3 is a documentation of Matlab routines developed for the design of decentralized control of large scale complex systems. The current beta version covers three areas as follows:\nReport 4.1 deals with the event-triggered control design for unstructured uncertain systems. Both non-quantized and quantized feedback is analyzed. The results are given in terms of linear matrix inequalities (LMIs). Logarithmic quantizer is used. Numerical example illustrates the effectiveness of the presented results.\nReport 4.2 presents a new decentralized overlapping wireless control design with a switched communication protocol. The method is applied by simulations on the 20-story building structure including the test of robustness of the methods against sensor failures and network node dropouts of a digital network.\nReport 4.3 presents the construction of a new decentralized wireless controller and a set of heuristic algorithms for evaluation of packet dropouts, sensor faults and actuator faults. The digital network operates at the standard frequency used in well-known widely-used industrial protocols. The results are tested at the Benchmark model decomposed into two disjoint substructures. The results are published. Thus, the details are omitted here.
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Swarm Intelligence
Winklerová, Zdenka ; Šaloun, Petr (referee) ; Škrinárová,, Jarmila (referee) ; Zbořil, František (advisor)
The intention of the dissertation is the applied research of the collective ( group ) ( swarm ) intelligence . To demonstrate the applicability of the collective intelligence, the Particle Swarm Optimization ( PSO ) algorithm has been studied in which the problem of the collective intelligence is transferred to mathematical optimization in which the particle swarm searches for a global optimum within the defined problem space, and the searching is controlled according to the pre-defined objective function which represents the solved problem. A new search strategy has been designed and experimentally tested in which the particles continuously adjust their behaviour according to the characteristics of the problem space, and it has been experimentally discovered how the impact of the objective function representing a solved problem manifests itself in the behaviour of the particles. The results of the experiments with the proposed search strategy have been compared to the results of the experiments with the reference version of the PSO algorithm. Experiments have shown that the classical reference solution, where the only condition is a stable trajectory along which the particle moves in the problem space, and where the influence of a control objective function is ultimately eliminated, may fail, and that the dynamic stability of the trajectory of the particle itself is not an indicator of the searching ability nor the convergence of the algorithm to the true global solution of the solved problem. A search strategy solution has been proposed in which the PSO algorithm regulates its stability by continuous adjustment of the particles behaviour to the characteristics of the problem space. The proposed algorithm influenced the evolution of the searching of the problem space, so that the probability of the successful problem solution increased.
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Formal Systems Based on Automata and Grammars
Čermák, Martin ; Rybička, Jiří (referee) ; Šaloun, Petr (referee) ; Meduna, Alexandr (advisor)
Tyto teze navazují na studium gramatických a automatových systémů. Na začátku, práce pojednává o regulárně řízených CD gramatických systémech využívající frázově strukturované gramatiky jako komponenty. Do systémů jsou zavedena tři nová omezení na derivacích a je studován jejich vliv na vyjadřovací sílu těchto systémů. Poté, tato práce definuje dva automatové protějšky ke kanonickým multi-generatiním nonterminálem a pravi\-dlově synchronizovyným gramatickým systemům, generujících vektory řetězců, a ukazuje, že všechny tyto vyšetřované systemy si jsou vzájemně ekvivalentní. Dále táto práce tyto systémy zobecňuje a zakládá fundamentalní hierarchii n-jazyků (množin n-tic řetězců). V~souvislosti se zavedenými systémy tyto teze zavádí automatově-gramatický převodník založený na konečném automatu a bezkontextové gramatice. Tento převodník je pak studovaný a použitý jako nástroj přímého překladu. V~poslední části jsou v této práci zavedené automatové systémy jádrem pársovací metody založené na stromově řízených gramatikách s n omezenými cestami.
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Test Application Methodology Based On the Identification of Testable blocks
Herrman, Tomáš ; Plíva, Zdeněk (referee) ; Racek, Stanislav (referee) ; Kotásek, Zdeněk (advisor)
The PhD thesis deals with the analysis of digital systems described on RT level. The methodology of data paths analysis is decribed, the data path controller analysis is not solved in the thesis. The methodology is built on the concept of Testable Block (TB) which allows to divide digital component to such segments which can be tested through their inputs/outputs, border registers and primary inputs/outputs are used for this purpose. As a result, lower number of registers is needed to be included into scan chain - border registers are the only ones which are scanned. The segmentation allows also to reduce the volume of test vectors, tests are generated for segments, not for the complete component. To identify TBs, two evolutionary algorithms are used, they operate on TB formal model which is also defined in the thesis.
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Relationship between the coat colour and melanoma occurrence in horses
Hovorková, Kristýna ; Hofmanová, Barbora (advisor) ; Majzlík, Ivan (referee)
The literary review is divided into two main parts, the first part is dealing with the coloring of horses and their genetic base and the second part is dealing with melanoma formations of horses and their division. In the chapter about several color types of horses there is a description of forming basic color types which is done by three locuses: COLOR, EXTENSION and AGOUTI. Locus COLOR (CREAM) controls whether or not to create pigment. EXTENSION locus controls about the type of pigment and AGOUTI locus controls the distribution of pigment.
The next subsection gives a breakdown of the white color in horses. Greying proces is related with locus GREY where there is a loss of pigment and the coat itself. This process and mutation is commonly connected with dermal melanoma. Non-pigmented spots called vtiligos are connected with the greying process, which is more intense with increasing age. Vtiligios are commonly found in grey horses, at the same locations as dermal melanoma. The places are perianal area under the tail, around the vulva, lips, eyes and around the penis.
Melanoma formations are divided according to whether they occur in Grey horses or other colored horses and whether they have a benign or malignant potential. A further breakdown of melanomas at grey horses is whether it is a separate, smaller segments or large, associated lesions, when this condition is called dermal melanomatosis.
At the end of the thesis there is a description of the treatment options for melanoma. The most effective appears to be a surgical removal of smaller formations. There were studies which have examined the anticancer action of the drug cimetidine but the results are not yet sufficiently conclusive. As preventing the occurrence of melanoma in grey horses it is appropriate to implement the necessary measures and individuals who are concerned should not be included in the next breeding.
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Plant microclimate control
Jelínek, Jan ; Neděla, René (advisor) ; Papežová, Stanislava (referee)
This bachelor thesis discusses the management of a microclimate environment inside an
enclosed box. The aim of the work is to propose and implement a program for the
automized control of the microclimate. Microclimate management is ensured by a PLC
(Programmable Logic Controller) system utilizing the program Mosaic. Radishes
(Raphanous sativus L.) were chosen as the test plant. Optimal microclimate conditions for
the chosen test plant were achieved by programming the management system. The system
is easily adaptable, meaning endless different species of plants can be grown properly.
Healthy plant growth indicates the correct parameters of the microclimate.
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Gas exchange characteristics in relation to genotypes in spinach (Spinacia oleracea) under water stress
Helebrantová, Aneta ; Hnilička, František (advisor) ; Pazderů, Kateřina (referee)
The bachelors dissertation was compiled on theme of: Gas exchange characteristics in relation to genotypes in spinach (Spinacia oleracea) under water stress.
Spinach (Spinacia oleracea) is, similarly as the others leaf vegetables, difficult crop in terms of providing the sufficient level of moisture, therefore the attention is drawn to the varieties of spinach which are resistant to the water stress. Thus the target of cultivation is to find plant which will be resistance to influence of the water stress.
In climabox of department of botanics and physiology was founded experiment with three species of spinach: Misano F1, Monores a Matador. The temperature mode was set to 21 °C during the day and 17 °C during the night. The light mode was set to 16 hours of light and 8 hours of dark per day. Maximum light level in climabox was 800 micromole. The plants were cultivated in 4 recurrences, diagram of experiment is involving two variants: control and stress. The plants in control variant were cultivated in substrate, which was irrigated during the whole time of experiment by 250 ml of water. For the plants in stress variant the supply of water was suspended for 10 days and the substrate was naturally continuously dehydrating. After 10 days the water supply was restored (rehydration) for plants in stress variant, same as level of control variant. The observation was made for the speed of gas exchange (photosynthesis and transpiration) in two-day interval. The speed of gas exchange was measured on leaf area with infrared gasometric gas analyzer Lpro+ (ADC Bioscientific, Hodeson, UK). Measured was conducted in morning hours according. Based on the measured values of photosynthesis and transpiration we calculated water usage effectiveness (WUE).
Based on obtained results is evident that the highest average speed of photosynthesis in control variant was observed at variety of Monores (12,10 micromole CO2.m-2.s-1) and lowest at variety Misano (11,58 micromole CO2.m-2.s-1). The highest average speed of photosynthesis in stress variant was measured at variety of Matador (9,43 micromole CO2.m-2.s-1) and lowest at variety Monores (8,76 micromole CO2.m-2.s-1). There was observed decrease of photosynthesis for each of variety during the water stress.
The highest average values of transpiration were observed at variety Monores (1,97 mmol H2O.m-2.s-1), lowest at variety Matador (1,68 mmol H2O.m-2.s-1). Stressed variety Misano reached level of photosynthesis 1,82 mmol H2O.m-2.s-1. Control variety Matador reached speed of transpiration 1,54 mmol H2O.m-2.s-1 and variety Monores 1,85 mmol H2O.m-2.s-1.Variety Misano was on same level of control variant as stress variant.
The most sensitively reacted variety Monores, which usage of water was 4,43 (10-3). Variety Matador managed the stress well, the usage of water was 5,60 (10-3).
Obtained results confirmed hypothesis of genotype differences depending on water deficit, thus there are differences between gas exchange and WUE in control and stress plants.
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