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V diplomskem delu je predstavljena zasnova enostavnega sistema pametne inštalacije za že postavljen objekt, ki služi namenu vinogradniške zidanice. Zasnovan sistem omogoča centralni kot tudi daljinski dostop in nudi upravljanje in spremljanje različnih naprav v objektu, regulacijo temperature v prostorih ter spremljanje postopka fermentacije. Zaradi specifike objekta so rešitve prilagojene potrebam objekta, ki so predstavljene v začetnem delu naloge. V nadaljevanju je v več sklopih predstavljena strojna in programska oprema uporabljena za izdelavo sistema, ter njegova predstavitev delovanja. Prikazana je tudi izgradnja modela regulacije temperature v prostoru in opisana izdelava ter delovanje uporabniškega vmesnika in tudi njegova povezava s centralno krmilno enoto. Za centralno krmilno enoto je uporabljen mikrokrmilnik Arduino, ki je cenovno dostopen, obenem pa dovolj zmogljiv za obseg našega sistema. Sistem pametne inštalacije je bil razvit do prototipne izvedbe in testiran. Z vključitvijo nekaj dodatkov in izboljšav bi bil pripravljen za vgraditev v objekt. This thesis presents the basis of a simple smart installation system used in a already placed building, which purposes as a vineyard cottage. This system enables both central and remote approaches and also provides management and observability of different appliances in the building, temperature regulation and observation of the fermentation process. Due to its specifics, the solutions are adjusted to the needs of the building, which are presented in the beginning of this thesis. Succeeding in the next chapters, hardware and software equipment used for the construction of the system and also its presentation is presented. The construction of the temperature regulating model for the room is also presented. So is the description of the operation of the user interface and its connection with the central control unit. For the central control unit I used the Arduino microcontroller, which is affordable and at the same time powerful enough for the capacity of our system. The smart installation system was developed up to the prototype phase and tested. With inclusion of some accessories and improvements it would be prepared for installation.

Delo opisuje implementacijo hibridnega A* algoritma za iskanje gladke poti mobilnega vozila. Cilj je bil poiskati in uspešno prevoziti pot, ki zadosti neholonomičnim omejitvam realnega vozila v prostoru obdanem z ovirami. Izdelana je bila simulacija v programskem okolju Unity, ki je pogosto uporabljeno za izdelavo računalniskih iger in omogoča dobro vizualizacijo sledenja poti mobilnega vozila. Simulacija vsebuje primer realnega prostora z ovirami, med katerimi se mora vozilo prebiti od začetne do ciljne pozicije. Izdelana je bila preprosta simulacija laserskega senzorja za kartiranje okolja, Ackermannov model vozila, hibridno A* iskanje in vodenje vozila po dobljeni poti. The thesis describes the implementation of the hybrid A* algorithm with the aim of finding a smooth path in an obstacle dense environment. The goal was to find and successfully folow a path that meets the nonholonomic restrictions of a real vehicle. A simulation was developed in the Unity framework that is often used in game development and allows for a good visualization of mobile vehicle path following. The simulation consists of an example of a space with obstacles among which the vehicle has to travel from a start to a goal location. A simple laserscanner simulation was developed for mapping the environment, an Ackermann vehicle model, hybrid A* search and path following.

V delu je predstavljen simulator X-Plane, ter program PlaneMaker, ki je del paketa X-Plane. Primer izgradnje modela letala Cessna 172 s programom PlaneMaker opisuje način definiranja vseh ključnih elementov, pomembnih za uspešen polet v simulatorju. Jedro diplomske naloge predstavlja izdelava UDP komunikacije med simulatorjem X-Plane in okoljem Matlab-Simulink. Programski del komunikacije je zgrajen v C/C++ jeziku, dopolnjen z elementi Matlab kode, ki omogoči uporabo v Simulink blokih. Izdelani so bili štirje bloki. Dva služita komunikaciji z namenom vodenja in dva animaciji leta. Za vrednotenje izdelane komunikacije z namenom vodenja, je bil v Simulinku narejen avtopilot. In this paper I present the simulator X-Plane, and PlaneMaker program, which are part of the X-Plane package. The example of the Cessna 172 model aircraft construction in the program PlaneMaker, describes a method of defining all the key elements important for a successful flight in a simulation. The base of this thesis is the development of UDP communication between the simulator X-Plane and the environment of Matlab-Simulink. The programmable part of the communication is built in C/C++ language, supplemented with elements of Matlab code, which enables the use of Simulink blocks. Four blocks were made of which two serve for the purpose of controlling the aircraft and the remaining two for flight animation. This Simulink autopilot was made for the evaluation of communication, which was used for the purpose of aircraft control.

Enega temeljnih problemov v mobilni robotiki predstavlja lokalizacija mobilnega robota, saj je uspeh, da se le-ta dobro lokalizira, povezan z različnimi dejavniki. Osnovni pojem pri obravnavani tematiki, predstavlja verjetnost, na temelju česar je tudi nastala verjetnostna robotika, katere verjetnostne teorije so popularne in izredno uspešno uporabljene v praksi. Njihova prednost je predvsem ta, da upoštevajo negotovosti, tako pri izračunih kot tudi pri načrtovanju sistema ter tudi, da z njihovo pomočjo lahko z verjetnostno porazdelitvijo predstavimo stanje nekega sistema. V diplomskem delu sem se osredotočil na splošen problem globalne lokalizacije, katera predstavlja problem znanega zemljevida ter neznane začetne lokacije robota. Za reševanje omenjenega problema je pomembno, da poznamo lokalizacijske algoritme, ter njihove osnove. Algoritmi izračunavajo verjetnostno porazdelitev, tako da je lokalizacija mobilnega robota uspešna. Za namene diplomskega dela sem izvedel dva projekta, pri katerih sem uporabil dva verjetnostna algoritma, histogram filter ter filter delcev. Oba izhajata iz Bayesovega filtra, ki obenem predstavlja izhodišče za vse verjetnostne algoritme. Prvi za predstavitev verjetnostne porazdelitve uporablja diskretno mrežno lokalizacijo (v definirani mreži celic), drugi pa uporablja zvezno Monte Carlo metodo lokalizacije. One of the core problems in mobile robotics is the localisation of the mobile robot, as the success rate of achieving localisation depends on many different factors. The core idea with my chosen topic is represented by probability, which advanced into its own field of robotics – probabilistic robotics, of which theories are incredibly widespread and popular in practice. Their advantage lies mainly in acknowledging uncertainties in calculations, system planning and in presenting the state of a certain system through probabilistic distribution The focus of my thesis is in the general problem of global localisation, which represents the problem of the known map and unknown starting location of the robot. In order to solve the aforementioned problem it is important to have knowledge of the localisation algorithms, which calculate the probabilistic distribution in a manner that leads to the successful localisation of a robot. In support of my thesis I engineered two projects, which used two probabilistic algorithms: a histogram filter and a particle filter. Both descend from the Bayes filter, which represents the foundation for all probabilistic algorithms. The former algorithm uses, for the purposes of probabilistic distribution, a discreet grid localisation (in a defined grid cell) while the latter uses the Monte Carlo localisation method.

Diplomska naloga opisuje razvoj aplikacije za regulacijo zahtevnejših procesnih naprav z regulatorjem »PID«. Regulator je bil zasnovan na tak način, da je bila nadzor in regulacija mogoča iz oddaljene lokacije preko internetne povezave. Pri izdelavi sem se omejil na enega uporabnika in predpostavljal, da se aplikacija nahaja v nekem zaščitenem omrežju. To pomeni, da zadeva ni bila popolnoma varna za uporabo v javnem omrežju. Izdelek je temeljil na mikrokrmilniških ploščah znamke »Arduino«. V začetnem času razvoja je bila uporabljena plošča modela »Uno«. Le ta se je že zelo kmalu izkazala za neprimerno. Zaradi tega sem se kasneje odločil za model »Mega«, ki je bil zasnovan na mikrokrmilniku »ATmega2560«. Za komuniciranje prek internetne povezave, ter za uporabo spominske kartice SD, je bila uporabljena razširitvena plošča »Ethernet Shield«, katera je bila kompatibilna z obema uporabljenima tiskanima vezjema. Programska koda se je delila na dva dela in sicer na internetno stran uporabniškega vmesnika (HTML5, JavaScript) in programsko kodo mikrokrmilnika (C++). Koda je bila napisana v brezplačnem programu »Visual Studio Community 2015«, katera se je prevajala in nalagala v bliskovni pomnilnik s pomočjo programskega orodja »Make.exe« in uporabo programske skripte »Makefile«. Internetna stran je bila razvita z brezplačnim urejevalnikom besedil »Notepad++«. Celotni sistem je v začetnem načinu deloval navzven kot strežnik internetne strani. Po uspešni povezavi se je internetna stran prenesla k uporabniku. Povezava se je zatem prekinila, prenešena stran pa je pričela delovati kot klient, povezana na strežnik mikrokrmilnika. Po prenesenem uporabniškem vmesniku, je uporabnik lahko pričel z nadzorom in manipulacijo regulatorja. This thesis describes the process of research and development of a control loop feedback device (regulator) “PID”, which can be remotely controlled over internet connection. In the development process, I have limited the application to one user only and assumed that it is connected in a closed or protected internet environment. As such, the final product was not completely safe to use in a public network. Application was based on “Arduino” microcontroller board. The development of the application began with usage of board model “Uno”, but was soon replaced with model “Mega”, due to microcontroller limitations. Arduino Mega was based on “ATmega2560” microcontroller. For internet communication and the ability of memory card SD, expansion board Arduino “Ethernet Shield” was used in both microcontroller board cases. Programming code was split in two parts. First part was webpage code in HTML5 and JavaScript. The second part was microcontroller program (firmware), written in C++. Webpage was written with usage of free editing software “Notepad++”. Microcontroller firmware was written in free editor “Visual Studio Community 2015”. Firmware was compiled and uploaded to flash memory with “Make.exe” tool and script called “Makefile”. Regulator software in first state functioned as a webpage server of user interface. When client connected, webpage was transferred to him and connection was terminated. After termination, webpage immediately connected back to the regulator. The application was then ready for remote control.

Starejši CNC krmilniki so postali premalo zanesljivi za uporabo v industrijskih okoljih, kjer so vedno pomembnejši hitrost, zanesljivost in zmožnost hitrega odpravljanja napak. Zaradi tega se podjetja odločajo za zamenjavo celotnih strojev ali v primeru, da so le-ti mehansko še dovolj dobri, za njihovo nadgradnjo, saj to navadno predstavlja manjšo finančno investicijo. Diplomska naloga opisuje nadgradnjo stroja za krivljenje cevi italijanskega proizvajalca BLM Plauno. Glavni namen je bila zamenjava orginalnega Bosch CNC krmilnika s krmilnikom Siemens Sinumerik 828D. Izdelana je bila nova elektro omara, saj so bili zaradi združljivosti s krmilnikom zamenjani tudi pogoni osi in ostala elektro oprema. Za stroj je bil napisan nov program na PLK, določeni so bili parametri za optimizirano delovanje pogonov osi in izdelan je bil uporabniški program v G-kodi, glede na katerega stroj oblikuje cev. Ob predelavi je bilo poleg zahtev naročnika potrebno upoštevati tudi slovenske ter evropske pravilnike in standarde. Older CNC controls have become insufficiently reliabile for use in industrial environments, where speed, reliability and the ability of rapid troubleshooting is more and more important. For that reason the companies have been deciding to replace the machines or, if they are mechanically still good enough, to upgrade them since this represents a smaller financial investment. This bachelor thesis describes the upgrade of a tube bending machine, manufactured by BLM Plauno from Italy. The main purpose of the upgrade was the replacement of the original Bosch CNC controller with the Siemens Sinumerik 828D controller. Since axes drives and other electrical equipement were also replaced, a new electrical cabinet was designed to provide compatibility of the components with the controller. A new PLC program was made, parameters for optimized axes operation were set and a user program in G-code, according to which tubes are bent, was created. During the upgrade Slovenian and European regulations and standards had to be considered beside the customer's requirements.

V diplomskem delu je bil cilj predelati nizkocenovno gospodinjsko pečico v pretaljevalno pečico za spajkanje komponent na tiskani plošči. Pečica bo uporabljena za delo v laboratoriju fakultete. In the thesis the aim was to recover low-cost household oven in reflow oven to solder components to the circuit board. The oven will be used for work in the laboratory of the faculty.

V diplomskem delu smo želeli prilagoditi in optimirati regulacijo kroženja vode med centralnimi elementi sistema ogrevanja. Da bi regulacijo lažje prilagodili našim željam in potrebam, smo se odločili, da za krmilno enoto uporabimo mikrokrmilnik Arduino Mega 2560, ki temelji na odprtokodni platformi. Zanj smo se odločili predvsem zaradi dostopne cene, poenostavljenega programskega jezika in veliko prek spleta dostopnega gradiva o njegovem programiranju ter povezav elektronskih elementov. Na začetku dela so opisane prvotna regulacija in pomanjkljivosti, katere smo želeli odpraviti. Nato smo opisali želeni način delovanja nove regulacije. Nadaljevali smo z opisom uporabljene strojne opreme. Opisali smo tudi Arduino platformo in programsko kodo, napisano v programskem jeziku, prilagojenem Arduino mikrokrmilnikom. Na koncu dela sta opisani še končna izdelava in namestitev izdelka. Tako smo izdelali krmilno enoto, katere tako strojni kot tudi programski del je naše delo. This diploma thesis discusses how the authors adapted and optimised the regulation of water circulation within the central components of the selected heating system. In order to adapt the regulation to the needs and demands of consumers, the authors employed the microcontroller board Arduino Mega 2560 which is based on open-source software. This board was selected due to its reasonable price, simplified programming language and a large amount of online material discussing the programming and the interconnection between the electronic elements within the board selected. The first part of the thesis discusses the original regulation and the disadvantages that were supposed to be eradicated via the method selected. The continuation discusses the desired method of the new system of regulation. This is followed by the description of the employed hardware. The thesis also describes the Arduino platform and the source code written in the programming language that was especially adapted to the microcontroller board selected. The last part of the thesis discusses the final manufacturing and the installation of the unit under consideration. The complete unit, the hardware and the software were all manufactured by the authors of this thesis.

Potrebe po robotizaciji se nenehno večajo. Zato bi lahko robotizacijo prenesli tudi v okolja, kjer še ni tako domača, na primer v galerije. Zato sem razvil uporabniški vmesnik za robotskega vodiča, ki je izveden na štirikolesnem robotu Pioneer P3-AT proizvajalca MobileRobots. Po uvodni predstavitvi problema je v drugem poglavju podan opis funkcionalnosti sistema in razvoj vmesnika. Vmesnik je napisan v programskem okolju Borland C++ Builder 5 in programskem jeziku C++. Namen vmesnika je enostavno sestavljanje vodenih ogledov v galerijah. Za testiranje vmesnika v začetnih fazah sem uporabljal simulatorje, ko pa je bil vmesnik dovolj razvit, sem vse skupaj preizkusil še na robotu. V diplomskem delu so opisana uporabljena orodja, programsko okolje, štirikolesni robot in način izvedbe diplomske naloge. The need for robotization is constantly increasing. Therefore, robotics could also be transferred to the environment where it is not so familiar, for example Gallery. That is why I developed the user interface for robot guide that is four wheel robot Pioneer P3-AT from MobileRobots brand. After initial problem presentation a description of the system functionality and interface development is given in the second chapter. The interface is written in programming environment Borland C ++ Builder 5 and in programming language C ++. The purpose of the interface for simple assembly of guided tours in the galleries. To test the interface in the early stages I was using simulators, but when the interface was sufficiently developed I have tried the whole thing on the robot. In this graduation thesis are described used tools, the programming environment, four wheel robot and the method of implementation graduation thesis.

V diplomski nalogi bom predstavil izvedbo daljinsko vodene enote (RTU – Remote Terminal Unit) za potrebe upravljanja železniškega prometa po standardu CENELEC SIL 4. V prvem delu naloge bodo opisane zahteve končnega uporabnika in standardov, ki zahtevajo specifično znanje železniškega prometa ter pisanje obširne dokumentacije med izvajanjem projekta, opisal bom uporabljene metode za zagotovitev visoke varnosti, ki jih zahtevajo standardi, prav tako pa bom predstavil tudi ključen pomen diagnostike pri sistemu CTC TRIS SIL4. V drugem delu bom predstavil programsko opremo SilWorX in strojno opremo Hima, programsko rešitev izvedbe RTU-ja s posebnim poudarkom na komunikaciji med RTU-jem in strežnikoma s POLL rešitvijo in nenehnim preverjanjem CRC (Cyclic Redundancy Check) izračuna, sledila bo predstavitev tabel CSV, s katerimi se ob uvozu v program SilWorX generira avtomatsko (glede na podane podatke), na koncu pa bom navedel še primer testiranja programa. This thesis presents the performance of Remote Terminal Units (RTU) for the purpose of rail traffic management according to CENELEC SIL 4 standard. The first part describes the end-user requirements and standards, which requires specific knowledge of rail traffic, writing extensive documentation throughout the project, the use of methods to ensure high safety, required by standards, and the crucial importance of diagnostics through the CTC TRIS SIL4 system. The second part presents the SilWorks software and the Hima hardware, a software solution of the RTU performance with special emphasis on the communication between RTU and servers with POLL solution and Cyclic Redundancy Check (CRC), presentations of the CSV tables, that help the SilWorks program to generate automatically according to the given data upon importation into SilWorks program, and at the end an example of testing the program.

V zaključnem delu je opisana avtomatizacija ogrevanja hiše z mikrokrmilnikom Arduino. Projekt je nadgradnja prejšnje izvedbe avtomatizacije, kjer se je parametre delovanja vpisovalo ročno in krmilnik ni bil povezan v omrežje. Z dodanim Ethernet modulom in povezavo v omrežje se parametre vpisuje preko grafičnega uporabniškega vmesnika, ki je osnovan na spletnem strežniku in HTML strani. Prav tako se v ročnem režimu lahko poljubno vklaplja in izklaplja vodne črpalke, ki v avtomatskem režimu delujejo po določenem algoritmu vodenja. Poleg tega nam uporabniški vmesnik omogoča izrisovanje grafov merjenih temperatur v odvisnosti od časa, shranjevanje grafa na računalnik, ter z indikatorji pove, ali je določena vodna črpalka vklopljena ali izklopljena. Ključne The thesis adresses automation of house heating system with microcontroller Aduino. Project is an upgrade of before made automation, where you had to define parameter values manually and microcontroller wasn't connected to network. With addition of Ethernet shield and network connection are parameters defined over graphical user interface based on a web server and HTML page. In manual mode you can turn on or off water pumps by pressing the corresponding switches. In automatic mode pumps work by defined control algorithm. Beside all that it allows to draw graph of measured temperatures in date periods, saving the graph to your computer and with indicators telling us the state of water pump.

V podjetju Etra d.o.o. se ukvarjamo z avtomatizacijo in robotizacijo industrijskih procesov. Podjetje Etra d.o.o. je na tržišču prisotno že več kot 20 let in je eno izmed vodilnih podjetij, ki ponujajo celovite industrijske aplikacije na slovenskem in tujem tržišču. Projekt, pri katerem sem sodeloval, je bila izdelava avtomatiziranega visokega regalnega skladišča, od načrtovanja do končne izvedbe. Magistrska naloga zajema opis regalnega skladišča, ki služi za shranjevanje bal plastične folije. Skladišče omogoča skladiščenje do 2300 palet različnih dimenzij. Podrobneje so opisani algoritmi razvrščanja palet in delovanje nadzornega sistema. V nalogi je opisana uporabljena strojna oprema vezana na električni in programski del. Opisan je Siemensov krmilnik S7-414 in komunikacijski protokoli, preko katerih komunicira s perifernimi enotami. Prav tako je opisana programska oprema za programiranje krmilnikov (STEP7) in nadzornih sistemov (WinCC). V nadaljnjih poglavjih so opisane in orisane metode in algoritmi za avtomatsko delovanje skladišča. Delovanje slednjega je integrirano v naročnikov delovni proces tako, da ne povzroča dodatnih stroškov in časovnih zakasnitev. Algoritmi zlaganja omogočajo dinamično kreiranje položaja odlagalnih celic, s čimer dosežemo večjo gostoto shranjevanja izdelkov in večjo prilagodljivost glede na velikost izdelkov. Obenem skrbijo za sortiranje enakih oziroma podobnih izdelkov skupaj, s čimer optimiziramo delovanje skladišča. Pri zahtevah za izvoz palet algoritmi pobiranja poskrbijo za nemoteno dobavo izdelkov. Hkrati omogočajo različne strategije pobiranja, in sicer pobiranje po izbrani paleti, po delovnem nalogu, po najstarejšem tovoru ipd. Skladišče je avtonomno, operaterji pa komunicirajo in podajajo zahteve izključno preko internega logističnega sistema. The company Etra d.o.o. works in the field of automatisation and robotisation of industrial processes. Etra d.o.o. has been present on the market for over 20 years and is one of the leading companies offering comprehensive industrial applications on the Slovenian and foreign markets. The aim of project I participated in was to design an automated high rack warehouse, from the planning to the final implementation phase. This Master's thesis includes a description of the rack warehouse, which serves to store bales of plastic sheeting. The warehouse enables storage of up to 2,300 pallets of various dimensions. The paper elaborates on the classification algorithms for pallets and the control system operation. This paper firstly describes the hardware attached to the electrical and software parts. It also includes a description of the Siemens S7-414 controller and communication protocols that are used for the communication with peripheral units and a description of the software for PLC programming (STEP 7) and control systems (WinCC). Subsequent chapters describe and outline the methods and algorithms for automatic warehouse operation. The warehouse is integrated into the client’s working process, so that it does not cause additional costs and time delays. Stacking algorithms allow a dynamic creation of storage cell positions, which results in higher density of stored products and increases flexibility in regards to product size. At the same time the algorithms sort identical or similar products together, thereby optimizing the operation of the warehouse. Collection algorithms ensure smooth supply of products in accordance with all export requirements. At the same time they allow different collection strategies, for example the collection of the selected range, according to the work order, the oldest cargo, etc. The warehouse is autonomous and the operators communicate and pass on their requirements exclusively through the internal logistics system.

V diplomski nalogi sta predstavljena načrtovanje in izdelava avtomatske naprave za izdelavo lovne hrane za krapolov z uporabo sodobnih mikroprocesorjev. Izdelava tovrstne vabe je zahtevno in zamudno opravilo, zato ga je smiselno avtomatizirati. V delu sta opisana konstruiranje in izvedba mehanskih sestavnih delov naprave. Za pogon valjev je bil uporabljen obstoječi elektromotor, kateremu smo najprej ocenili dejansko nazivno moč in nato izračunali največjo potrebno moč za pogon naprave. Program za izvedbo avtomatizacije smo izvedli na razvojni tiskanini Raspberry Pi model B. Regulacijo hitrosti vrtenja valjev smo izvedli z regulatorjem PID, kjer hitrost vrtenja osi motorja merimo z magnetnim enkoderjem in preko razvitega močnostnega vezja reguliramo hitrost vrtenja motorja. Za lažje upravljanje naprave je bil razvit uporabniški vmesnik v Python3.x programskem okolju. V zaključku so podane nadaljnje možne izboljšave naprave. The thesis includes the plans as well as the realisation of an automated microprocessor-based device for the production of food used as bait in carp fishing. This type of fishing bait production presents a demanding and time-consuming task, thus it is sensible to automate it. The thesis covers the entire process of constructing and manufacturing the mechanical components of the device. To build the roller drive, an existing electric motor has been used. Initially, I have estimated its actual rated power and afterwards calculated the maximum power needed to operate the device. The programme for executing the automation process has been applied to the Raspberry Pi model B printed circuit board. Using a PID controller I have controlled the rotation speed of the rollers by measuring the rotation speed of the axis of the electric motor with a magnetic encoder, thereby controlling the rotation speed of the motor through the constructed power circuit. Using the programming language Python3.x I have developed a user interface for easier operating of the device. The conclusion presents further possibilities for improving and upgrading the device.

To diplomsko delo predstavlja nov način simuliranja občutka vožnje. V ta namen na trgu obstajajo različni simulatorji. Tem je skupno, da za generiranje sile uporabljajo gravitacijo, kar za seboj prinese številne omejitve, predvsem pri simuliranju dolgotrajnih pospeškov. Naš način simuliranja občutka vožnje pa deluje na principu generiranje sile na glavo uporabnika s pomočjo aktuatorjev. V prvem delu si bomo na kratko ogledali zgodovino razvoja simulatorjev. Simulatorji so bili v zadnjih desetletjih deležni obsežnega razvoja, vendar se do današnjega dneva srečujejo z istimi problemi in izzivi. Nov način simuliranje občutka vožnje pa se srečuje s čisto drugačnimi. Nov način simuliranja občutka vožnje generira enako silo na glavo uporabnika, kot bi jo čutil uporabnik v dejanskem vozilu. Simulator oz. diplomsko delo je sestavljeno iz več sklopov, ki skupaj delujejo kot zaključena celota. Prvi skop opisuje različne aktuatorje za generiranje sile. Izbira aktuatorja močno vpliva na naslednji sklop, izbiro krmiljenja oz. regulacijo aktuatorja. Simulacije so pokazale, da v primeru izbire enosmernega krtačnega motorja, najboljše rezultate daje regulacija sile z neposrednim merjenjem le te. V ta namen si bomo ogledali tudi princip merjenja sile, ki se generira med vodili in uporabnikom. Za generiranje kakršnekoli sile potrebujemo napetostni vir. Pri izbiri enosmernega krtačnega motorja je zahtevana moč napajalnega vira visoka, to močno vpliva ceno. Za napajalni vir smo zato izbrali kar dva računalniška napajalnika, ki skupaj dajeta 24V napetost in s tem krmilita naš aktuator. Zadnji in najpomembnejši sklop pa predstavlja programski del, ki je sestavljen iz dveh programov. Glavni program deluje skupaj s simulacijsko igro, njegova naloga je v najkrajšem možnem času pošiljati podatke iz simulacije na krmilnik Netduinu. Program, ki se nahaja na Netduino, pa sprejema te podatke ter s pomočjo merjenja sile med uporabnikom in vodilom ustrezno regulira silo, tako da je napaka med izmerjeno silo in pridobljeno čim manjša. Glavni program je obsežen, njegovo izvajanje pa je časovno zahtevno, kar predstavlja prvo ozko grlo hitrosti izvajanja. Zagotavljati mora pošiljanje podatkov na nekaj milisekund. Rešitev, ki omogoča hitrostno pošiljanje podatkov, je virtualni spomin. Ta deluje tako, da ima simulacijska igra dodeljeni prostor na RAM pomnilniku, ki nam je dostopen. Glavna prednost tega je, da se nahaja na samem pomnilniku in druga, da je velikost virtualne datoteke, do katere dostopamo, velikokrat manjša od celotnega spomina simulacijske igre. Drugo ozko grlo hitrosti izvajanja pa predstavlja program na Netduinu, ki je zadolžen hkrati za merjenje vseh sil med uporabnikom in vodili ter za regulacijsko zanko. Natančnost meritev je zaradi šuma analogno digitalnega pretvornika povezana s hitrostjo. Hitrost same regulacijske zanke ne predstavlja velike težave, zato smo se osredotočili na hitrost merjenja sile. Zaradi šuma smo vzeli povprečje stotih meritev, pri čemer smo v vsakem krogu regulacijske zanke smo prepisali najstarejšo z novo. Ta algoritem je omogočil, da pridobimo tako želeno hitrost, kot tudi natančnost. Primerjava našega načina simuliranja občutka vožnje in klasičnega, ki je predstavljena v zadnjem poglavju, jasno prikazuje prednosti prvega. Poglavitni prednosti sta, da naš simulator nima omejitev teže uporabnika in je zmožen generirati občutek pospeška tudi do 6G. V fazi razvoja smo zgradili prototip, ki nam je omogočil temeljito razviti idejo. Odzivi testnih uporabnikov so bili zelo pozitivni in so v veliki meri pripomogli k nadaljnjemu razvoju. This thesis presents a new method of simulating the sensation of driving. There are many different driving simulators currently on the market. All of which use the force of gravity to simulate the sensation of driving, which limits their capabilities (especially in regard to simulating long-term forces). Our method works on the principle of generating forces to the head of the user, using actuators. The first part gives a quick overview of the history and development of motion simulators. There have been numerous developments throughout the last decades, but the major issues persist. The new method of simulating the sensation of driving faces its own challenges. The new method of simulating the sensation of driving generates the same forces on the head of the user as he would experience driving an actual vehicle. The simulator, as the thesis, is composed of several units that work together as a whole. The first unit outlines the possible actuators for generating force. The choice of the actuator has a major impact on the choice of the open- or closed-loop controller. The simulation shows that, in the case we choose a DC motor, best results are obtained if controlling the force by measuring it directly. For this purpose we will have a look at the method for measuring the forces generated between the guides and the user. To generate any kind of force we need a power supply. The chosen DC motor requires a high power supply, which has an immense impact on the cost. Therefore we have decided to use two computer power supply units, which together produce a voltage of 24V, to control our actuator. The last and most important part is the software which consists of two programs. The main program is entwined with the simulation game its purpose is to send information from the simulation to the controller Netduino within the shortest time possible. The program on Netduino receives the data and, by means of measuring the force between the user and the guide, controls it appropriately so that the error between the measured and the obtained force is minimized. The main program is the first bottleneck of the time complexity, it has to ensure data transfer every few milliseconds. This can be achieved by using the principle of memory-mapped files. The simulation game gets free access to an allotted space on the RAM. This gives us the advantage of having the file we are accessing handy, the size of which is many times smaller than the whole memory of the simulation game. The second bottleneck is the program on Netduino, which is responsible for measuring all the forces acting between the user and guides, and for controlling the loop. Because of the noise of the analogue-digital converter, the accuracy of the measurement correlates to its speed. The speed of the loop control does not pose a problem, therefore we focused our attention on improving the measuring speed. Because of the noise, we had to use the average of hundred measurements. At the beginning of each loop we replaced the oldest result with the new one. With this algorithm we were able to achieve the desired speed as well as accuracy. The comparison of our driving simulator to the classical type, contained in the last part of the thesis, shows that the former has many advantages, not the least of which are no maximum user weight and the capability of generating long term forces of up to 6G. In the course of the development we constructed a prototype to help us thoroughly explore the idea. Test users provided us with a lot of positive and constructive criticism to aid us on the path of further refinement and development of the product.

Izhodišče za pripravo diplomskega dela predstavljata načrtovanje in izdelava prilagoditvenega vezja za krmiljenje oziroma regulacijo laboratorijskih naprav prek mikrokrmilniške tiskanine Arduino Uno oziroma katerekoli naprave, zmožne oddajanja t. i. pulzno širinskega modeliranega signala (angl. pulse-width modulation). Razloženo bo, kako je mogoče s pomočjo osnovnega teoretičnega znanja o električnih elementih (kot so na primer operacijski ojačevalnik, tranzistor, dioda, kondenzator, upori itd.) sestaviti delujočo shemo oziroma električno vezje za zgoraj omenjeni namen. Opisan bo celoten postopek od idejne zasnove do praktične izdelave naprave. Prve zamisli bodo najprej simulirane v računalniškem okolju, sledilo pa bo dejansko testiranje na preizkusni ploščici ali t. i. protoboardu. Dosegu optimalnega delovanja na protoboardu sledi načrtovanje vezja v namenskem računalniškem programu, kjer moramo biti pazljivi na položaj posameznih elementov glede na njihovo praktično uporabo in morebiten medsebojni vpliv. Sledijo izdelava vezij s pomočjo t. i. fotopostopka ter končna postavitev in montaža v ohišje z vsemi pripadajočimi sponkami, stikali in gumbi. The basis for the preparation of the thesis represent the planning and production of the adaptive circuit for controlling or regulation of laboratory devices through the Arduino Uno microcontroller board or any other device, capable to transmit a so called Pulse-width modulation signal (PWM). Explained will be how it is possible to assemble a working scheme or electric circuit with the help of basic theoretical knowledge on electrical elements (e.g. operational amplifier, transistor, diode, capacitor, resistance etc.) for the stated purpose. Describer will be the entire process from the idea to the practical manufacture of the device. The initial ideas will be simulated in the computer environment, followed by actual testing on the protoboard. Reaching of the optimal functioning on the protoboard will be followed by planning of the circuit in proper software, where we must take care of the position of individual elements regarding their practical use and mutual influence. This is followed by the manufacture of circuits with the help of the photoprocedure the final placement and assembly into the housing with all the with all the associated clips, switches and buttons.

Zmanjševanje porabe energije spada med najbolj pereče globalne izzive današnjega časa. Za ogrevanje zgradb se porabi približno 40 % svetovne proizvodnje energije. Med največje porabnike energije v zgradbah spadajo sistemi za ogrevanje, prezračevanje in klimatizacijo (angl. Heating, Ventilation and Air Conditioning, HVAC). Za varčno porabo energije je tako potrebno zagotoviti zanesljivo delovanje HVAC sistema. Pri načrtovanju vodenja HVAC sistemov je treba upoštevati, da se lahko vsak sestavni del opreme pokvari. Izpadi posameznih elementov lahko povečajo porabo energije, skrajšajo življenjsko dobo ostale opreme in praviloma zmanjšajo bivalno udobje. Izpad posameznih merilno-regulacijskih členov v sistemu, pri vodenju temperature, povzroči neželene spremembe v celotni regulacijski zanki, saj regulator ne dobi pravilen odčitek senzorja. Ob izpadu merilnega člena v nekem prostoru je običajna praksa, da ''zamrznemo'' izhod iz ustreznega regulatorja. Le-to pa ni vedno najbolj ustrezna rešitev, ker lahko s tem povzročimo znatna odstopanja temperature v prostoru. Problem, ki smo ga obravnavali v diplomskem delu, je razviti in testirati algoritem, ki bo uspešno nadomestil izpadli merilni člen. Omenjen algoritem mora biti enostaven in primeren za implementacijo v praksi. V diplomskem delu je predlagan inovativni koncept za določanje odprtosti izvršnega člena ob izpadu senzorja. Temelji na ugotovitvi, da so odprtosti ventilov v sosednjih prostorih in dejavniki, ki vplivajo na temperaturo posameznih prostorov, medsebojno korelirani. Zato vpeljemo nove funkcije, ki odražajo medsebojna razmerja odprtosti ventilov sosednjih prostorov. Pri izpadu določenega senzorja, predlagani sistem vklopi regulacijsko strukturo za vodenje temperature na osnovi izračunanih funkcij razmerij odprtosti ventilov. Algoritem smo preiskusili na simulacijskem modelu prostora, zgrajenem v programskem okolju MATLAB/Simulink. Za potrebe simulacije smo uporabili realne vremenske podatke za mesto Ljubljana za obdobje enega leta, s frekvenco vzorčenja ene ure. Rezultati so pokazali veliko ujemanje med sistemom brez izpadov in sistemom z odpovedjo enega merilnega člena ob uporabi predlaganega algoritma. Glede na relativno enostavnost in robustnost algoritma ga lahko vgradimo tudi v sistemih vodenja z nezahtevno procesorsko močjo. Reducing energy demand and consumption in residential buildings is a global challenge. Heating of buildings consums nearly 40 % of global energy production. The largest energy consumers in buildings are the Heating, Ventilation and Air Conditioning (HVAC) systems. For reducing energy consumption, reliable control of HVAC systems is required. When designing HVAC control systems, one should take into consideration a possibile sensor failure. Fault of any component in the control loop can increase the energy consumption, shorten lifespan of the rest of the equipment and usually degrade the living comfort. Single fault of the measurement and control component in the temperature control system leads to unwanted changes in the overall control loop, since controller does not receive accurate sensor data. A general practice during the sensor failure is to ''freeze'' the appropriate controller output. Usually, this is not the most appropriate solution, since it can cause larger temperature deviations in a particular room where sensor failure occurs. The scope of the problem presented is to develop and evaluate fault-tolerant algorithm. Developed algorithm should be simple and suitable for implementaion in practice. In this thesis, an innovative concept is proposed for maintaining high control performance when sensor failure occurs. It is based on the findings that valves openings and indoor temperatures are correlated. Therefore, we introduce the new functions which reflect interacting ratios of the valves openings in adjacent rooms. When sensor failure occurs, the proposed system claculates the control signal from the valve openings of the adjacent rooms. We evaluated the algorithm on simulation-based experiment of building model, developed in MATLAB/Simulink programming environment. In the simulations we used real-world weather data for the city of Ljubljana, for a period of one year, with a sampling rate of one hour. It was shown high correlation between the fault-free system and the system with a single sensor fault while using the proposed algorithm. Since the algorithm is relatively simple and robust, it could be implemented in practice in a control systems with low processing power.

Zaradi uporabnikovega neustreznega upravljanja z okenskimi senčili se ne izkorišča potencialni prihranek energije ter se sočasno ustvarja neugoden vpliv na udobje stanovalcev. Zaradi omenjenega je bil namen diplomskega dela izdelava avtomatskega senčnega sistema, ki optimizira dnevne vremenske razmere za zagotavljanje učinkovite izrabe energije in prijetnega bivalnega ambienta. Zaradi specifičnih situacij je bil dodaten namen omogočiti ročno upravljanje in prednastavljivo upravljanje s časovno uro. Sočasno je bil namen omogočiti centraliziran in oddaljen dostop za upravljanje, nadzorovanje in konfiguriranje celotne aplikacije. Diplomska naloga opisuje razvoj samostojnega sistema za avtomatsko senčenje, ki kot senčni element uporablja zunanje motorizirane žaluzije. Sistem se prilagaja dnevnim vremenskim razmeram za učinkovito izrabe energije in preprečevanje neprijetnega bleščanja ob nizkem položaju sonca. Predstavljeni so sklopi, ki zajemajo metodo avtomatskega pomikanja žaluzij, izgradnjo modela žaluzij in določanje optimalnega položaja žaluzij, glede na podatke senzorjev temperatur, senzorja svetlobe, položaja sonca in orientacij oken. Drugi sklop dela predstavlja izdelavo spletnega uporabniškega vmesnika, ki omogoča oddaljen dostop za upravljanje, nadzor in konfiguracijo avtomatskega senčnega sistema. Prikazana je komunikacija med krmilnikom in spletnim brskalnikom, ki z uporabo tehnologije WebSocket deluje v realnem času. Celoten sistem avtomatskega senčenja in strežnik, ki realizira oddaljen dostop bazira na mikrokrmilniku Arduino. Zaradi funkcionalnih zahtev aplikacije, je bilo potrebno izvesti ustrezno hranjenje časa in uporabniških podatkov. Delovanje sistema bo potrebno še dodatno preveriti na realnih aplikacijah in po potrebi prilagoditi nekatere parametre, ki so bili nastavljeni na podlagi simulacij. There is a loss of potential energy savings and negative impact on occupants comfort due to the user’s improper operation of windows shades. Therefore the purpose of the thesis was to develop an automatic shading system that optimizes daily weather conditions to meet the needs of energy efficiency and comfortable ambient conditions. Due to some specific situations the aim was also to support manual control and programmable time switch control. Additionally the purpose was to enable centralized remote access to control, monitor and configure the entire system. The thesis describes the development of an automatic shading system that uses motorized external venetian blinds as a shading device. The system is adjusting itself based on daily weather conditions to achieve the desired energy efficiency and to prevent uncomfortable glare when the sun is low. Presented work describes a method for automated movement of blinds, procedure of building a blind model and logics for determining the optimal shade angle that is based on data from temperature sensors, light sensor, calculated sun position, and windows orientation. In the second part of the thesis the development of user interface is presented, which enables remote access for controlling, monitoring and configuring the automatic shading system. Presented communication between the controller and web browser is running in real-time with the use of WebSocket technology. The automatic shading system and the server enabling the remote access is entirely implemented on the Arduino microcontroller. Because of functional requirements the proper storing of time and user data had to be implemented. The system operation should be further verified on real applications and some parameters, which were set based on simulations, should be adapted if necessary.

Kljub razvoju cenovno dostopnejših tehnologij izdelave in izstrelitve satelitov pa so stroški tovrstnih projektov še vedno visoki, tako pri strojni in programski komponenti satelita kot tudi podporni infrastrukturi za upravljanje z njim. Stroškom strojne komponente satelita in infrastrukture se ne da izogniti, razen na račun večjih tveganj za neuspešno izveden projekt, slabšo kakovost oz. okrnjeno izvedbo rešitve. Na drugi strani pa digitalna doba s svojim razvojem in dostopnostjo preko medmrežja ponuja možnosti za znižanje stroškov izdelave programske komponente vsaj določenih podsistemov oz. podporne infrastrukture. Naloga mojega diplomskega dela je torej raziskati možnosti za načrtanje programa za izračun trajektorije vesoljskega plovila z uporabo izključno odprtokodnih programskih orodij in programskih knjižnic, kot tudi praktična izvedba opisanega programa. Naloga programa je računanje stanj vesoljskega plovila v prihodnosti, iz podanih informacij o začetnem stanju, z uporabo r Despite the decreasing costs of satellite development and launch technologies, the expenditure of such projects is still high. This includes the hardware and software components of a satellite as well as the supporting infrastructure needed to operate it. The costs of hardware component cannot be avoided without inducing higher risks of an unsuccessful project, decreased quality or removing some of the components. However, the digital age, through its progress and Internet accessibility, provides us with possibilities of reducing costs for software development for at least some of the subsystems or supporting infrastructure. This thesis deals with researching the possibilities of developing a program that computes the future satellite positions by using exclusively open source tools and software libraries. It shall also result in its implementation. The task of the program is computing future states of the spacecraft based on the input initial state by using different computational

Predstavljen je razvoj sistema za ogrevanje sanitarne vode s sončnimi moduli. Predstavljeni so uveljavljeni sistemi za solarno ogrevanje sanitarne vode. Električni sončni moduli se večinoma uporabljajo za sončne elektrarne. Zaradi vedno nižje cene električnih sončnih modulov in nekaterih prednosti, ki jih imajo moduli pred kolektorji, pa postajajo zanimivi tudi za ogrevanje vode. V delu bo obravnavana razlika med obema sistemoma s podanimi prednostmi in slabostmi enega in drugega. Obravnavana bo tudi smiselnost uporabe električnih sončnih modulov tam, kjer že obstaja električno omrežje. Za višji izkoristek električnih sončnih modulov je bil razvit regulator, ki s posebnim algoritmom vzdržuje razmerje med napetostjo in tokom na panelih tako, da proizvajajo maksimalno moč. Hkrati je regulator prilagojen gretju vode v klasičnem rezervoarju vode za hišne potrebe, kar zniža stroške razvoja in izdelave. Za popolnoma samostojno delovanje sistema je bil dodan programirljiv logični krmilnik. The thesis describes development and implementation of domestic water heating system using photovoltaic modules. The standard widely used flat plate solar collectors are presented alongside so that the new system can be compared and evaluated. One reason for developing this new system otherwise mostly used for solar power plants is the recent price drop of photovoltaic modules. The other reasons are many advantages that photovoltaic modules offer over solar collectors. This thesis will compare old and well known system with solar collectors and newly developed system with photovoltaic modules. For achieving a higher efficiency of solar cells an improvement on existing algorithm was made. A special controller for the system was designed to replace expensive inverters so that the cost of the complete system can be reduced to minimum. The thesis covers this aspect and accesses whether the photovoltaic industry is a net electricity producer or a consumer.