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Many applications, such as surveillance, inspection or search and rescue operations, can be performed with autonomous robots. Our aim is a control of modular autonomous systems in rescue robotics. One of the basic problems with autonomous robotics is the execution part where the control commands (translation and rotational velocities) are produced for mobile bases. Therefore we have focused on this area because there is only a small amount of available path following software for skid-steered mobile robots. Our goal was to develop a velocity controller that could be used for multiple skid-steered mobile bases. We considered differential drive mobile bases such as tracked skid-steering mobile bases. Our approach is based on an arc fitting algorithm, which takes into account the robot constraints and kinematical model. It produces a continuous trajectory where fitting to the given path is adapted based on given parameters. Moreover, we have included orientation angle compensation while the mobile robot is moving and ground inclination compensation. Our rescue robot is described, together with the simulation setup and algorithm implementation. We compared our algorithm to the Hector-based software and curvature velocity approach. The results for the proposed algorithm are shown for the simulation results and the experiment.

There have been recent developments in grippers that are based on capillary force and condensed water droplets. These are used for manipulating micro-sized objects. Recently, one-finger grippers have been produced that are able to reliably grip using the capillary force. To release objects, either the van der Waals, gravitational or inertial-forces method is used. This article presents methods for reliably gripping and releasing micro-objects using the capillary force. The moisture from the surrounding air is condensed into a thin layer of water on the contact surfaces of the objects. From the thin layer of water, a water meniscus between the micro-sized object, the gripper and the releasing surface is created. Consequently, the water meniscus between the object and the releasing surface produces a high enough capillary force to release the micro-sized object from the tip of the one-finger gripper. In this case, either polystyrene, glass beads with diameters between 5–60 µm, or irregularly shaped dust particles of similar sizes were used. 3D structures made up of micro-sized objects could be constructed using this method. This method is reliable for releasing during assembly and also for gripping, when the objects are removed from the top of the 3D structure—the so-called “disassembling gripping” process. The accuracy of the release was lower than 0.5 µm.

Creative workshop: Design of individual concepts of intelligent clothing - Study of implementation of technology solution

Creative workshop: Development of intelligent clothing - Finishing activity

In the paper a remote lab experiment RC oscillator used to support Web based learning, to support learning by doing, to learn control design and to minimize the gap between theory and practice is presented. The experiment was designed with a special care for visualisation of important control design parameters in Bode plot and Root-Locus diagram. The experiment is based on MATLAB, LABview and DSP2 learning module. Using RC oscillator experiment RC circuit step response based or sinusoidal response based analysis, P controller design using Bode plot or Root-locus, relations between control design parameters and control performance and discrepancy between theory and practice could be covered. A homework based on RC oscillator experiment is presented and obtained experiences are discussed.

The current lack of manufacturing techniques for very-high-volume handling of small objects presents a technology barrier to commercial success in various fields like micro-electromechanical systems (MEMS). A fundamentally new approach to automated, massive, parallel manipulation of small-sized parts is explored in this paper. We have investigated a pneumatic active-surface device (PASD) that offers great flexibility and simultaneous control of several objects. By either blowing or sucking air through the tubes of the PASD we can cause objects placed on the array to be moved in useful ways.This paper describes our experimental work on a prototype PASD. Open-loop control for translation in two degrees of freedom and the rotation of flexible objects on a PASD are considered. Due to disturbances that cause deviations to the desired motion, open-loop translation control with closed-loop rotation control was also developed. Pomanjkanje proizvodnih tehnik za rokovanje z velikim številom majhnih predmetov pomeni tehnološko oviro za tržni uspeh na različnih področjih mikro elektromehanskih sistemov (MEMS). V prispevku je predstavljen bistveno nov postopek avtomatizacije množičnega hkratnega rokovanja z majhnimi predmeti. Raziskana je naprava s pnevmatično aktivno površino (NPAP), ki omogoča veliko gibljivost in hkratno krmiljenje velikega števila predmetov. Pihanje ali sesanje zračnega toka skozi cevke naprave z aktivno pnevmatično površino, povzroča želeno premikanje predmetov na aktivni površini naprave. Ta prispevek opisuje eksperimentalno delo, opravljeno na prototipu naprave s pnevmatično aktivno površino. V njem obravnavamo tehnike krmiljenja brez povratne zveze za premik in vrtenje gibljivih predmetov. Zaradi motenj, ki povzročajo odstopanja od želenega gibanja, smo razvili tudi krmiljenje premika gibljivih predmetov brez povratne zveze ob hkratnem krmiljenju s povratno zvezo.

The current lack of manufacturing techniques for very-high-volume handling of small objects presents a technology barier to commercial success in various fields like micro-electro-mechanical systems (MEMS). A fundamentally new approach to automated massive parallel manipulation of small-sized parts is explored in this paper: the pneumatic active surface device (PASD). The appropriate choice of force, caused by blowing or-sucking air-flow through the tubes of the PASD, is shown to cause objects that are placed on the array to be moved in ways that are useful. It ofers great flexibility and speed and it can be employed to position, orient, identify, sort, feed, and assemble parts or objects. In addition, several objects can be controlled simultaneosly. This paper briefly describes experimental work done on a PASD. Pomanjkanje proizvodnih tehnik za premikanje in spreminjanje usmerjenosti (manipulacijo) velikega števila majhnih predmetov pomeni tehnološko oviro za tržni uspeh na različnih področjih mikro elektromehanskih sistemov (MEMS). V članku je predstavljen bistveno nov način avtomatizacije množične paralelne manipulacije majhnih predmetov. Raziskana je naprava s pnevmatično aktivno površino (NPAP). Ustrezna izbira sile, ki jo povzroča pihanje ali sesanje zračnega toka skozi cevke naprave z aktivno pnevmatično površino, povzroča željeno premikanje predmetov na aktivni površini naprave. Naprava omogoča veliko gibljivost in hitrost in jo lahko uporabimo za pozicioniranje, orientacije, identifikacijo, sortiranje, podajanje in sestavljanje predmetov. Dodatno k temu lahko vodimo mnogo predmetov hkrati. Ta članek kratko opisuje eksperimentalno delo, opravljeno na prototipu naprave s pnevmatično aktivno površino.

The current lack of manufacturing techniques for handling very high volumes of small objects presents a technology barrier to commercial success in various fields like micro-electromechanical systems (MEMS). A fundamentally new approach to automated, massive, parallel manipulation of small-sized parts is explored in this paper: the pneumatic active surface device (PASD). With the appropriate choice of force - caused by blowing or sucking air-flow through the tubes of the pneumatic active surface device - objects placed on the array can be moved in useful ways. Such a device offers great flexibility and speed and can be employed to position, orient, identify sort, feed and assemble parts or objects. Another advantage is that several objects can be controlled simultaneously. This paper describes experimental work on a prototype pneumatic active surface device, in particular an open-loop and closed-loop positioning control techniques for sub-millimeter rigid objects. Pomanjkanje proizvodnih tehnik za premikanje in spreminjanje usmerjenosti velikega števila majhnih predmetov je tehnološka ovira za tržni uspeh na različnih področjih mikro elektromehanskih sistemov (MEMS). V prispevku je predstavljen bistveno nov postopek avtomatizacije množičnega sočasnega rokovanja z majhnimi predmeti. Raziskana je naprava s pnevmatično aktivno površino (NPAP). Ustrezna izbira sile, ki jo povzroča pihanje ali sesanje zraka skozi cevke naprave s pnevmatično aktivno površino, povzroča želeno premikanje predmetov na aktivni površini naprave. Naprava omogoča veliko prilagodljivost in hitrost in jo lahko uporabimo za pozicioniranje, orientiranje, identifikacijo, sortiranje, podajanje in sestavljanje predmetov.Dodatno k temu lahko vodimo mnogo predmetov hkrati. Prispevek opisuje eksperimentalno delo, opravljeno na prototipu naprave s pnevmatično aktivno površino, posebej tehnike krmiljenja (s povratno zvezo in brez nje) lege togih objektov, manjših od 1 mm.

The purpose of this bachelor thesis is to create a MATLAB code able to simulate the velocity distribution of the liquid of a microfluidic rotational motor for a changeable number of pillars and parameters, so the results of different configurations of the motor can be theoretically shown. The main idea of this microfluidic rotational motor is inducing a circular vibration to a glass plate with two perpendicular piezoelectric devices, so a circular flux is created in the liquid around the pillar that is glued perpendicular to the plate. This rotational movement is used to drive a rotor floating in the liquid. This motor has already been experimentally tested, but a possible improvement is searched by the change of the individual pillar for a “pot”. It is especially interesting to observe the velocity distribution of the fluid when there are enough pillars creating a circle, so they overlap and create a pot shape configuration. This is interesting because the pot shape reduces the evaporation of the droplet which has been a persistent problem in the laboratory experimentation and could present improvements with respect to the pillar-motor. With this MATLAB code, it is possible to observe the velocity distribution for different changeable parameters of the motor,such as amplitude and frequency of the circular vibrations, distance between pillars and liquid chosen for the microfluidic motor. In this bachelor thesis it has been shown that the microfluidic rotational motor with a “pot” has satisfactory theoretical velocity distribution results. A MATLAB code is provided so the user can calculate by itself which will be the theorical velocity distribution for different configurations of the motor. Graduado o Graduada en Ingeniería en Tecnologías Industriales por la Universidad Pública de Navarra Industria Teknologietako Ingeniaritzan Graduatua Nafarroako Unibertsitate Publikoan

V diplomski nalogi je predstavljena nadgradnja obstoječega plezalnega robota. Delo vključuje izdelavo geometrijskega modela za preračun kotov ter koordinat sklepov z novo dodano peto osjo . Prav tako vključuje simulacijo premika robotske roke, izdelavo pete osi in električnega dela. Cilj diplomske naloge je dosežen, robotska roka premika vse osi, vključno z dodano peto osjo. This thesis presents the upgrade of an existing climbing robot. The work involves the renovation of a robotic mechanism, the creation of a geometric model for calculation angles and coordinates of joints. It also includes the movement simulation of the robotic arm, the build process of the fifth axis and electronics. The goal is achieved and the robotic arm moves all axes including the added fifth.

Diplomska naloga govori o izdelavi izvidniškega robota, ki je namenjen opravljati naloge, kjer bi se človek potencialno znašel v nevarnosti. Čeprav je specifično ta robot mišljen kot športni rekvizit, je sam po sebi tako vsestranski, da se ga da uporabiti tudi v druge namene. Naprava je relativno majhnih dimenzij. Zaradi svoje opreme in enostavnosti je odličen za pregled posameznih nadstropij zgradb, zmožen je pa tudi gibanja po relativno težkem terenu. V nadaljevanju boste izvedeli kako se je robota projektiralo, kake težave so se pojavile med načrtovanjem in izdelavo ter kako smo se z njimi spopadali. Zajeto je tudi preizkušanje na terenu. The paper is about the development and making of a reconnaissance robot, which is intended to be used in situations, that would be potentially dangerous for humans. Even though this specific robot is intended as a sports gadget, it is so versatile, that it could be used for other purposes aswell. The device is relatively small. Due to it's equipment and simplicity, it is excellent for checking floors of buildings. It is also capable of moving on relatively rough terrain. In the paper you will find out how the robot was designed, what problems we have encountered and how we overcame them. Included is also a field test.

V diplomski nalogi se obravnava konkreten primer izdelave krmilnika, ki regulira temperaturo v pokritem žaru Weber. Krmilnik deluje na mikrokrmilni platformi Arduino Nano. Po opravljenih testiranjih sta se za najustreznejši temperaturni tipali za merjenje temperature v žaru in sredici mesa izbrala dva različna uporovna merilnika NTK. Rezultati primerjave med ročnim krmiljenjem temperature in samodejnim reguliranjem temperature so pokazali, da je slednja zmožna znatno natančneje vzdrževati želeno temperaturo, z veliko manjšim odstopanjem dejanske temperature od želene. V diplomskem delu prikazana razvita oprema se uporablja kot pripomoček pri peki v zaprtem žaru. Prvotni namen izdelka je razbremenitev uporabnika oziroma dvig njegove produktivnosti. Graduation thesis discusses an actual example of production of the controller that regulates a temperature in the Weber covered grill. Controller works at the microcontrollers’ Arduino Nano platform. After I had finished testing, I chose two different NTC resistor meters for the most adequate temperature sensors for measuring the temperature in the grill and meat core. The results of the comparison between manual steering of the temperature and automatic regulation indicated that the last one was able to maintain the desired temperature significantly more thoroughly with much smaller deviation of the actual temperature from the desired. The developed equipment shown in the thesis is used as an accessory in a closed grill. The primary purpose of this product is to relieve the user and increase their productivity.

LCD 3D tiskalnik je naprava, ki strjuje foto-senzitivno tekočo plastiko sloj za slojem. To naredi z pomočjo LED diod, ki svetijo skozi LCD zaslon, ki medtem prikaže črno-belo sliko enega sloja. Plastika na vrhu belih svetlobnih pik se zaradi dobre svetlobne prevodnosti strdi, medtem, ko imajo črne slikovne pike slabo svetlobno prevodnost, plastika pa posledično ostane v tekočem stanju. Strjeni sloj plastike na vrhu LCD zaslona je nato potrebno premakniti višje, da se pod njim lahko strdi novi sloj tekoče plastike. LCD 3D printer is a device, which solidifies liquid plastic layer by layer. It does so, by shining light, through the LCD that displays black and white picture (which represents one horizontal layer), and photo-sensitive liquid plastic hardens on top of white pixels, while it stays in liquid form on top of black pixels. Z axis raises, and new layer is exposed to blue light.

Cilj diplomske naloge je bil izgradnja krmilnika za robotski manipulator, ki bo sposoben izvajati regulacijo osi robota. Krmilnik deluje na mikrokrmilni platformi Arduino Mega 2560 in je v celoti prilagojen za delovanje z robotom. Sposoben je sprejemati signale iz merilnika pozicije, jim odpraviti motnje in jih ustrezno implementirati za uporabo v mikrokrmilniku. Izhodna enota krmilnika je sposobna generirati pravilne vrednosti, ki so kompatibilne za ustrezno uporabo gonilnika motorja. Z osnovnim zapisom programske kode sem dokazal, da je regulacija osi možna s preprostim mikrokrmilnikom Arduino. The objective of my degree paper was to build a controller, which would be able to control and regulate movement of robots axis. Microcontroller Arduino Mega 2560 platform is the base of the controller, which is totally adjusted for work with robot. Controller is able to receive signals from incremental encoders, able to remove disturbances and producing the correct signals which the microcontroller can read. Output unit of controller is capable of generating signals which are complementary with the motor drivers. With a program code it is able to correct the control of robots axis, which is proof that we can make a controller with simple Arduino Mega board.

Grado en Ingeniería en Electrónica Industrial y Automática

Avtonomna mobilna robotika je uporabna v nadzornih sistemih in kot pomoč pri iskanju in reševanju žrtev v primeru nesreč. Regulacija hitrosti modularnega avtonomnega sistema za pomoč pri reševanju ob naravnih nesrečah ima veliko težo, saj je bistvena za pravilno gibanje v prostoru. Ena izmed pomembnih nalog v avtonomni robotiki je regulacija hitrosti (linearne in kotne), ki jo proizvede avtonomni sistem za mobilno bazo. Naš glavni cilj je ustvariti hitrostni regulator na višjem nivoju, ki ga je mogoče uporabiti na različnih mobilnih platformah. V tem primeru se osredotočamo na mobilne robote z diferencialnim pogonom. Naš pristop sloni na iskanju ujemanja krožnic, ki upošteva kinematični model in omejitve mobilne baze robota. Na podlagi algoritma se izvede trajektorija, ta je odvisna od nastavljenih parametrov, ki so prilagojeni za mobilno bazo. Dodatno smo v algoritem vključili poravnavo kota orientacije in kompenzacijo naklona kota med gibanjem mobilnega robota. Opisali smo našega reševalnega robota in sisteme za avtonomno delovanje in implementacijo algoritmov. Predlagan algoritem za sledenje smo primerjali z algoritmom Hector. Prikazani so rezultati primerjav in rezultati sledenja mobilnega robota v simulacijah in realnih eksperimentih. Nato smo nadaljevali naše delo z implementacijo našega algoritma na brezpilotnih letečih vozilih, kjer smo zgradili kompletno simulacijo z možnostjo vključitve pravega letečega vozila. Na tem sistemu smo izvedli serijo eksperimentov, da bi dokazali koncept sistema. Many applications such as surveillance, inspection, search and rescue operations can be performed with autonomous robots. Our aim is to control a modular autonomous system in rescuing robotics. One of the basic problems regarding autonomous robotics is the execution part in which the control commands (translation and rotational velocities) are produced for mobile bases. We have focused on this area because for skid-steered mobile robots there is available only a small amount of path following software. Our goal was to develop a velocity controller that could be used for multiple skid-steered mobile bases. We considered differential drive mobile bases such as tracked skid-steering mobile base. Our approach is based on an arc fitting algorithm which takes into account the robot constrains and kinematical model. It produces continuous trajectory where fitting to the given path depends on given parameters adapted to the mobile base. Moreover, we have included orientation angle compensation while the mobile robot is moving, and ground inclination compensation. Our rescue robot is described together with the simulation setup and algorithm implementation. We compared our algorithm to the Hector-based software. We showed the results of the compared algorithms and the results of mobile robot path following in simulation and real experiments. Later on we used our algorithm on an unmanned aerial vehicle platform we have built a simulation in which real aerial vehicle could be included. On this system setup we performed a series of experiments to prove the concept.

V diplomski nalogi je predstavljena izdelava inverznega geometrijskega modela robota za izračun koordinat in kotov zasuka sklepov ter izdelava programa za upravljanje krmilnikov, ki z uporabo izračunov krmilijo premike robotske roke. Robot je sestavljen iz trupa in dveh rok, kjer imajo vsi trije elementi svoje prijemalo za pritrditev na plezalno ploskev. Cilj diplomske naloge je razviti plezajoči robot za pregled in vzdrževanje mostov, ki se giblje po betonski ploskvi s pomočjo že obstoječih dilatacijskih lukenj. Podrobno je opisan inverzni geometrijski model za izračun notranjih koordinat posameznih sklepov za namen premika vrha robotske roke v izbrano točko v zunanjem koordinatnem sistemu ter povezovanje točkovnih gibov v pot za premik trupa. Cilj diplomske naloge je dosežen do stopnje, ko robot v realnem okolju doseže premik vrha roke v vnesene točke oziroma luknje na prototipni leseni deski z izvrtinami ter deloma tudi premik trupa naprej v naslednjo točko. In this thesis, I introduce the construction of a geometric robot model for calculation of coordinates and joint angles, and the construction of programs for the controllers which control robot’s movements. The robot is constructed of two arms and a body, where all have their own gripping tool for fixation on the climbing surface. Goal is to develop a climbing robot for inspection and maintenance of bridges that uses the bridge's existing dilatation holes for fixation. This document includes a detailed description of the inverse geometric model for interior coordinates calculations in order to move the top of the robotic arm between two points in the external coordinate system. The goal is achieved to the point where the robot achieves movement of its gripping tool to the input points / holes on a prototype wooden desk and partially movement of its body.

V diplomski nalogi sem predstavil projekt visečega dvigala, ki je potekal in poteka v podjetju Tajfun Planina, d.o.o., kjer sem tudi zaposlen. Projekt je zelo obširen v diplomskem delu ga bom sicer predstavil kot celoto, podrobneje pa bom opisal svoje področje dela, kot je razvidno iz naslova. Prvotni cilj projekta je bil izvesti celotno ožičenje, krmiljenje stroja in dokumentacijo, kar pa se je tekom razvoja pričakovano razširilo na mnogo več področij. Tako je bilo potrebno zraven elektrotehničnih vrlin vključiti še veliko znanja o konstruiranju in predvsem o hidravliki. S hidravliko se pred tem, vsaj s tako kompleksno, še nisem srečeval, ne med študijem, kot tudi po službeni plati ne. Moram povedati, da me je to področje vedno zanimalo, ni pa bilo pravega motiva za študij le-tega. Kakorkoli, problemi so bili kot na kožo pisani mehatroniku in projekt smo skupaj zelo kvalitetno izpeljali. Stroji se že prodajajo po svetu, seveda pa s tem zgodba še ni končana, kajti tu so že nove ideje, potrebe in cilji. In my degree I wanted to present the project of a bridge craine, which was designed and manufactured in Tajfun Planina, d.o.o., where I work. The whole project is very comprehensive, which is one of the reasons why I am going to focus myself on presenting my own work-field, which can ve evident from the title of degree. The main goal of project in general was to conduct the wiring and stiring of bridge craine, along with the corresponding documentation, but during the process the project extended on several additional fields. Therefore we had to include not only a great deal of knowledge from electrotehnical skills, but also about constructing and most of all hydraulics. Honestly, I was always very interested in hydraulics, but there was never really enough time and a motive strong enough to study it in a such a complex way, I had to conquer it during this project. However, all the problems we were faced with were just like there were ment for me and with a help from other group members the project was carried out on a very high quality level. Our bridge craines are allready on markets all over the world, but our story does not end here – we allready have new ideas, plans and goals.

Tehnični vidik diplomske naloge zajema predstavitev indukcijskega kuhališča, kjer je prikazana sestava in delovanje indukcijskega kuhališča. Podrobneje sta predstavljeni dve tipični izvedbi indukcijskega modula kuhališča in potek krmiljenja izhodne temperature oz moči kuhlišča, ki jo oddaja posodi. Teoretično ozadje nadgrajuje praktični primer ugotavljanja kakovosti indukcijskega kuhališča. Z ekonomskega vidika je predstavljeno področje strateškega managementa, natančneje strateško planiranje in s tem povezano razvijanje poslovnih strategij podjetja. Teoretična spoznanja so podkrepljena z obravnavo praktičnega primera poslovne strategije za programsko – tržno področje (indukcijskih) kuhališč družbe Gorenje. My thesis consist of two parts – the technical and the business aspect. From the standpoint of the tecnichal aspect, I present the structure and the functioning of an induction hob. Furthermore, the two most common versions of an induction module, as well as the output temperature control (induction hob power) are presented in detail. The theoretical background is complemented by a practical example of assessing the quality of an induction hob via standardized testing. The technical part is followed by the business aspect of the thesis, in which I focus on the process of strategic planning and business strategy development. There, the theoretical backround is complemented by a practical case study of Gorenje's business strategy in the (induction) hobs programming–market area.

Novejše klimatske naprave že imajo vključen program daljinskega vodenja in urnika delovanja, kar nam omogoča, da prostor ohladimo na ciljno temperaturo, še preden vstopimo vanj in se s tem izognemo izpostavljenosti pihanju.. V diplomskem delu bi rad predstavil možnost izpopolnitve starejših klimatskih naprav rešitev, ki je ekonomsko dostopna in enostavna za uporabo. Za izbran projekt sem uporabil ploščico Arduino UNO, ki sem jo sprogramiral za vodenje klimatske naprave. V diplomskem delu sem izdelal sem mehanski del projekta, predstavil zasnovo programa, vezja, in delovanje modula. Newer air conditioners already have integrated programs of remote regulation and work schedule, which allows us to cool the room down to the desired temperature even before entering and thus avoid exposure to blowing. In this thesis I would like to introduce the possibility of perfecting older air conditioning systems a solution that is economically accessible and simple to use. For the selected project I used a plate Arduino UNO, which I have programmed to regulate my air conditioner. In the thesis I have made the mechanical part of the project, presented the program design, circuit, and the operation of the module.

V podjetju Savatech stremijo k inovativnim rešitvam in avtomatizaciji proizvodnih procesov pod temeljnima pogojema, da se pri tem ne poslabša kakovost izdelkov in je izdelava naprave na določeno časovno obdobje rentabilna. Zato je bila načrtovana popolnoma avtomatska naprava, ki bo nadomeščala več tehnoloških procesov, ki jih je do zdaj bilo treba opravljati ročno. Naprava je zgrajena iz več sklopov, ki so bili najprej idejno zasnovani, nato pa konstrukcijsko prilagojeni za izdelavo. Za pripravljeno konstrukcijo sta bila predpisana primerno krmilje in možna programska izvedba sistema. Kot rezultat diplomskega dela so predstavljeni vsi postopki načrtovanja avtomatske naprave za strego gumene injekcijske stiskalnice. In Savatech the engineers are always looking after autonom solutions for production procedures, under two minor condition not to decrease the quality of products and the manufacturing costs of the automatisation machine should be refounded in specified time amount. Based on this conditions we designed full automatic machine to replace some production procedures that are now manually preformed. The machine is devided into several parts that are seperately designed for production. For the designed machine we have assigned correct sensors, actuators and controlling unit and prescripted possible programing solution to drive the sistem. So as a result of the work we represent all procedures of planning an automatic machine for tending a rubber injection molding press.

V tem diplomskem delu je predstavljen del razvoja plezajočega robota za pregled in vzdrževanje mostov. Končni cilj je razviti robota, ki pleza po betonski konstrukciji mostu in se med tem prijema v že obstoječe luknje na mostu. Natančneje je opisan razvoj krmilnega sistema za prej omenjenega robota. Zahtevana je modularna zgradba, optimalna raba prostora, nosilnosti robota in zanesljivo delovanje. Cilj je dosežen do faze kjer ima robot po en krmilnik na vsaki komponenti, krmilniki pa med seboj komunicirajo, z tem pa je možno tudi premikanje robota. In this diploma work a part of a climbing robot for bridge inspection and maintenance development will be described. The main objective is to create a robot that could climb the bridge, locating and fixing the gripers into the pre-existing holes in the concrete structure. The development of a control system is described in detail. Modular design, conservative dimensions and weight are required next to reliable performance. Controller is developed to the faze that the robot can move and every relevant component has its own microcontroller between which digital communication is established.

V tej diplomski nalogi smo s pomočjo cenenega krmilnika Raspberry Pi in senzorja temperature in vlage DHT22 izdelali odzivni sistem za spletno vodenje sanitarne toplotne črpalke. S pomočjo senzorja smo brali temperaturo in vlago, ki smo jo s časovno sekvenco dveh minut shranjevali v bazo SQL ter jo prikazali v obliki črtnega grafa na spletni strani. Preko slednje smo lahko manualno vklapljali oz. izklapljali toplotno črpalko in njen grelec. Uporabnik spletne strani ima tudi možnost vklopiti avtomatski način, kjer ima na voljo vpisno okence, v katero lahko vpiše avtomatsko preklopno temperaturo. Na podlagi le-te bo deloval avtomatski način vodenja toplotne črpalke. With the help of an cheap Raspberry Pi embedded platform and digital temperature and humidity sensor DHT22 we have decided to create a higly responsible embedded system to manage the sanitary heat pump over the web. With the help of the digital sensor we'll read and save temperature and humidity values to SQL database in a time frame of 2 minutes. The values are showed on a simple web page with a bar graph. Through the website the user has the possibilty to manually switch the sanitary heat pump and her inside heater on and off. The user can also switch to automatic controll mode, which depends on the inserted automatic switch temperature.

V diplomski nalogi je predstavljen celoten potek načrtovanja in izdelave tekočega traku, ki se bo uporabljal v učne namene. Tekoči trak je zasnovan tako, da se ga da enostavno sestaviti, spreminjati in nadgrajevati. Diplomsko delo vsebuje kratka navodila za sestavo tekočega traku, metode testiranj, rezultate in primerjavo med zahtevanimi in dejanskimi vrednostmi. This diploma presents the entire course of designing and manufacturing the conveyor belt, which will be used for learning purposes. Conveyor belt is designed in a way to make it easy to assemble, modify and upgrade. Diploma also contains short instructions on how to assemble this conveyor belt, the testing methods, results and comparison between the required and actual values.

V diplomskem delu smo postopoma predstavili gradnjo robota Socky10, kar podkrepimo s praktičnimi vajami za srednješolske izobraževalne programe. V osrednjem delu diplomske naloge smo obravnavali uporabo in sestavo regulatorjev za naše potrebe. Regulacijske zanke smo simulirali v programu Matlabu z dodatkom simulinka. Pri programiranju uporabimo integrirano razvojno okolje za razvojne plošče Arduino, vezja in simbolne sheme pa sestavimo z odprtokodnimi programom Fritzing, S-plan, Sprin-Layout programi ter Altium Designer. In this thesis, we gradually build a robot Socky10 presented and reinforced with practical exercises for upper secondary educational programs. In the central part of the thesis we discuss the use and composition of Regulators for our needs. Control loop was simulated in Matlab with the addition of Simulink. For programming we use integrated development environment for Arduino development board, the circuit and the symbolic scheme being assembled with the open source program Fritzing, S- Plan and Sprin - layout programs and Altium Designer.

Pri celotni izdelavi mobilnega robota, ki je zmožen samostojno navigirati po vnaprej znanem labirintu in priti z začetne koordinate na končno po najkrajši poti, je potrebno znanje mehanike, elektronike ter programiranja in uporabe sodobnih programskih orodij. Diplomsko delo zajema delo z vseh teh področij, razumevanje katerih je potrebno za uspešno izvedbo avtonomnega mobilnega robota. Predstavljeno je testiranje oz. zasnova programa, zasnova vezja, izdelava mehanskega dela robota ter programiranje PIC-mikrokrmilnika. Uporabljen je poplavni algoritem, za katerega ugotavljamo, da je za enostavno iskanje najkrajše poti v preprostem labirintu tudi dovolj dober. During the whole creation of a mobile robot, which is able to navigate indepandantly in a known maze and drive from a start point to a finish point using the shortest route possible, knowledge of mechanics, electronics and programming is required. This diploma covers work from all the aformentioned areas of science whose understanding is required to successfully create an autonomous mobile robot. Testing or program creation, PCB design, framework design and manufacturing and PIC microcontroller programming are presented in this diploma. We used a Floding algorithm and it was established that it is sufficient for finding the shortest path in our maze.

Delo opisuje razvoj, izdelavo in testiranje potapljaške svetilke. Ker se sam ukvarjam s potapljanjem, je bila ideja razviti svetilko, ki bi omogočala česar svetilke, ki so trenutno dostopne na tržišču, še ne omogočajo. Cilj je bil izdelati svetilko, ki bi bila večstransko uporabna in namenjena predvsem profesionalni rabi. Zastavljene zahteve so bile ekstremno velika svetilnost, odpornost na velike tlake, izvedba kot celota ali kot ločen akumulator od svetilnega dela. V delu je opisano načrtovanje mehanskega in elektronskega dela prototipa potapljaške svetilke ter krmiljenje njene svetilnosti. Podrobneje je predstavljena tudi analiza stabilnosti regulacijske zanke in njena implementacija. V zadnji fazi so izvedena tudi praktična testiranja prototipa glede na zastavljene zahteve. The thesis concerns the development, manufacture and testing of a diving lamp. Since I am diver myself, my idea was to develop a diving light with features currently available lights do not own yet. More specifically, the aim was to develop a light that would serve several purposes and would mainly be intended for professional use. Desired requirements included extremely high luminance, resistance to high pressure and option of light as an independent whole or as accumulator separated from the lighting part. This paper describes the design of mechanical and electronic part of the diving lamps prototype and the controlling of its luminosity. The analysis of stability of the control loop and its implementation is presented in more detail. Finally, practical testing of the prototype was carried out and presented according to the requirements.