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Prevoz tovora se v logistiki in proizvodnji ponavadi opravlja z večjimi mobilnimi roboti, ki pa za infrastrukturo niso vedno najbolj primerni. So tudi težki, neokre- tni in zahtevajo veliko prostora, tudi ko ničesar ne prevažajo. V tem magistrskem delu je predstavljen algoritem za prevoz tovora z več manjšimi mobilnimi roboti, ki si tovor delijo. Manjši mobilni roboti so lahko lažji, hitrejši in bolj okretni, če je potrebno lahko učinkovito prevažajo tudi manjše tovore. V primeru večjega tovora pa se roboti s posebnim prijemalom pritrdijo na kolesa tovornega vozička, nase prevzamejo del teže tovora in voziček s tovorom odpeljejo na želeno mesto. Za prevoz tovora med točkami je bil razvit centraliziran algoritem, ki omogoča vodenje poljubnega števila robotov z diferencialnim pogonom. Algoritem je se- stavljen iz treh delov: sistema za izračun kinematike vožnje tovora, sistema za določanje orientacije robotov glede na tovor in dela, ki skrbi za vodenje robotov. Orientacija robotov glede na tovor se izračuna na podlagi treh metod, ki temeljijo na globalni legi robotov, odometriji robotov in kinematičnem modelu ter vizu- alnih markerjih. Za iskanje poti se uporablja algoritem A*, za sledenje poti pa prediktivni algoritem načrtovanja in sledenja trajektorije (Trajectory Rollout). Algoritem pretvori kontrolne ukaze za premik tovora iz algoritma za sledenje poti v kontrolne ukaze za posamezne mobilne robote. Implementacija algoritma temelji na okolju ROS (Robot Operating System). Algoritem je bil razvit in ovrednoten v simulacijskem okolju Gazebo. Nato se je prenesel in ovrednotil še na realnem sistemu – mobilnem robotu podjetja Epilog d.o.o. V simulaciji in na realnem sistemu so bili opravljeni eksperimenti z odprto- in zaprtozančnim vodenjem. Ustrezno delovanje algoritma se je določilo s tremi pokazatelji. Prvi pokazatelj je primerjava hitrostnega ukaza z dejansko hitrostjo tovora. Drugi pokazatelj so sile med roboti in tovorom, tretji pa bočno drsenje robotov. Algoritem je v vseh simuliranih in realnih eksperimentih deloval kar je pomenilo, da se je tovor premikal v skladu z želenimi ukazi brez bočnih drsenj robotov in brez prevelikih sil. Transport of load in production and logistics is usually done with bigger mobile robots that are not always the most suited for infrastructure. They are heavy, slow, and require lots of space even when not transporting anything. This mas- ter’s thesis presents the algorithm for transportation of load with multiple smaller mobile robots that share the load. Smaller robots are lighter, faster, and require less space. If needed they can more effectively transport smaller loads. In the case of bigger load robots use special gripper to attach themselves to the wheels of the transport cart and transfer some weight to themselves. A centralized algorithm was developed that is capable of controlling any num- ber of differential drive robots with the aim of transporting a load between points. The algorithm consists of three parts: a system for calculating kinematics of load transport, a system for determining the orientation of the robots with respect to load and robots control system. The orientation of robots with respect to load is calculated based on three methods that use the global pose of the robots, odom- etry of the robots and kinematic model, and visual markers. For path searching A* algorithm is used and for path following Trajectory Rollout algorithm is used. The algorithm is used to transform control orders for the load to controls for individual robots. The implementation of the algorithm is based on ROS (Robot Operating System) environment. The algorithm was developed and evaluated in Gazebo simulation environ- ment. It was then transferred and evaluated on a real system - on the mobile robot from company Epilog d.o.o. Open and closed-loop control experiments were done in simulation and on the real system. The proper working of the algorithm was determined using three indicators. First indicator in comparison of desired versus real velocity of the load. The second one is the forces between robots and the load. The third is sideways sliding of the robots. The algorithm worked in all simulated and real experiments which meant that the load was moving according to the commands without sideways sliding and without too big forces.

Magistrsko delo obravnava temo nabave tiskarskega papirja s pomočjo kontejnerskega transporta. V samemu začetku smo navedli cilje, namene, hipoteze, predpostavke in omejitve ter metode raziskovanja, ki smo jih uporabili za pisanje. Delo je sestavljeno iz štirih glavnih poglavji, ki obravnavajo teorije kontejnerizacije, tehnologijo kontejnerskega transporta, kontejnerske terminale in sam proces nabave tiskarskega papirja s pomočjo kontejnerskega transporta. V omenjenih poglavjih naloga podrobneje predstavi kontejnerizacijo in njen razvoj skozi zgodovino. Naloga se osredotoča tudi na vrste in standarde kontejnerjev ter njihov transport s pomočjo različnih transportnih sredstev. Naloga govori tudi o tehnologijah kontejnerskega transporta in elementih ter nalogah celinskega in pomorskega terminala. V samem koncu naloge bo predstavljen proces nabave tiskarskega papirja, kjer bodo obravnavane različne nabavne možnosti ter transportne metode. Na praktičnem primeru bo prikazan transport, varovanje in manipulacija tovora. Z realnimi cenami bo tudi prikazana in obrazložena najprimernejša nabava in transportna metoda tiskarskega papirja na mednarodnem trgu. The master's thesis deals with the topic of procurement of printing paper by means of container transport. At the outset, we outlined the goals, purposes, hypotheses, assumptions, limitations, and research methods we used to write the thesis. The work consists of four main chapters dealing with containerization theories, container transport technology, container terminals, and the process of procuring printing paper through container shipping. In the mentioned chapters, the paper presents in more detail containerization and its development throughout history. The task also focuses on the types and standards of containers and their transportation through various means of transport. The task also discusses container transport technologies and the elements and tasks of both the inland and maritime terminals. At the very end of the assignment, the process of purchasing printing paper will be presented, which will discuss different purchasing options and transportation methods. In a practical example, the transport, protection, and handling of cargo will be shown. Real prices will also show and explain the most appropriate procurement and shipping method of printing paper in the international market.

Z analizami obstoječih procesov v podjetjih pogosto prihajamo do številnih pomislekov in dognanj, da aktivnosti v obstoječih procesih ne potekajo v optimalnem zaporedju oz. smo mnenja, da se jih da spremeniti, optimizirati. Cilj sprememb v procesu je doseči pozitivne učinke v časovnem in finančnem segmentu poslovanja. Te pogosto dosegamo z reorganizacijami vpletenih sluţb znotraj podjetja ter spremembami načina poslovanja z zunanjimi gospodarskimi subjekti. Spremembe so ključne za učinkovitejše obvladovanje procesov in s tem povezano doseganje boljših poslovnih rezultatov. Globalizacija svetovnega trga, vzpostavitev elektronskega poslovanja in uporaba inteligentnih informacijskih sistemov predstavljajo povod za analizo obstoječega procesa uvoza in prevzema letalskih pošiljk v izbranem podjetju. Z analizo obstoječega stanja ţelimo ugotoviti, ali na tem področju obstaja moţnost po celoviti oz. delni prenovi procesa in ali prenova prinaša ţelene učinke, ki smo jih zapisali v prvem odstavku. Analysing the current processes in companies it is often established that the activities in these processes are not carried out in their optimal sequence and therefore, could be changed and improved. The aim of these changes would result in a shorter period or less time needed and would also affect the financial segments of business. All these are usually achieved by reorganising the services inside the company and changing the operations with external business subjects. Changes are of key importance for a more efficient process controlling and its related improved and better business results. Globalization of the world market, establishment of online business and the use of intelligent information systems present the cause and need for the analyses of the current import and takeover process of aircraft shipments in a certain company. Analysing the current condition helps us realize what the possibilities for full or partial process renovation are and whether they bring the results mentioned in the previous paragraph.

V modernem svetu se pojavlja vedno več prevozov, ki presegajo dopustne dimenzije ali osne obremenitve ter skupne mase, ki so predpisane v posameznih državah oziroma regulirane z mednarodnimi predpisi. Take prevoze imenujemo izredni prevozi in se obravnavajo kot posebna kategorija prevozov. Za njihovo kakovostno izvedbo je obvezno poznati pravno podlago in zakonodajne predpise, ki so nujno potrebni za učinkovito in varno organizacijo takšnih prevozov. Naloga se ukvarja z možnimi rešitvami prevoza izrednih tovorov, oziroma v našem primeru prevoza jahte v medcelinskih prevozih. V prvem delu opisuje pravne podlage, tako za prevoz po kopnem, morju in zraku. Na osnovi razpoložljivih podatkov smo poskusili poiskati optimalno rešitev z vidika varnosti prevoza in samih stroškov prevoza. In modern world there are rapid increases in transportation of cargo that exceed allowed dimensions or axle loads or maximum allowed weight determent with state legislation or international regulation. Such transportations are named oversize transport and is categorised as special category of transportation. For such transport is essential to know legal bases and regulations, that are essential for efficient and safe organization of such transport. Thesis is dealing with possible solutions of oversize transport, in specific case overseas transport of yacht. In first part we are explaining legal basis for oversize transport in sea, lend and air. On bases of available information’s to us, we have tray to fined optimal solution in regard of transport safety and cost of transport.