Propozycje tematów prac magisterskich 2014/15 Specjalność saas automatyka I Robotyka studia stacjonarne



Pobieranie 24.6 Kb.
Data02.05.2016
Rozmiar24.6 Kb.
Propozycje tematów prac magisterskich 2014/15

Specjalność SAAS

Automatyka i Robotyka - studia stacjonarne








Temat

Design for multi-input nonlinear systems

Cel pracy

This work aims to design a controller for multi-input nonlinear systems.

Zadania

  1. Presentation of the necessary and sufficient conditions for multi-input systems to be transformed to a controllable linear system.

  2. Building an automatic flight controller for vertical and short takeoff aircraft.

  3. Simulation results.

Promotor

prof. dr hab. inż. Krzysztof Kozłowski

Opiekun










Temat

Nonholonomic control design via reference vector Fields with application to nonholonomic systems with drift

Cel pracy

This work aims to carry out simulation results making use of reference vector fields in applications to flying robot.

Zadania

  1. Analysis of nonholonomic constrained and dipolar vector fields for higher dimensional systems.

  2. Stability analysis.

  3. Simulation results

Promotor

prof. dr hab. inż. Krzysztof Kozłowski

Opiekun










Temat

Nonholonomic path following with fastly oscillating controls

Cel pracy

This work aims to carry out simulation results making use of oscillating sinusoidal controls in applications to mobile nonholonomic robot

Zadania

  1. Design of non- admissible paths and controllable nonholonomic systems using fast oscillating sinusoidal controls.

  2. Stability analysis.

  3. Simulation results

Promotor

prof. dr hab. inż. Krzysztof Kozłowski

Opiekun










Temat

Practical validation of the Lyapunov-based Model-Reference Adaptive Controller on a fast-prototyping testbed

Cel pracy

The aim is to implement and experimentally verify effectiveness of the Lyapunov-based MRAC system for a selected laboratory-scale dynamical plant on a fast-prototyping testbed.

Zadania

The work will comprise of the following tasks:

  1. literature study on the selected adaptive control method

  2. implementation of the MRAC system on a fast-prototyping testbed

  3. multi-criteria experimental verification of the implemented control system under various working conditions.

Promotor

Dr. Eng. Maciej Michałek

Opiekun

Dr. Eng. Maciej Michałek







Temat

Visual simultaneous localization and mapping techniques for mobile robot

Cel pracy

The aim of the work is an overview of visual localization techniques and application for mobile robots.

Zadania

  1. An overview of visual simultaneous localization and mapping techniques.

  2. Practical implementation for mobile wheeled robot based on onboard camera.

  3. Experiment results

Promotor

dr inż. Marcin Kiełczewski

Opiekun










Temat

Motion planning and control of a nonholonomic vehicle using velocity fields

Cel pracy

The aim of this work is to design a motion planner for nonholonomic
systems taking advantage of velocity fields. Next, integration of motion
planner with the closed-loop controller will be considered. The proposed
control solution will be verified in Matlab/Simulink environment. The
experimental verification using a laboratory robot is planned.

Zadania

1. Theoretical analysis concerning some class of non smooth differential
equations.
2. Selection of basic vector fields used for description of goal and
obstacles in 2D environment.
3. Numerical implementation of a motion planner taking advantage of
vector fields.
4. Integration of the motion planner and closed loop controller
5. Design of PC application (C++, Linux) implementing the proposed
control scheme.
6. Experimental verification in a laboratory.

Promotor

dr inż. Dariusz Pazderski

Opiekun





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