Content of this diploma thesis is project of the digital control design for a thyristor source with GSM communication. Designed for corrosion protection. The work contain design of the whole device from the initial proposals of the electro diagrams up to finished product. It describes the events that arise in corrosion, explains the principle of operating a thyristor as a power switch. It also describes the creation and structure of a simple menu using the STM32 microprocessor. It explains the principle of controlling a source. Next, it deals with controlled rectifiers using a thyristor.

The topic of the diploma thesis is control of theatre stage devices. The basic types of control, methods for description and identification of systems and properties of regulators are discussed. Project includes description of theatre technogy and proposal for an appropriate control system. Also, a axis controller was implemented and tested on a real stage device.

The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.

A PID controller and a Fuzzy Logic controller were designed to balance an inverted pendulum system. Both controllers were implemented in a Digital Signal Processor (DSP). Measurements of the angular position of the pendulum (feedback signal) were taken from a precision potentiometer and transformed into digital by an Analog Interface Board (AlB) to be processed by the DSP. The DSP generated the digital control signal that was converted into analog by the AlB and then filtered and amplified to drive a DC motor. The DC motor provided the control force for the mobil base where the inverted pendulum was mounted. The PID controller was designed to move an unstable pole of the system from the tight side of the s-plane into the left side of the s-plane to provide stability and fast response. The Fuzzy Logic controller was designed using thirteen control rules that were generated using human intuition. It was found that the Fuzzy Logic controller required a considerably larger amount of memory than the PID controller. In general, the Fuzzy Logic controller performed better than the PID controller. It was concluded that nonlinearities present in some components of the system caused the PID controller not to perform as well. It was also found that the Fuzzy Logic controller was less sensitive to these nonlinearities, resulting in a better control of the inverted pendulum.

Thesis deals with design of construction, control and electronics for unstable balancing vehicle. The rst part is focused on the determination of requirements for the function and then design and manufacture of structure in line with set requirements, including 3D models and drawings. The second part is devoted to the creation of simulation models of vehicles using the Lagrange equations of the second kind and using SimMechanics. Also PID and LQR regulators are designed, including the advantages and disadvantages of each regulator for this application. The last part is focused on electronics necessary to vehicle operating. They are mainly power electronics (H-bridge, battery charger, switching supply of voltage board). There are also necessary calculations, complete PCB design and a description of the rmware for the this specifc device.

This thesis deals with the description of aircraft engines, their control requirements and control possibilities of these engines. In the practical part, the Jetcat P80-SE engine model was created. This model was then verified against a real engine with measured actual engine speed and temperature. These parameters were then compared with simulated engine speed and temperature. Due to this comparison we can say that it was possible to create a model of the engine that corresponds to the real engine. In addition, the speed controller was designed to meet the control requirements over the speed range. A PI speed controller was designed in different variants, the variants were then compared. Due to the safety limits of the manufacturer were not known, limit values were only implemented to show how the limitation could be implemented.

2 ABSTRACT In the Alternative DSM-5 Model for Personality Disorders (AMPD), the diagnosis of specific personality disorders is obtained through an evaluation of the level of impairment in personality functioning and an assessment of dimensional personality traits associated in 25 "lower order" facets and 5 "higher order" domains. The Personality Inventory for DSM-5 (PID-5) was developed for examination of personality traits within this system. This Ph.D. thesis covers five relevant publications regarding AMPD, particularly PID-5. First, the authors introduce the theoretical background of the PID-5. Attention is paid on its ease of use, data interpretation and use of these data for treatment planning in different clinical settings. Two empirical studies test PID-5 psychometric properties (internal consistency, validity, discrimination capacity and unidimensional structure) in the sample of community volunteers (n=351) and a clinical sample of psychiatric patients (n=143). PID-5 was administered individually and in a group setting using pen-paper method and online data collection. 33 respondents completed the inventory twice to check test-retest reliability. Authors presumed, evidence will be found to support internal consistency and convergent validity of the PID-5 personality trait domains, as well as their...

Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.

One of the most pressing problems nowadays is climate change and global warming. As it name indicates, it is a problem that concerns the whole earth. There is no doubt that the main cause for this to happen is human, and very related to non-renewable carbon-based energy resources. However, technology has evolved, and some alternatives have appeared in the energy conversion sector. Nevertheless, they are relatively young yet. Since the growth in renewable energies technologies wind power and PV are the ones that have taken the lead. Wind power is a relatively mature technology and even if it still has challenges to overcome the horizon is clear. However, in the PV case the technology is more recent. Even if it is true that PV modules have been used in space applications for more than 60 years, large scale production has not begun until last 10 years. This leaves the uncertainty of how will PV plants and modules age. The author will try to analyse the aging of a specific 63 kWp PV plant located in the roof of a building in Gävle, monitoring production and ambient condition data, to estimate the degradation and the new nominal power of the plant. It has been found out that the degradation of the system is not considerable. PV modules and solar inverters were studied, and even if there are more elements in the system, those are the principal ones. PV modules suffered a degradation of less than 5%, while solar inverters’ efficiency dropped from 95,4% to around 93%.

A conventional bicycle is a stable system given adequate forward velocity. However, the velocity region of stability is limited and depends on the geometric parameters of the bicycle. An autonomous bicycle is just not about maintaining the balance but also controlling where the bicycle is heading. Following paths has been accomplished with bicycles and motorcycles in simulation for a while. Car-like vehicles have followed paths in the real world but few bicycles or motorcycles have done so. The goal of this work is to follow a planned path using a physical bicycle without overcoming the dynamic limitations of the bicycle. Using an iterative design process, controllers for direction and position are developed and improved. Kinematic models are also compared in their ability to simulate the bicycle movement and how controllers in simulation translate to outdoors driving. The result shows that the bicycle can follow a turning path on a residential road without human interaction and that some simulation behaviours do not translate to the real world.