This thesis deals with analyses of problems of path planning by means Rapidly-exploring Random Trees (RRT) algorithm. The teoretic part described of basic terms and navigation mobile robots. There are localization, mapping and path planning parts of navigation. Then it is description overview of localization of methods and overview of robot path planning methods. The practical describes implementation of proposed method in Delphi. The best method for path planning of robot using RRT algorithm. For reservation universal communications interface is application creation like dynamic library.

This dissertation presents a dynamic reconfigurable control strategy based on the Direct Machining And Control (DMAC) research at Brigham Young University. A reconfigurable framework is proposed which will allow a machine tool to be controlled by a variety of applications and control laws. This Reconfigurable Mechanism for Application Control (RMAC) paradigm uses a hierarchical architecture to configure a mechanism into a device driver for direct control by an application like CAD/CAM. The RMAC paradigm is one of a mechanism device driver assigned to each mechanism class or model, and uses only the master model to control the mechanism. The traditional M&G code language is no longer necessary since motion entities are passed directly to the mechanism. The design strategy of using dynamic-link libraries (DLL) to form a mechanism device driver permits a mechanism to assume different operating configurations, depending on the number of axes and machine resolution. For example, the machine can perform as a material removal machine in one instant, and then, by loading a new device driver, act as a Coordinate Measuring Machine (CMM). This strategy is possible because RMAC is a software and networked-based control architecture. Both the CAD/CAM planning software and the real-time control software reside on the same PC. The CAM process plan can thus directly control the machine without need for process plan decomposition into the forms supported by the controller. The architectural framework is explained in detail and the methodology for control software reconfiguration into a device driver is presented. For demonstration purposes two device drivers are implemented on a prototype machine to demonstrate feasibility and usefulness.

Ein Vorteil von Mathcad^® ist das übersichtliche Arbeitsblatt. Mathematische Gleichungen werden nicht als verwirrende Kette von Buchstaben und Zahlen dargestellt, sondern in eindeutiger mathematischer Notation. Die Gleichungen werden standardmäßig nach der Eingabe auf Plausibilität geprüft. Viele Funktionen - auch komplexe Lösungsalgorithmen - werden bereits mitgeliefert. Weiterhin können formatierte Textfelder für eine gute Dokumentation genutzt werden, z.B. für Berechnungsnachweise. Daher kann das Arbeitsblatt in sehr kurzer Zeit entwickelt werden und ist für neue Anwender leicht nachzuvollziehen. Jedoch wird jeder Vorteil durch einen Nachteil erkauft. So liegen eine geringere Rechengeschwindigkeit, eingeschränkter Codeschutz und nur wenige Möglichkeiten zur Kommunikation mit anderen Programmen vor. Diese Nachteile können durch dynamische Bibliotheken verringert werden. Dieser Artikel stellt die Vorteile der DLL-Programmierung für Mathcad^® dar und zeigt einige Beispiele zur Erhöhung der Rechengeschwindigkeit, zum Quellcodeschutz und zur Codeportierung. / One advantage of Mathcad^® is the well arranged worksheet. Mathematic equations are not displayed in confusing chains of characters but in clear mathematical notation. The equations normaly are checked of plausibility including units after writing. Many functions - even complex solving algorithms - are already defined. Furthermore formatted comments lead to a good documentation, e.g. for calculation reports. Hence the calculation sheets are developed in a very short time and they are easy to comprehend for new users. However every advantage is bought by a disadvantage. Therefore there is a less calculation speed, limited possibilities for code protection and only few possibilities of communication with other programs. These disadvantages can be removed by using dynamic link libraries (DLL's). This article gives an introduction of programming DLL's in Mathcad^® and shows some examples to increase calculation efficiency, code protection and code transfer.

The thesis deals with programming of application in operating system Windows. Main features of application system Microsoft Foundation Class are resumed in brief here. In following part there is idea about implementing an application with graphic user interface that makes, using schema, work with data, possible. The third part deals with implementation of blocks into dynamic linked libraries and there is outlined a possibility to use data of this programme as an external module and a possibility of realtime data processing e.g. picture and sound. The verification of a good functionality of this application is in the last part. The application is really tested in diagnosing of devaluated texts for protecting web forms www.centrum.cz. There were designed blocks making picture read possible just from internet, preprocessing, segmentation, feature extraction, evaluationg in neural network and blocks that make possible to read and save processed data into the disc.

Ein Vorteil von Mathcad^® ist das übersichtliche Arbeitsblatt. Mathematische Gleichungen werden nicht als verwirrende Kette von Buchstaben und Zahlen dargestellt, sondern in eindeutiger mathematischer Notation. Die Gleichungen werden standardmäßig nach der Eingabe auf Plausibilität geprüft. Viele Funktionen - auch komplexe Lösungsalgorithmen - werden bereits mitgeliefert. Weiterhin können formatierte Textfelder für eine gute Dokumentation genutzt werden, z.B. für Berechnungsnachweise. Daher kann das Arbeitsblatt in sehr kurzer Zeit entwickelt werden und ist für neue Anwender leicht nachzuvollziehen. Jedoch wird jeder Vorteil durch einen Nachteil erkauft. So liegen eine geringere Rechengeschwindigkeit, eingeschränkter Codeschutz und nur wenige Möglichkeiten zur Kommunikation mit anderen Programmen vor. Diese Nachteile können durch dynamische Bibliotheken verringert werden. Dieser Artikel stellt die Vorteile der DLL-Programmierung für Mathcad^® dar und zeigt einige Beispiele zur Erhöhung der Rechengeschwindigkeit, zum Quellcodeschutz und zur Codeportierung. / One advantage of Mathcad^® is the well arranged worksheet. Mathematic equations are not displayed in confusing chains of characters but in clear mathematical notation. The equations normaly are checked of plausibility including units after writing. Many functions - even complex solving algorithms - are already defined. Furthermore formatted comments lead to a good documentation, e.g. for calculation reports. Hence the calculation sheets are developed in a very short time and they are easy to comprehend for new users. However every advantage is bought by a disadvantage. Therefore there is a less calculation speed, limited possibilities for code protection and only few possibilities of communication with other programs. These disadvantages can be removed by using dynamic link libraries (DLL's). This article gives an introduction of programming DLL's in Mathcad^® and shows some examples to increase calculation efficiency, code protection and code transfer.

Frequency monitoring network (FNET) is an Internet based GPS synchronized wide-area frequency monitoring network deployed at distribution level. At first part of this thesis, FNET structure and characteristics are introduced. After analysis and smoothing FDR signals, the algorithm of event trigger is present with Visual C++ DLL programming. Estimation of disturbance location method is discussed based on the time delay of arriving (TDOA) in the second part of this work. In this section, author shows the multiply method to calculate event time, which is important when deal with pre-disturbance frequency in TDOA part. Two event kinds are classified by the change of frequency and the linear relationship between change of frequency and imbalance of generation and load power is presented. Prove that Time Delay of Arrival (TDOA) is a good algorithm for estimation event location proved by real cases. At last, the interface of DLL module and the key word to import and export DLL variables and function is described. At last, PSS compensation optimization with a set of nonlinear differential algebraic equations (DAE) is introduced in detail. With combining the bifurcation theory of nonlinear system and the optimization theory, the optimal control of small-signal stability of power electric systems are solved. From the perspective of stability margin, global coordination of controller parameters is studied to ensure the stable operation of power grids. The main contents of this thesis include: ï¼ 1ï¼ Models of power systems and test power electric systems. Tht5e dynamic and static models of the elements of power systems, such as generatorbbs, AVRs, PSSs, loads and FACTS controllers are presented. Method of power system linearization modeling is introduced. Three test power systems, WSCC 9-bus system, 2-area system, New England 39-bus system, are used in thesis. ï¼ 2ï¼ Multi-objective optimizations based on bifurcation theory. The optimization models, damping control-Hopf bifurcation control, voltage control-damping control, are presented. Pareto combined with evolutionary strategy (ES) are used to solve multi-objective optimizations. Based on traditional PSS parameters optimizations, it can be formulated as a multi-objective problem, in which, two objectives should be taken into account. The minimum damping torque should be identified. / Master of Science

The main aim of master's thesis is usage of new instructions from instruction set called Intel® Advanced Encryption Standard New Instructions (AES-NI), which is available on processors with code name Westmere and newer. In theoretical part, there are described symmetric block ciphers and their operational modes. Cipher AES is described in details, especially used block transformations, key expansion and equivalent inverse cipher. Next topic is description of instructions of AES-NI instruction set – their function is explained using pseudo codes of instructions and there are examples of their usage in code. Further in work, dynamic-link library is created, which implements cipher AES with key sizes 128, 192 and 256 bites and implements operational modes described in theoretical part. Library functions are called from Matlab by scripts and their functionality is proved by checking test vectors values, which are provided in publications of National Institute of Standards and Technology.