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This diploma thesis deals with a new concept of maintenance and operation of production technologies, where spare parts are manufactured using rapid prototyping methods. The options are compared with currently used methods. Furthermore, methodological recommendations are written on how to proceed with the application. The aim of the work is to evaluate the concept and confirm the theoretical assumptions on a case study.

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Βασικό αντικείμενο της εργασίας είναι ο έλεγχος και η ευστάθεια ομάδων αποτελούμενων από κινούμενα ρομπότ. Για το σκοπό αυτό καταγράφονται και παρουσιάζονται, αναλυτικά, μέθοδοι και τρόποι που εξυπηρετούν προς την κατεύθυνση αυτή. Η εργασία χωρίζεται σε τέσσερα κεφάλαια, από τα οποία, τα τρία πρώτα έχουν θεωρητικό χαρακτήρα, σε αντίθεση με το τέταρτο κεφάλαιο που είναι πρακτικού περιεχομένου. Το πρώτο κεφάλαιο αποτελεί, κατά μία έννοια, εισαγωγή στο θέμα του ελέγχου ρομπότ, καθώς παρουσίαζεται σε αυτό μία μέθοδος με την οποία επιτυγχάνεται ο έλεγχος και ο σχεδιασμός κίνησης για ένα και μόνο ρομπότ, σε περιβάλλον εμποδίων. Με τον τρόπο αυτό δίνεται μία βάση και ένα θεωρητικό πλαίσιο, για την περαιτέρω μελέτη, που παρουσιάζεται στα επόμενα κεφάλαια και αφορά ομάδες από κινούμενα ρομπότ. Στο δεύτερο κεφάλαιο γίνεται η παρουσίαση μίας μεθόδου με την οποία μπορεί να καθοριστεί ένας σχηματισμός αποτελούμενος από ρομπότ, ικανός να εκτελέσει διάφορες επιθυμητές κινήσεις και κατόπιν, αφού εξασφαλιστεί αυτή η ικανότητα, να κατασκευάστεί ένα κατάλληλο σύστημα ελέγχου για την πραγματοποιήση των κινήσεων αυτών. Στο τρίτο κεφάλαιο, που ολοκληρώνει και το θεωρητικό μέρος της εργασίας αυτής, γίνεται η καταγραφή μιας μεθόδου για την εξέταση της ευστάθειας σχηματισμών ρομπότ κατά την εκτέλεση κινήσεων στο χώρο, σε περιβάλλον εμποδιών. Η μέθοδος αυτή συναντάται με τον αγγλικό όρο, Leader-to-Formation Stability (LFS) και σχετίζεται με τον βαθμό διατήρησης της μορφής του σχηματισμού και των σφαλμάτων σχηματισμού εντός επιτρεπτών ορίων. Στο τέταρτο κεφάλαιο, γίνεται η παρουσίαση ενός προγράμματος σε γλώσσα Matlab, με το οποίο επιτυγχάνεται η προσομοίωση κινήσεων ενός ή πολλών ρομπότ στο επίπεδο, σε περιβάλλον εμποδίων. Το πρόγραμμα συναντάται εξ ολοκλήρου και στο συνοδευτικό CD της εργασίας. / Basic object of this work is the control and the stability of teams constituted of moving robots. For this aim they are recorded and are presented, analytically, methods and ways that they serve to this direction. The work is separated in four chapters, from which, the three first have theoretical character, contrary to the fourth chapter that is of practical content. The first chapter constitutes, at a significance, import in the subject of robot control , as is presented in this, a method with which are achieved the control and the planning of movement for one and alone robot, in environment of obstacles. With this way is given a base and a theoretical frame, for the further study, that is presented in the next capitals and concerns teams of moving robots. In the second chapter comes the presentation of a method with which it can be determined a formation of robots, that is capable to execute various, desirable movements and then, after is ensured this faculty, is been constructed a suitable system of control for the realisation of this movements. In the third chapter, that it completes also the theoretical part of this work, comes the recording of a method for the examination of stability of formations of robots, at the implementation of movements in the space, in environment of obstacles. This method is met with the English term, Leader-to-Formation Stability (LFS) and is related with the degree of maintenance of form of the formation and faults of formation inside permissible limits. In the fourth chapter, comes the presentation of a program in Matlab language , with which is achieved the simulation of movements of one or many robots on the surface, in environment of obstacles. The program is met entirely also in the accompanying CD of this work.

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Made available in DSpace on 2014-12-17T15:48:12Z (GMT). No. of bitstreams: 1 LeonardoDO_DISSERT.pdf: 3357434 bytes, checksum: 75c2c837997e2220e8de164c844c9b5d (MD5) Previous issue date: 2014-06-05 / Due to the constantly increasing use of wireless networks in domestic, business and industrial environments, new challenges have emerged. The prototyping of new protocols in these environments is typically restricted to simulation environments, where there is the need of double implementation, one in the simulation environment where an initial proof of concept is performed and the other one in a real environment. Also, if real environments are used, it is not trivial to create a testbed for high density wireless networks given the need to use various real equipment as well as attenuators and power reducers to try to reduce the physical space required to create these laboratories. In this context, LVWNet (Linux Virtual Wireless Network) project was originally designed to create completely virtual testbeds for IEEE 802.11 networks on the Linux operating system. This paper aims to extend the current project LVWNet, adding to it the features like the ability to interact with real wireless hardware, provides a initial mobility ability using the positioning of the nodes in a space coordinates environment based on meters, with loss calculations due to attenuation in free space, enables some scalability increase by creating an own protocol that allows the communication between nodes without an intermediate host and dynamic registration of nodes, allowing new nodes to be inserted into in already in operation network / Com o crescimento constante da utiliza??o de redes sem fio em ambientes dom?sticos, empresariais e at? industriais, aparecem novos desafios. A prototipa??o de novos protocolos nesses ambientes tipicamente ? restrita a ambientes de simula??o, onde existe a necessidade de uma dupla implementa??o, uma no ambiente de simula??o, onde se realiza uma prova de conceito inicial e outra em um ambiente real. Al?m disso, uma vez que se parta para ambientes reais, n?o ? trivial a cria??o de um testbed para redes sem fio de alta densidade, dada a necessidade de uso de v?rios equipamentos reais, e uso de atenuadores, redutores de pot?ncia, para tentar reduzir o espa?o f?sico necess?rio para cria??o desses laborat?rios. Nessa lacuna, o projeto LVWNet (Linux Virtual Wireless Network) foi inicialmente concebido para cria??o de testbeds completamente virtuais para redes IEEE 802.11 sobre o sistema operacional Linux. Este trabalho tem como objetivo extender o atual projeto LVWNet adicionando a ele os recursos de possibilitar a intera??o com hardwares wireless reais, dar um suporte inicial ? mobilidade atrav?s do posicionamento dos n?s em um ambiente de coordenadas no espa?o baseado em metros, j? com c?lculos de perda decorrente da atenua??o em espa?o livre, aumentar a escalabilidade com a cria??o de um mecanismo que permita a comunica??o direta entre os n?s sem necessidade de um host intermedi?rio al?m do registro din?mico de n?s, de modo que novos n?s podem ser inseridos na rede com a mesma j? em opera??o