In final master thesis there are described robots’ control optimization methods and control algorithms. In review there are discussed automated control systems of robots and control of robots, compatibility of robot and microcontroller, problems of search optimization. The main master thesis aim is to optimize robot’s control system by using search optimization methods. An algorithm of URTK robot was optimized and new subroutine of robot control system was created. There was optimized transient process of robot control open system, using Kvazio1 software and its algorithmic methods of syntheses. Using results of research and there are made conclusions and suggestions.

Darbe nagrinėjami algoritmai skirti automatiniam automobilio parkavimui. Pasirinkti du algoritmai: pirmasis remiasi ultragarso sonarų teikiama informacija, antrasis ultragarso sonarų ir vaizdo kameros teikiamais duomenimis. Abu algoritmai remiasi fuzzy logika. Nustatyta, kad realiomis sąlygomis atlikti automatinį automobilio parkavimą remiantis tik ultragarso sonarais yra nepatikima – patikimumas ir sistemos nauda ženkliai pagerėja pasitelkus vaizdo kamerą. Įsisavinus ir perpratus robotikos platformą Microsoft Robotics Developer Studio 4 sukurtas automobilio modelis grafinėje miesto aplinkoje. Modelis aprūpintas sonarais ir vaizdo kameromis, todėl gali būti universaliai naudojamas parkavimosi algoritmų bandymams ir analizei Microsoft Robotics Developer Studio 4 vizualios simuliacijos aplinkoje (VSE). / The thesis „Motion Trajectory Planning Using Distance Sensors“ deals with algorithms for automatic car parking. There were chosen two algorithms: the first is based on information provided by ultrasonic sonars, and the second is based on ultrasonic sonars and video camera. It was found that under realistic conditions algorithm based only on sonars is not such reliable as algorithm based on ultrasonic sonars and video camera, which significantly improves the results. There was created graphical model of the car in urban environment in Microsoft Robotics Developer Studio 4. The model is equipped with sonars and video cameras, so it can be universally used for parking algorithms analysis and testing in Microsoft Robotics Developer Studio 4 visual simulation environment (VSE).

Šiame darbe atlikti konteinerinio tipo automatinės telekomunikacijų stoties (ATS), elektros energijos poreikių tyrimai. Tyrimų metu nustatyta, kad ATS kuri teikia fiksuoto ryšio paslaugas 250 vartotojų ir interneto prieigos paslaugas 156 vartotojams, per metus sunaudoja apie 6582 kWh elektros energijos, iš kurios apie 24 % (1550 kWh) sunaudojama įrangos kondicionavimui. Tyrimais nustatyta, kad elektros energijos suvartojimas tiesiškai priklauso nuo aplinkos oro temperatūros. Ištyrus ATS elektros energijos vartojimo ir saulės energijos kaitos dinamiką statistiniais metodais, nustatyta, kad apie 5326 kWh saulės energijos, konvertuotos į elektros energiją, galima naudoti tiesiogiai. Tai sudarytų apie 81 % nuo visos ATS suvartojamos energijos per metus. / In this study are analyzed a container – type automatic stations of telecommunications (ATS) electrical energy demand. There is investigated that ATS, which provides services of fixed connection for 250 users and internet access services for 156 users, consumes per year about 6582 kWh of electrical energy. About 24 % (1550 kWh) of this amount was consumed for conditioning of the equipment. It was found the linear correlation between energy demand and ambient temperature of the station. Investigation of the ATS electrical energy consumption and dynamics of solar energy changes using statistical methods found that about 5326 kWh of solar energy converted into electrical power can be used directly. This would represent about 81 % of the total energy consumption of ATS during the year.