Note:

Ein Haupteinsatzgebiet der Großraummanipulatoren stellen Betonverteilermasten dar. Aufgrund der langen schmalen Armkonstruktionen fällt bei diesen Maschinen der Trend zum Leichtbau bezüglich der Dynamik besonders ins Gewicht. Um die Vorteile leichter Konstruktionen wie geringere Achslasten, geringerer Kraftstoffverbrauch und kleinere Antriebe nutzen zu können, werden Regelungen benötigt, die die Struktur stabilisieren und ein Schwingen der Mastspitze verhindern. Zur Systemanalyse und Regelungsauslegung wurde ein Mehrkörpermodell aus starren und elastischen Körpern sowie den notwendigen Hydraulikzylindern erstellt und durch Messungen validiert. Am Modell konnte gezeigt werden, dass die Regelung im letzten Gelenk die Schwingung an der Mastspitze maßgeblich beeinflusst und zur Schwingungstilgung eingesetzt werden kann. Hierfür wird die Bewegung des Verteilermastes durch eine Ausgleichsbewegung im letzten Gelenk kompensiert, sodass die Mastspitze keine starken Schwingungen ausführt. Die Schwingungen werden über Beschleunigungsmessung detektiert und nach entsprechender Filterung kann die Bewegung bestimmt werden. Mittels Sliding Mode Control erfolgt die Berechnung der schwingungsmindernden Zylinderkraft und garantiert somit Robustheit gegenüber Modellierungsungenauigkeiten und äußeren Störungen. Die Kraftregelung des Hydraulikzylinders wird anschließend über eine Integrator-Backstepping Regelung realisiert. Die resultierende Schwingungsminimierung beträgt in unterschiedlichsten Maststellungen bis zu 95%. / A special case of multi-link manipulators are truck mounted concrete pumps. Due to the lightweight design of the long and slender boom, it is vulnerable to vibrations. The advantages are smaller masses and therefore less actuation power which results in smaller actuators with less fuel consumption. In order to retain the advantages of lightweight design, special controllers are needed to stabilize the overall system and result in a vibration free motion of the boom tip. A multibody system with flexible bodies has been built in order to analyse the system's behaviour and to test and design appropriate control strategies. It could be demonstrated, that controlling only the last joint of the boom decisively effects the motion of the boom tip and is therefore suitable to suppress vibrations. The idea is to compensate the boom's motion by adjusting the last joint angle in a way, so that the boom tip stays at its initial position. In order to implement these findings and obtain a robust control three steps are necessary: the boom's motion must be measured and a vibration reducing force defined which has to be applied by the hydraulic actuator. The vibrations are detected by acceleration measurement and after appropriate filtering a joint angle trajectory can be determined. The cylinder force is found using Sliding Mode Control which guarantees robustness against modeling inaccuracies and external disturbances. A mathematical description of the last segment is necessary for the design of this nonlinear control strategy. The force control of the hydraulic cylinder is then implemented via backstepping control. The resulting vibration is minimized by this control by up to 95% at different boom positions.

Ein Haupteinsatzgebiet der Großraummanipulatoren stellen Betonverteilermasten dar. Aufgrund der langen schmalen Armkonstruktionen fällt bei diesen Maschinen der Trend zum Leichtbau bezüglich der Dynamik besonders ins Gewicht. Um die Vorteile leichter Konstruktionen wie geringere Achslasten, geringerer Kraftstoffverbrauch und kleinere Antriebe nutzen zu können, werden Regelungen benötigt, die die Struktur stabilisieren und ein Schwingen der Mastspitze verhindern. Zur Systemanalyse und Regelungsauslegung wurde ein Mehrkörpermodell aus starren und elastischen Körpern sowie den notwendigen Hydraulikzylindern erstellt und durch Messungen validiert. Am Modell konnte gezeigt werden, dass die Regelung im letzten Gelenk die Schwingung an der Mastspitze maßgeblich beeinflusst und zur Schwingungstilgung eingesetzt werden kann. Hierfür wird die Bewegung des Verteilermastes durch eine Ausgleichsbewegung im letzten Gelenk kompensiert, sodass die Mastspitze keine starken Schwingungen ausführt. Die Schwingungen werden über Beschleunigungsmessung detektiert und nach entsprechender Filterung kann die Bewegung bestimmt werden. Mittels Sliding Mode Control erfolgt die Berechnung der schwingungsmindernden Zylinderkraft und garantiert somit Robustheit gegenüber Modellierungsungenauigkeiten und äußeren Störungen. Die Kraftregelung des Hydraulikzylinders wird anschließend über eine Integrator-Backstepping Regelung realisiert. Die resultierende Schwingungsminimierung beträgt in unterschiedlichsten Maststellungen bis zu 95%. / A special case of multi-link manipulators are truck mounted concrete pumps. Due to the lightweight design of the long and slender boom, it is vulnerable to vibrations. The advantages are smaller masses and therefore less actuation power which results in smaller actuators with less fuel consumption. In order to retain the advantages of lightweight design, special controllers are needed to stabilize the overall system and result in a vibration free motion of the boom tip. A multibody system with flexible bodies has been built in order to analyse the system's behaviour and to test and design appropriate control strategies. It could be demonstrated, that controlling only the last joint of the boom decisively effects the motion of the boom tip and is therefore suitable to suppress vibrations. The idea is to compensate the boom's motion by adjusting the last joint angle in a way, so that the boom tip stays at its initial position. In order to implement these findings and obtain a robust control three steps are necessary: the boom's motion must be measured and a vibration reducing force defined which has to be applied by the hydraulic actuator. The vibrations are detected by acceleration measurement and after appropriate filtering a joint angle trajectory can be determined. The cylinder force is found using Sliding Mode Control which guarantees robustness against modeling inaccuracies and external disturbances. A mathematical description of the last segment is necessary for the design of this nonlinear control strategy. The force control of the hydraulic cylinder is then implemented via backstepping control. The resulting vibration is minimized by this control by up to 95% at different boom positions.

The main purpose of this thesis is to describe in detail the processes of selected parts of the construction technology project for the construction of the department store Galéria Lučenec, based on the project documentation provided by the principal engineer. It is a large-scale new building with a cast-in-place reinforced concrete load-bearing structure with steel elements located in the center of Lučenec. The diploma thesis consists of the main parts such as the technical report of the construction technology project, a detailed coordination situation of the construction site, and a detailed time and financial plan of individual buildings. Within the main building, a study of the main technological stages of construction, elaboration of the project site equipment together with the associated design documentation and the technical report, design of the main construction machines and mechanisms, time schedule of the main building processes, and an item budget are described. Within the technological regulation and the control plan, the diploma thesis is focused on the cast-in-place structures of the superstructure. In the final part of the project, there are chapters devoted to topics such as occupational health and safety on the construction site, evaluation of LEED 2009 certification, the procedure for securing the construction pit, and the assessment of the main vertical lifting mechanisms.

Subject of this master thesis is the structural and technological background for the construction of high school in Rajhrad. This consists of time and finanical plans, technological instructions for the reinforced concrete monolithic skeleton, time schedule, item budget, construction site layout, machinery configuration , audit and evaluation plans, work place safety protocols, environmental plan of the construction site.

This diploma thesis deals with construction and technological solution of hotel Nábřeží near Kunovská dam. The aim of this work is to choose the appropriate construction process of rough construction. Thesis contains technical report of main object, technological prescription and test plan for reinforced concrete ceiling, work plan and schedule of work also project of site equipment, main construction machinery and noise measurement survey. Further there is financial and time demand comparison of existing and alternative design of vertical load-bearing system in the connection with thermal insulation.

The subject of my diploma thesis are selected parts of the construction technology project of the psychiatric clinic of the University Hospital Brno based on the provided project documentation. It is an extension of a new six-storey building to the existing buildings. The thesis contains a technical report to the construction technology project, the coordination situation of the construction, the situation of wider transport routes, time and financial plan by objects, study of the realization of the main technological stages, a site equipment design, a design of a machine set, technological regulation for monolithic structures, quality control and testing plan of monolithic structures, noise study and selected documents for LEED certification.

This thesis describes the building of a residential house called Rezidence Sochorova BD02 in Brno, Žabovřesky. The aim was the creation of the main parts of a constructional-technological project focused on the design of transport relations, the construction site facilities and its machinery, the creation of selected technological regulations and their control and testing plans. To secure safety and to protect health during the construction work itself, a risk plan and a suggestion of safety aids was created. In addition, an itemized budget of the construction, a time plan, environmental protection and a financial and time comparison of using a hopper in contrast to a concrete pump.

The aim of this thesis is compile building and technological project of new office building of the company ESKO-T in Třebíč. This is a two-storey building, build technology cast-in-place longitudinal reinforced concrete frame with mono-pitched roof. Work is consist of a possible solution of steel, concrete and formwork of rental shop to building. Building and technological project, technological regulation for concreting, draft machine configuration, documentation broker transport relations, the crane card and concrete pump, control od worte quality, time schedule and building budget rough upper construction, environmental protection, occupational safety and health, object work schedule and price comparison concreting with hanging silo for concrete and concrete pump.

The subject of this diploma thesis is the elaboration of a construction technological project for the construction of a residential complex Nový Žižkov in Poděbrady, where I will focus on the technological stage of the gross building of the main building SO-01 apartment building – section BI+BII (56 dwelling units). The supporting system of the building is composed of a combination of monolithic reinforced concrete structures and ceramic blocks. The foundation of a residential building is designed as a reinforced concrete basin with reinforcing ribs. The diploma thesis contains a text and attachment part.