Unit:
Speciality Advanced Control Systems and RoboticsLibrary of the School of Agricultural Development, Nutrition and Sustainability
Author:
Samaras Dimitrios
Supervisors info:
Νικόλαος Δ. Κούβακας, Αναπληρωτής Καθηγητής, Γενικό Τμήμα, ΕΚΠΑ
Original Title:
Ιδιότητες Επιθυμητών Κανονικών Γλωσσών και Ανάπτυξη Κώδικα για PLC
Translated title:
Properties of Desired Regular Languages and PLC code development
Summary:
In this diploma thesis, the system of a moving robotic system designed to participate in a robotic sumo fight will be presented. The robotic system consists of two DC motors, two light sensors and four distance sensors. The first two are properly positioned and are used to keep the robotic system inside the space where the fight takes place while the four distance sensors are used to locate the opponent. The mathematical models of the individual subsystems of the system using finite deterministic automata will be presented. The overall system model will be developed. The automata references of the desired behaviors of the literature will be presented and the possibility of describing the desired behaviors of the system in the form of simple desired normal languages will be explored. The properties of the desired languages regarding the overall automaton will be investigated. The possibility of designing a modular supervisory architecture will be explored. Finally, Ladder diagrams will be developed for the implementation of the proposed controllers in a PLC environment.
Main subject category:
Science
Keywords:
Deterministic Finite Automaton, Supervisory control, Regular Languages, Modular supervisory control, Control of Robotic Systems
