Faculty of Electrical Engineering

Czech Technical University in Prague

CTU in Prague

Topics for the Final State Examination of the Master Study Program Cybernetics and Robotics

Common topics

  1. Functions of complex variable. Curve integral. Cauchy Theorem, Laurent  expansions.  Classification of singularities. Residue Theorem. Fourier transform. Inverse Laplace  transform (method of residua). (AE3M01MKI)
  2. Random process, description and  basic classification. Stationary  processes - covariance function and spectral density. Markov processes. (AE3M01MKI)
  3. State, state equations. Solution of state equations, modes of system. System equivalence. Continuous-time, discrete-time and sampled-data systems. Lyapunov stability, asymptotic stability, BIBO stability of linear system. (AE3M35TDS)
  4. Reachability and controllability of system. Observability and constructability of system. Standard forms of system. Transfer function, zeros and poles of system and transfer function. Realization of system, minimal realization. (AE3M35TDS)
  5. State feedback, state observer, separation of state feedback and observation. System interconnections, output feedback. PID controllers. Pole placement, root locus, frequency-response based methods. (AE3M35TDS)
  6. Robots able to perceive surrounding world and their architectures. Behavior-based robots. Sensorimotoric coordination. Cognitive robot and its subsystems. Feedback loops. (AE3M33IRO)
  7. Planning in robotics. Configuration space (C-space). Planning as sampling of C-space. Planning under constraints. (AE3M33IRO)
  8. Robotic hand. Humanoid robots. Modules allowing surrounding world perception. Computer vision, tactile information and its processing. Utilizing sounds in robotics. Uncertain information fusion in robotics. Cognitive robotics. (AE3M33IRO)
  9. Diagnostics, prognostics, FMEA (Failure Modes and Effects Analysis), FMECA, FMSA. Fault modeling, fault detection and diagnosis, fault tolerance. Condition-based monitoring. (AE3M38DIT)
  10. Analysis of vibration and noise, cepstral and envelope analysis, order analysis. Prognostics for life-cycle management. Impulse and continuous acoustic emission diagnostics. (AE3M38DIT)
  11. Non-destructive testing (NDT), detection and localization, ultrasonic NDT, non-contact methods. Eddy current NDT, holography, endoscopy, thermovision and radiography. (AE3M38DIT)
  12. In-circuit testing. Design for test. Digital testing, fault masking, path sensitization, test compression. Boundary scan. Industrial testing and Diagnostics of Electronic Systems. (AE3M38DIT)

Branch - Robotics

  1. Real-time system, requirements, properties. Coding standards, versioning systems, software certification. Memory access timing, dynamic memory management. (A3M35PSR)
  2. Scheduling in real-time systems: clock controlled, with static and dynamic priorities; protocols for shared sources management. Combining real-time and ordinary tasks. (A3M35PSR)
  3. Classification (pattern recognition) methods, Bayesian and non-Bayesian tasks, Adaboost, SVM classifiers. Learning theory: consistency, capacity, PAC. Sequential decision making, features extraction and synthesis. Linear and non-linear planning. (A3M33UI)
  4. Multi-agent systems: agent types, basic architectures. Collective behavior of agents, distributed decision making. Social behavior of agents. Meta-reasoning, team cooperation of agents. Multi-agent planning and scheduling. Artificial life – basic principles and algorithms. (A3M33UI)
  5. Rotation and space trajectory representation and parametrization. Axis of the movement. Modified Denavit-Hartenberg kinematic description. Kinematic description of a redundant and parallel manipulator. Solving systems of algebraic equations, resultant, Gröbner bases. (A3M33PRO)
  6. Algebraic formulation of the inverse kinematic task and its solution for 6R manipulator. Algebraic formulation of the task identifying the 6R manipulator kinematic parameters and providing their solution. Singular positions of a manipulator, their description and finding. (A3M33PRO)
  7. Robot world representation in mobile robotics and typical related tasks. Types of models, their creation (sensor fusion), localization and activity planning for individual robots. (A3M33MKR)
  8. Group robotics, cooperation and coordination in multi-robot systems. Planning for the group of robots. Localization in a group of robots. Group behaviors and their realization. Multi-agent systems in collective robotics. (A3M33MKR)
  9. Analysis and modeling of information flows in an enterprise. SSADM methodology. Enterprise information systems, enterprise resources planning (ERP), customer relation management (CRM), Enterprise contents management (ECM). (A0M3PIS)
  10. Reliability, stability and robustness of the information system. Redundancy, properties of the redundant system, software errors influence, cost of the break down and error. System of the information security management. Solution to the enterprise information system security. Quality management. (A0M3PIS)
Responsible person: doc. Ing. Jiří Jakovenko, Ph.D.