Faculty of Electrical Engineering

Czech Technical University in Prague

CTU in Prague

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

Common topics

  • P1. Mathematical models of linear and nonlinear dynamical systems. Different concepts of stability. State estimation. State and output feedback (BE3M35LSY Linear systems).
  • P2. Autonomous robotics: control architectures of autonomous robotics, planning in robotics, localization and mapping in robotics. (BE3M33ARO Autonomous robotics).
  • P3. Fault detection, fault tolerance, reliability, diagnostics and testing of mechanical, electronic, and electromechanical systems (BE3M38DIT Diagnostics and Testing).

Specialized field: Robotics

  • R1. Control architectures of autonomous robotics. Perception-action cycle. Trajectory for autonomous robots (manipulator, vehicle). Configuration space, path planning. (BE3M33UI Artificial Intelligence).
  • R2. Simultaneous localization and mapping. Robotic manipulation. Force compliant robot. Several collaborating robot (BE3M33MKR Mobile and collective robotics).
  • R3. Real-time systems and their scheduling. Safety critical software (BE3M35PSR Real-time Systems Programming).
  • R4. Relational databases. Query language SQL. Industrial information systems. SCADA systems (BE3M33PIS Industrial Information Systems).
  • R5. Description, calibration and kinematics analysis of industrial robots (BE3M33PRO Advanced Robotics).

Specialized field: Sensors and instrumentation

  • SPT1. Methods and circuits for preprocessing and digitization of analog signals (BE3M38ZDS Analog Signal Processing and Digitalization)
  • SPT2. Videometry and Contactless Measurement (BE3M38VBM Videometry and Contactless Measurement).
  • SPT3. Virtual Instrumentation and modular systems for measurement and data analysis (BE3M38VIN Virtual Instrumentation).
  • SPT4. Data Acquisition and Transfer, interfaces, sensor networks (BE3M38SPD Data Acquisition and Transfer).
  • SPT5. Methods of signal processing and applications of modern sensors (BE3M38MSE Modern Sensors).

Specialized field: Systems and control

  • SR1. Nonlinear systems, stability and analysis. Different kinds of linearization of nonlinear systems. (BE3M35NES Nonlinear systems).
  • SR2. Optimality and optimalization methods for controller design. Robustness, its testing and robust controller design (BE3M35ORR Optimal and robust systems).
  • SR3. Stochastic modelling. Uncertainty. Optimal state estimation. Adaptive control. Probability detection and isolation of disturbances (BE3M35OFD Estimation, filtration and detection).
  • SR4. Discrete-event systems. and hybrid systems (BE3M35SDU Discrete-event systems).
  • SR5. Networks and their analysis. Graph theory. Distributed control and estimation (BE3M35DRS Dynamics and network control).

Specialized field: Aerospace systems

  • LKS1. Aircraft avionics, design, immunity to external influences, and electromagnetic compatibility. Aircraft power and its distribution. Inertial navigation systems (BE3M38PSL Aircraft Avionics).
  • LKS2. Aircraft instrumentation, its HW/SW design and operational reliability and safety. Aircraft data buses (BE3M38INA Integrated Modular Avionics).
  • LKS3. Aircraft autonomous control systems and principles. Trajectory guidance and control. Flight planning (BE3M35SRL Flight Control Systems).
  • LKS4. Communication systems. Radio frequency based navigation systems. Global navigation satellite systems (BE3M37LRS Aeronautical Radio Systems).
  • LKS5. Spacecraft avionics and instrumentation, its design, reliability, stability and safety, immunity to external influences, and electromagnetic compatibility. Space environmental conditions for operation, space missions (BE3M37KIN Space Engineering).

General field: Cybernetics and Robotics

  • Student will choose groups of topics of this branch from five groups of topics of specialized branches, i. e. from five items of the lists R1-R5, SR1-SR5, SPT1-SPT5 a LKS1-LKS5.
Responsible person: doc. Ing. Jiří Jakovenko, Ph.D.