Katarina Zakova

Katarina Zakova
Slovak University of Technology in Bratislava · Faculty of Electrical Engineering and Information Technology, Institute of Automotive Mechatronics

About

139
Publications
37,465
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544
Citations

Publications

Publications (139)
Conference Paper
The Technical Committees for Control Education of IFAC and IEEE have started a collaborative initiative to collect, curate, and disseminate high quality freely available resources that support instruction of the first control course for undergraduate students in engineering and applied sciences programs. An initial survey with limited distribution...
Conference Paper
In recent years the IFAC technical committee has been looking closely at what constitutes an ideal first course in control. Having completed stage 1 of this study, the community is now discussing how to best collate and share the numerous open access resources to support such a course, or indeed more advanced control courses, which staff and studen...
Article
The paper proposes a simple experiment set up based on Arduino and resistor and capacitor components. The experiment can be used in the first control courses to understand better basic principles connected with the system identification and controller design and to achieve introductory practical skills. The experiments can be carried out in Matlab/...
Article
Full-text available
This paper contributes toward research on the control of the magnetic levitation plant, representing a typical nonlinear unstable system that can be controlled by various methods. This paper shows two various approaches to the solution of the controller design based on different closed loop requirements. Starting from a known unstable linear plant...
Conference Paper
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The second part of the paper decomposed into two parts deals with an analogous platoon simulator, visualization simulator module, remote access simulator module, and the platoon control design toolbox.
Conference Paper
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The first part of the paper decomposed into two contributions deals with introduction to the platooning project and to one of its experiments using for platoon simulation 1:10 size RC car models. The experiment has been developed to support deeper understanding of basic problems related to platoon formation and control and testing of the necessary...
Article
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The article reviews the results of a number of recent papers dealing with the revision of the simplest approaches to the control of first-order time-delayed systems. The concise introductory review is extended by an analysis of two discrete-time approaches to dead-time compensation control of stable, integrating, and unstable first-order dead-time...
Article
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The paper develops and investigates a novel set of constrained-output robust controllers with selectable response smoothing degree designed for an integrator-plus-dead-time (IPDT) plant model. The input-output response of the IPDT system is internally approximated by several time-delayed, possibly higher-order plant models of increasing complexity....
Article
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Interactive 3D visualization technology has brought many benefits into education. Since it is possible to visualize behavior of wide range of devices, it is much easier to imagine processes where these devices are included. The paper demonstrates the application for interactive teaching of control theory. It allows to simulate a holographic model o...
Article
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This paper analyzes the first-order and first-order time-delayed systems control approaches, focusing mainly on unstable systems. First, it discusses asymmetries between the disturbance observer-based (DOB) control with decoupled tracking and the disturbance rejection responses, stressing applications to stable and unstable plants. The paper analyz...
Conference Paper
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The paper describes an educational mobile application that controls the 3D model of towercopter using augmented reality for smartphones. It is developed using the ARCore technology that allows insertion of 3D objects into a real space via smartphone or tablet. The application serves as a simple guide for a real device which is placed in laboratory...
Article
This paper summarises the results of an international survey of academics and industrialists on what should be prioritised in the first, and often only, control course taken by engineering undergraduates. The results are made up both of quantitative data whereby respondents selected from a number of options, and also of qualitative data where respo...
Article
Full-text available
Remote experiments have been gaining a lot of popularity over the last years. They are available for many areas including control education. The majority of laboratories available via the Internet were developed from scratch and lack modularity, which enables their easier adaptation. Crucially, the diversity of experiments that can be performed on...
Conference Paper
This paper summarizes the results from a large-scale survey on the content and teaching philosophy of the first, and in many cases the only, control course taken by undergraduate students in engineering and applied sciences around the world. The IFAC Technical Committee on Education developed and administered the survey in 2019. At the time of writ...
Conference Paper
Full-text available
The paper describes a 3D model of thermo-opto-mechanical system and its development using a suitable modeling tool. The model is based on TOM1A real plant placed in the laboratory. It also describes integration of the model into the online virtual laboratory portal. The behaviour of the model is simulated on the base of block schema created in Scil...
Article
Full-text available
The paper deals with a PID controller design for a towercopter plant. Towercopter represents a laboratory model of an aerial vehicle with one degree of freedom. PID controller controls a height of the propeller above the floor. The required height is inserted by a user. The main goal was to create simulation model corresponding to the towercopter a...
Article
Full-text available
Classical teaching of control theory that is based on mathematical models can sometimes be quite difficult for students. Not everybody is able to understand physical meaning of differential equations immediately. The use of various visualizations can facilitate the process of learning. The paper describes the system that presents animations of mech...
Article
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Many teachers and universities try to find various ways how to improve the education process. Usage of interactive technologies and the three-dimensional computer vision brings new perspective of understanding problems related to the issue, makes scientific facts more attractive and improves student results. The paper describes a new system for int...
Article
This paper describes an online laboratory system prioritizing modular and generalised solutions. The system provides a unified user interface to access, manage and control remote experiments. At the same time it does not put up restrictions limiting usable control algorithms or even simulation environments. Several connected devices are integrated...
Article
This paper summarizes the results from a large-scale survey on the content and teaching philosophy of the first, and in many cases the only, control course taken by undergraduate students in engineering and applied sciences around the world. The IFAC Technical Committee on Education developed and administered the survey in 2019. At the time of writ...
Conference Paper
Full-text available
The paper deals with a web application that allows simulating 3D model of mechatronic system in holographic devices. Purpose of this application is to bring new perspective to interactive education and simplify the process of studying. Background of an application is driven by Scilab Xcos simulation software communicating via web service, which pro...
Conference Paper
Full-text available
This paper gives an introduction to the basic controllers with an integral action for regulation and tracking of simple first order models with compensation of acting disturbances. It shows their common features and differences, pros and cons, and the exceptional role of the plant modeling. Simultaneously, their presentation yields a broad spectrum...
Conference Paper
Full-text available
The paper gives examples of learning objects devoted to introductory steps starting with modeling and static feed-forward control of a stable nonlinear plant. Then, an extension by a stabilizing feedback yielding two modifications of P control is shown. These learning objects offer to students broad range of tasks for development and mastery of rel...
Conference Paper
Full-text available
The paper introduces aims and objectives of the IFAC survey for a first course on control and discusses some its basic features.
Chapter
The paper illustrates how 3D LED cube can be used for remote experimenting and for gaining basic programming skills. For this purpose two different realizations of the cube were used. Both of them have 512 (8 × 8 × 8) LEDs and use Arduino motherboard for influencing the behavior of LEDs (their switching on and off). The aim was to control the LED c...
Chapter
Remote experiments have been frequently used as an effective educational tool by various academic institutions over the last few years. This paper aims to define and illustrate some key features of a particular implementation of an online laboratory management system. More than anything, it focuses on the process of creating and testing a controlle...
Article
This paper gives an introduction to the basic controllers with an integral action for regulation and tracking of simple first order models with compensation of acting disturbances. It shows their common features and differences, pros and cons, and the exceptional role of the plant modeling. Simultaneously, their presentation yields a broad spectrum...
Article
The paper presents remote control of a new laboratory experiment that was built at the department. It consists of one propeller that is able to move in vertical direction. The task is to control the position of the propeller. For this purpose, the PID controller was used. Since the experiment was realized remotely it was necessary to solve both the...
Article
Undergraduate students in many engineering programs around the world take only one control course. The IFAC Educational Committee has developed and piloted to a limited audience a comprehensive survey for the topics to be included in such course. This issue is relevant to both academia and industry. The paper discusses the initial findings related...
Article
The paper deals with the practical realization of the low-cost cost system demonstrating ball levitating in the air cylinder and controlled by the fan situated in the bottom part of the plastic tube. The construction of the plant and the choice of the proximity sensor and the fan are discussed in details.
Article
The article deals with an alternative solution of communication for the educational model of magnetic levitation produced by Humusoft company. The new proposal is based on the use of Arduino Due microprocessor. The resulting solution is tested by means of a simple controller based on the inverse dynamics method.
Conference Paper
The paper deals with changes in the courses on Automatic control enforced by the overall trends in preparation, motivation and study skills of the students entering the university. Since they just cope with some delay the changes of the overall society and may be characterized as a transition from a teacher centered teaching to a student centered l...
Conference Paper
The Performance Portrait Method enables to visualize influence of chosen control parameters on the loop performance of the selected dynamical system with given interval parameter uncertainties. The knowledge of this behavior can help to analyze and tune control algorithm and to fulfill expected requirements as far as robustness and control quality....
Article
The Performance Portrait Method enables to visualize influence of chosen control parameters on the loop performance of the selected dynamical system with given interval parameter uncertainties. The knowledge of this behavior can help to analyze and tune control algorithm and to fulfill expected requirements as far as robustness and control quality....
Article
The paper describes remote approach to the control of thermo-opto-mechanical plant. The attention is devoted to a low-cost realization, where the ordinary desktop computer is substituted by one-board computer Raspberry Pi. The plant provides a control of three variables: temperature, light intensity and rpm of the fan. The feedback control is reali...
Conference Paper
Full-text available
The paper deals with a comparison of several modifications of disturbance observer based controllers developed for integrator plus dead time plant models with solutions proposed for general first order time delayed systems and with traditional PID control. Possibility to extend a disturbance feedforward by a disturbance reference model is demonstra...
Article
The paper introduces new generic architecture for Internet of Things (IoT) applications with focus on online experimentation. The proposed architecture was inspired by many common features shared between IoT applications and online laboratories. The architecture follows principles of component based design of software systems, and reusability of co...
Article
The aim of the paper is to contribute to the area of online experiment management. Although such systems already exist, the proposed solution tries to enhance their features by providing users with an extended user interface. The paper suggests the most efficient architecture and explains the reasons for using each component. After the examination...
Article
The paper deals with a comparison of several modifications of disturbance observer based controllers developed for integrator plus dead time plant models with solutions proposed for general first order time delayed systems and with traditional PID control. Possibility to extend a disturbance feedforward by a disturbance reference model is demonstra...
Chapter
The paper describes remote approach to the control of thermo-optical plant. The attention is devoted to the open solution that is based on the OpenModelica simulation environment. The plant enables to control two variables: temperature and light intensity. Both of them can be influenced by the user, using a graphical user interface via a web browse...
Conference Paper
The paper presents a WebGL model of Segway based laboratory device that is available to user via web browser. The user can interact with the model and simulate various initial conditions. In addition, its dynamical behavior can also be controlled using PID controller. The background of the application is driven by OpenModelica software environment.
Article
The paper demonstrates remote control of thermo-optical plant via Android based mobile application. The user can run the experiment in an open or closed loop. The plant control is realized via predefined PID controller whose parameters can be changed. Another possibility is to use own customized controller whereby the control algorithm has to be de...
Conference Paper
The paper is devoted to the description of a tool for computer evaluation of Matlab functions. It can be used for single file but also for larger amount of files that can be exported from LMS Moodle. The developed application is available online and can be used both by students and teachers, as well.
Conference Paper
The paper presents an online application that enables to follow citations of own scientific publication resources. The application cooperates with Web of Science database, Scopus, Google Scholar and ResearchGate. Its main aim is to eliminate duplicates of resources and to enable to track own scientific progress. It also enables to prepare BibTeX fi...
Article
The paper demonstrates how 3D LED cube model can be used in education process and help to learn basic concepts of programming. It is realized in two ways -in the form of WebGL model and as a real device, as well. The application is available online and therefore it can be used anytime and from anywhere.
Article
One type of the disturbance observer (DO) based controller has been proposed by extending the traditional PI control loop for a velocity servo control by DO for reconstruction and compensation of input disturbances. This solution has significantly improved the disturbance response and attracted attention of many subsequent papers. On the other hand...
Article
The paper presents 3D model of three level hydraulic plant that is realized in WebGL. The model is communicating with the OpenModelica software environment via pre-prepared web-service. In this way it is possible to demonstrate not only various static views of the presented plant but also its functionality. Using the created graphical user interfac...
Conference Paper
The paper discusses online course materials used in the training for the simplest robust controller. It has been proposed for the plant that can be represented by simple gain and dead time. The controller design is realized by choosing appropriate model parameters and and by specifying the disturbance observer filter characterized by its order and...
Conference Paper
The paper points to small number of university graduates in technical areas. It suggests to use interactive educational tools that are very popular among young people to attract more students for this very interesting direction. The attention is dedicated mainly to Control Engineering area. In spite of the fact that the number of online application...
Conference Paper
The paper describes a general solution for remote laboratory that is based on Matlab/Simulink and Java. The Matlab environment serves for control of real plant and Java is used for communication with Matlab and for preparation of web application. The goal was not only to develop simple web frontend for Matlab. The focus was put on creating flexible...
Article
The paper demonstrates remote control of the educational laboratory thermo-optical plant. Although this problem has already been addressed several times, there are always new technologies and therefore the approach to the remote experiments gradually changes. In this case the whole application, i.e. both client and server part, was built in JavaScr...
Article
The paper introduces the web service implemented in PHP and Python programming language for OpenModelica simulation software. It can be later used for building web applications that need to solve some mathematical tasks or to execute simulations for their running. The example of such implementation is also shown.
Article
The paper presents several possibilities of remote control of real experiments using Matlab software environment. There are number of ways how to approach Matlab remotely. They include e.g. Matlab Web Server, Matlab S-function, COM, DDE, shared communication file, Virtual Reality Toolbox. One of these proposed concepts was used and tested for contr...
Article
The paper presents a new procedure for the system identification based on approximation of the plant step responses by PTnTd models. By simple examples, the method application in designing PID controllers is demonstrated.
Article
The paper presents a newly developed Matlab Adapter tool that enables to build Matlab/Simulink based online applications. It was built in the form of web service that is available via REST API. In this way the client application can be developed in any programming language. The server side of application was built in Java programming language. We d...
Chapter
Full-text available
The performance portrait method (PPM) may be considered as a representative of the second generation of optimal robust tuning methods. In contrast to the first generation robust tuning methods based on local loop properties, such as the maximal loop sensitivity or the complementary loop sensitivity, it guarantees chosen time or shape related proper...
Conference Paper
The paper presents one approach to the remote control of the educational thermo-optical plant. The local control of the plant is realized using Matlab/Simulink. The online solution is realized using a third-party library Mlabwrap that serves as a bridge between Matlab and Python language. Since Python enables server-side programming, the solution c...
Article
The paper shows a way for fast development of interactive online applications that can be used in teaching process. It introduces the web service implemented in PHP programming language for two free computer algebra systems Maxima and Octave. It can be later used for building web applications that need to solve some mathematical tasks during their...
Article
Full-text available
The paper presents a new approach to the management of online laboratories. Virtualization of environment can bring several advantages both for students and teachers. The paper shows the way how such environment can be incorporated to the laboratory ecosystem. It takes into account various virtualization technologies and software. The automatized i...
Conference Paper
Full-text available
The paper is devoted to the presentation of an application detecting similarities in shorter program codes. It helps to reveal plagiarism wide-spread among students. The application is available online. It enables to share information among several teachers and their reciprocal cooperation.
Conference Paper
This paper shows how it is possible to build a simple remote laboratory using just one application - Matlab. Matlab is a well-known tool in engineering education and praxis that together with Simulink serves for calculation and simulation of signal responses and system behaviors. Matlab/Simulink includes a rich set of commands and many libraries of...
Conference Paper
The paper introduces the web service implemented in PHP programming language for two free computer algebra systems Maxima and Octave. It can be later used for building web applications that need to solve some mathematical tasks for their running. The example of such implementation is also shown.
Article
Full-text available
The paper is focused on realization of hard realtime control of experiments in on-line laboratories. The presented solution utilizes already developed on-line laboratory portal that is based on open-source Scilab environment. The customized solution is based on Linux RTAI platform with RTAI-XML server, Comedi and jRTAILab with support of ScicosLab...
Article
Full-text available
The paper deals with the web-based implementation of the thermo-optical plant control. The control of the plant is based on the open-source Modelica-based modeling and simulation environment OpenModelica which originally is not designed for web-based applications. The paper shows one possible way how to circumvent this limitation.
Conference Paper
The primary goal of the paper is to demonstrate one way of online realization of experiments with hard real-time control. We describe a new customized solution based on Linux RTAI, RTAI-XML server, Comedi and jRTAILab. This platform was used to support student experiments on Humusoft CE152 Magnetic Levitation plant in already developed on-line labo...
Conference Paper
The paper deals with the web-based implementation of the thermo-optical plant control. The control of the plant is based on the open-source Modelica-based modeling and simulation environment OpenModelica which originally is not designed for web-based applications. The paper shows one possible way how to circumvent this limitation.
Article
Full-text available
The paper deals with the web-based implementation of the control system of a thermo-optical plant. The control of the plant is based on the SciLab software which originally is not designed for web-based applications. The paper shows a possible way to circumvent this limitation. The ultimate goal is to enable remote controlled experiment using SciLa...
Conference Paper
The paper presents a new tool that supports building of online simulation schemes for online laboratories. The structure of schemes is compatible with Matlab®/Simulink® or SciLab/Xcos environment. The paper is also dedicated to the comparison of both considered environments and to the pointing out differences and similarities of their use.
Conference Paper
Full-text available
The aim of the article is to present a new possible way of an interactive teaching. The effort is to substitute proprietary software that is commonly used in educational process by open technologies. Since the subject of this article is oriented to the engineering area we devoted our attention to open software and we chose Maxima. Moreover, this to...