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Robot Trey autonomni je viličar napravljen za potrebe istovara i utovara kamiona. Njegova arhitektura sastoji se od velikog broja senzora i aktuatora koji se upravljaju PLC-om tvrtke Beckhoff. PLC garantira upravljanje u stvarnom vremenu dok navigacijsko računalo osigurava autonomne mogučnosti viličara. Predstavljena je alternativna vrsta komunikacije između PLC-a i Navigacijskog računala pomoću ADS protokola. Objašnjena je problematika i teorijska pozadina te izvedba ADSAPI-a. Prikazani su rezultati mjerenja čitanja ili pisanja pomoću ADS protokola te je napravljena usporedba sa CANOpen komunikacijom. Opisana je integracija koda u više slojeve software-a te njegova provjera točnosti. Robot Trey is an autonomous forklift made for unloading and loading trucks. Its architecture consists of a large number of sensors and actuators controlled by Beckhoff’s PLC. The PLC guarantees real-time control while the Navigation computer ensures the autonomous capabilities of the forklift. An alternative type of communication between the PLC and the Navigation computer using the ADS protocol is presented. The problem and theoretical background and performance of ADSAPI are explained. The results of reading or writing measurements using the ADS protocol are presented and a comparison with CANOpen communication is made. The integration of the code into multiple software layers and its accuracy verification are described.

L’equip E3-Team, fundat al 2014 i participant de la competició internacional MotoStudent Electric, necessita implementar una xarxa de comunicacions al seu prototip de motocicleta elèctrica per reduir els problemes del cablejat i millorar els resultats de la competició. Al 2022 es comença a desenvolupar una xarxa CAN i al 2023 sorgeix aquest projecte per continuar amb el procés i definir l’arquitectura de xarxa. En primer lloc, aquest projecte pretén estudiar totes les possibles vies d’implementació de la xarxa i les necessitats de l’equip. Per una banda, es defineix quins sistemes han de formar part de la xarxa i s’estudia el hardware que els pot compondre. Per altre, s’estudien les possibles característiques de la xarxa així com els protocols que es poden utilitzar. De tota la informació obtinguda, es filtren les opcions que no es poden implementar. A partir del resultat d’aquest estudi previ, es proposen varies arquitectures i, d’acord amb el líder de l’equip, s’escull el model que millor s’adapta a les seves necessitats. D’aquest model s’extreuen les característiques de la xarxa i dels dispositius participants. Seguidament, es dissenyen els esquemes elèctrics, es construeix la xarxa, es programen els dispositius participants i es valida el funcionament. La validació es du a terme abans d’instal·lar la xarxa a la motocicleta. Finalment, es presenten els resultats obtinguts, les conclusions, els pressuposts i les línies futures. E3-Team is a motorsport competition team of the international MotoStudent Electric competition since 2014. It would like to implement a communication network to reduce wiring issues and improve the competition results. On 2022, it began the development of a CAN network and in 2023 this project was created to continue this process and to define the network architecture. On the first place, this project pretends to study all the implementable options of the communications network, as well as the needs of the team. On one side, all the systems and devices that will be part of the network are defined. Also, the hardware available in the market that can compound the motorcycle devices is studied. On the other side, the network characteristics are studied, like the available communication protocols. All the options that are not implementable are filtered out. Based on the results of this study, different network architectures models are proposed and, considering the team leader’s opinion, one is chosen. The network characteristics and the hardware of the devices are obtained from the chosen model. Then, the electrical drawings are designed, the network is built, the devices are programmed, and the network is validated. The validation takes place before the final installation on the motorcycle. Finally, the implementation results are shown as well as the conclusions, the budget and the possible future developments.

We consider a system architecture where the communication between the remote devices and a central controller is done using a custom application protocol on top of CAN. CANopen is a communication protocol based on CAN that has proven to be open source and easily customizable for specific applications. The goal of this project is to replace the existing custom application protocol with CANopen to evaluate its feasibility and performance. The project has been divided into three different blocks to achieve the main objective. In the first one, the CANopen advantages against the custom protocol characteristics are exposed. The description of the firmware implementation and its validation is done in the second part. In the third block of the thesis, a comparison between the CANopen theoretical, the legacy protocol and the calculated throughput from the implementation is carried out. The CANopen feasibility in the application under study has been demonstrated considering that the protocol has been implemented and validated in an engine and in a custom remote device. Additionally, the performance evaluation indicates that CANopen outstands the legacy protocol, since it permits having a higher maximum throughput.

U ovom završnom radu napravljen je digitalni diferencijal za upravljanje pogonom električnog buggy vozila. U električno buggy vozilo za pogon ugrađena su dva BLDC motora. Budući da se u slučaju skretanja vozila unutarnji kotači kreću manjom putanjom od vanjskih kotača, potrebno je regulirati broj okretaja svakog motora zasebno kako bi se izbjeglo prevrtanje vozila u zavoju. Za rješavanje ovog problema razvijen je elektronički upravljački sustav baziran na apsolutnom optičkom enkoderu i Arduino platformi. Kut zakreta volana mjeri se apsolutnim optičkim enkoderom. Na temelju izmjerenog kuta volana, pomoću softverskog algoritma definiraju se razlike u broju okretaja lijevog i desnog pogonskog motora. Za komunikaciju između komponenti sustava korišten je komunikacijski standard CAN bus. Rezultati prikazani u ovom radu potvrđeni su mjerenjima na gotovom buggy vozilu., In this final paper, a digital differential was made to control the drive of an electric buggy vehicle. Two BLDC motors are installed in the electric buggy vehicle. Since in the case of turning the vehicle, the inner wheels move in a smaller trajectory than the outer wheels, it is necessary to regulate the speed of each engine separately to avoid overturning the vehicle in a turn. To solve this problem, an electronic control system based on an absolute optical encoder and the Arduino platform has been developed. The steering wheel angle is measured with an absolute optical encoder. Based on the measured steering wheel angle, the differences in the speed of the left and right drive motors are defined using a software algorithm. The CAN bus communication standard was used as the communication between system components. The results presented in this paper were confirmed by measurements on the finished buggy vehicle.

U ovom radu bavimo se rekonstrukcijom kartezijevog koordinatnog robota. Potreba za samom rekonstrukcijom došla je zbog zastarjelosti opreme i korisničkog sučelja koji su na robotu bili implementirani nekoliko desetljeća i koji se danas više nigdje u industriji ne koriste. Kroz rad obuhvatit će se tri velike cjeline kroz koje je izvršena rekonstrukcija samog robota: I. Odabir nove opreme II. Implementiranje nove opreme na robota III. Programiranje robota i osposobljavanje njega za daljnji razvoj Kroz prvu cjelinu prikazat će se i opisati nova, ali i zastarjela oprema robota. Detaljno će se opisati specifikacije svake komponente, a na kraju će se usporediti sve komponente zastarjele opreme, koje se zamjenjuju, s novim komponentama. U drugoj cjelini opisat će se implementacija novih komponenti na postojeći robot. Prikazat će se njihovi položaji i objasniti razlog i način implementacije. Osim samog postavljanja komponenti potrebno je i elektronički ih spojiti. Sheme elektroničkog spajanja možete vidjeti u prilozima na kraju rada, a opis spajanja možete pročitati u poglavlju 3. Zadnji dio rekonstrukcije kartezijevog koordinatnog robota obuhvaća programiranje samog robota. U poglavljima 4 i 5 možete vidjeti detaljan opis i prikaz programa potrebnih kako bi se robot osposobio za rad, ali i za daljnji razvoj. Robot se nalazi u sklopu Laboratorija za projektiranje izradbenih i montažnih sustava, na Fakultetu strojarstva i brodogradnje, i nakon završetka rekonstrukcije koristi se za daljnje edukacijske svrhe. In this paper, we deal with the reconstruction of the Cartesian coordinate robot. The need for the reconstruction itself came about due to the obsolescence of the equipment and the user interface that had been implemented on the robot for several decades and are no longer used anywhere in the industry today. The work will cover three large chapters through which the reconstruction of the robot itself was carried out: I. Selection of new equipment II. Implementation of new equipment on the robot III. Programming the robot and preparing it for further development The first part will show and describe new and also outdated robot equipment. The specifications of each component will be described in detail, and at the end, all the components of the obsolete equipment, which are being replaced, will be compared with the new components. The second part will describe the implementation of new components on the existing robot. Their positions will be shown and the reason and method of implementation will be explained. In addition to installing the components, it is also necessary to connect them electronically. You can see the electronic connection schemes in the appendices at the end of the paper, and you can read the description of the connection in chapter 3. The last part of the reconstruction of the Cartesian coordinate robot includes the programming of the robot itself. In chapters 4 and 5, you can see a detailed description and presentation of the programs needed to prepare the robot for work, as well as for further development. The robot is located in the Laboratory for the design of manufacturing and assembly systems and after the completion of the reconstruction, it is used for further educational purposes.

CANopen is the most generic of all the standardized upper-layer protocols based on the Controller Area Network (CAN) protocol. It is present in many fields that use embedded applications, such as industrial robots, road vehicles and maritime vehicles. There are works that analyze the vulnerabilities present in the CAN protocol and that therefore affect CANopen. This work aims to develop a tool that uses the vulnerabilities discovered and that are still present today in the CAN bus, as well as different types of attacks that use the services and protocols offered and described by the CiA standard, which have to be implemented by all the devices that are intended to be connected to a CANopen network. The conclusions show how easy it is to carry out certain types of attacks, manipulating or replicating previously obtained messages. CANopen es el más genérico de todos los protocolos estandarizados de capa superior basados en el protocolo Controller Area Network (CAN). Está presente en multitud de campos que utilizan aplicaciones integradas, tales como robots industriales, vehículos de vía y vehículos marítimos. Existen trabajos que analizan las vulnerabilidades presentes en el protocolo CAN y que por lo tanto afectan a CANopen. En este trabajo se pretende desarrollar una herramienta que utilice las vulnerabilidades descubiertas y que siguen estando presentes hoy en día en el bus CAN, así como diferentes tipos de ataques que utilizan los propios servicios y protocolos ofrecidos y descritos por el estándar CiA, los cuales han de estar implementados por todos los dispositivos que se pretendan conectar a una red CANopen. Las conclusiones demuestran lo fácil que resulta realizar cierto tipo de ataques, manipulando o replicando los mensajes obtenidos previamente.