doc. Ing. Robert Grepl, Ph.D.
E-mail:   grepl@fme.vutbr.cz  WWW:   http://mechlab.fme.vutbr.cz/ Dept.:   Institute of Solid Mechanics, Mechatronics and Biomechanics Dept. of Mechatronics Position:   Head of Department Room:   A2/710 Dept.:   Institute of Solid Mechanics, Mechatronics and Biomechanics Dept. of Mechatronics Position:   Associate Professor Room:   A2/710

Supervised courses:

• Application of Embedded Systems in Mechatronics (REV)
• Bachelor Seminar (B-MET) (RSB)
• Diploma Seminar (M-MET) (RD6)
• Introduction to Programming and Algorithmization (1PA)
• Mechanics of Handling Equipment (GMM)
• Mechanics of Handling Equipment (GMM-K)
• Modeling and Simulation I (RDO)
• Modeling and Simulation I (RDO-A)
• Modeling and Simulations II (RKD)
• Modeling and Simulations II (RKD-A)
• Modeling and Simulations II (RKD-A)
• Modelling and Control of Dynamic Systems (9IDS)
• Modelling and Control of Dynamic Systems (9IDS-A)
• Real Time Control and Simulation (RPO)

Publications:

• VEJLUPEK, J.; GREPL, R.; KREJČÍ, P.; LESÁK, F.; KAREL, M.:
  Hardware-In-the-Loop Simulation for Automotive Parking Assistant Control Units,
  Proceedings of the 16th International Conference on Mechatronics – Mechatronika 2014, pp.325-330, ISBN 978-80-214-4817-9, (2014), Brno University of technology, 2014
  conference paper
  akce: 16th International Conference on Mechatronics - Mechatronika 2014, Brno, 03.12.2014-05.12.2014
• LAMBERSKÝ, V.; VEJLUPEK, J.; SOVA, V.; GREPL, R.:
  Creating support for fully automatic code generation for Cerebot MX7cK hardware from Simulink environment, NAUN - North Atlantic University Union
  journal article in Scopus
• ZAVADINKA, P.; GREPL, R.:
  ENERGY SAVING POTENTIAL OF A HYDROSTATIC DRIVETRAIN WITH VARIABLE CHARGE PUMP,
  Proceedings of the 8th FPNI Ph.D. Symposium on Fluid Power, (2014)
  conference paper
  akce: 8th FPNI Ph.D. Symposium on Fluid Power, Lappeenranta, 11.06.2014-13.06.2014
• VEJLUPEK, J.; JASANSKÝ, M.; LAMBERSKÝ, V.; GREPL, R.:
  Hardware-In-the-Loop simulator for turboprop and turboshaft engine control units,
  COMMUNICATIONS, CIRCUITS and EDUCATIONAL TECHNOLOGIES Proceedings of the 2014 International Conference on Electronics and Communication Systems II (ECS '14), pp.52-57, ISBN 978-1-61804-231-6, (2014), europment
  conference paper
  akce: The 2014 International Conference on Electronics and Communication Systems, Praha, 02.04.2014-04.04.2014
• GREPL, R.:
  Composite Controller for Electronic Automotive Throttle with Self-Tuning Friction Compensator,
  Mechatronics, Recent Technological and Scientific Advances, pp.73-78, ISBN 978-3-642-23243-5, (2011)
  conference paper
  akce: 9th International Conference Mechatronics 2011, Varšava, 21.09.2011-24.09.2011
• GREPL, R.; LAMBERSKÝ, V.; VEJLUPEK, J.; JASANSKÝ, M.; VADLEJCH, F.; ČOUPEK, P.:
  Development of 4WS/4WD Experimental Vehicle: platform for research and education in mechatronics,
  ICM 2011, IEEE International Conference on Mechatronics, pp.893-898, ISBN 978-1-61284-982-9, (2011)
  conference paper
  akce: IEEE ICM 2011 (IEEE Int. Conf. on Mechatronics), Instanbul, 13.04.2011-15.04.2011
• GREPL, R.:
  Real-Time Control Prototyping in MATLAB/Simulink: review of tools for research andeducation in mechatronics,
  ICM 2011, IEEE International Conference on Mechatronics, pp.881-886, ISBN 978-1-61284-982-9, (2011)
  conference paper
  akce: IEEE ICM 2011 (IEEE Int. Conf. on Mechatronics), Instanbul, 13.04.2011-15.04.2011
• GREPL, R.:
  Adaptive Composite Control of Electronic Throttle using Local Learning Method,
  Proceedings of the 2010 IEEE International Symposium on Industrial Electronics, pp.58-61, ISBN 978-1-4244-6391-6, (2010), IEEE
  conference paper
  akce: IEEE International Symposium on Industrial Electronics, Bari, 04.07.2010-07.07.2010
• GREPL, R.; LEE, B.:
  Modeling, parameter estimation and nonlinear control of automotive electronic throttle using a Rapid-Control Prototyping technique,
  INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, Vol.11, (2010), No.4, pp.601-610, ISSN 1229-9138, KSAE
  journal article - other
• GREPL, R.:
  Řízení elektronické škrticí klapky osobního automobilu,
  Automa, Vol.15, (2009), No.5, pp.33-36, ISSN 1210-9592
  journal article - other

List of publications at Portal BUT

Abstracts of most important papers:

• GREPL, R.:
  Adaptive Composite Control of Electronic Throttle using Local Learning Method,
  Proceedings of the 2010 IEEE International Symposium on Industrial Electronics, pp.58-61, ISBN 978-1-4244-6391-6, (2010), IEEE
  conference paper
  akce: IEEE International Symposium on Industrial Electronics, Bari, 04.07.2010-07.07.2010
  This paper deals with an application of receptive field weighted regression (RFWR) method for the composite control of automotive electromechanical throttle. Simulation experiments use the plant model optimized for hardware-in-the-loop simulation and tuned according to experimental results. Composite controller consists of PID and feedforward inverse dynamics implemented using RFWR. Because of significant dry friction in the system, two independent RFWR approximators are used to solve the problem of discontinuity at zero velocity. Satisfactory simulation results are presented.
• GREPL, R.; LEE, B.:
  Modeling, parameter estimation and nonlinear control of automotive electronic throttle using a Rapid-Control Prototyping technique,
  INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, Vol.11, (2010), No.4, pp.601-610, ISSN 1229-9138, KSAE
  journal article - other
  An electronic throttle consists of a DC motor, spur gears, a return spring, a position sensor, power electronics and an electronic control unit. Fast and precise position control of this electromechanical system is relatively difficult due to very high friction and the strong nonlinearity of the spring. Simple application of linear control, such as PID, fails. In this paper, two new controller structures suitable for different reference signal types are described. The key component of the position controller is the friction compensator based on either/both feedforward or feedback principles. The quality of the resulting behavior was measured using several criteria including the measure of control activity around the equilibrium position. The control activity directly influences the vibration, the noise and the wear of the servo system. The proposed controllers demonstrated superior behavior compared with other published structures.
• GREPL, R.:
  Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control,
  Engineering Mechanics, Vol.16, (2009), No.2, pp.141-154, ISSN 1802-1484
  journal article - other
  This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence of sensor noises and delays implemented into the model are discussed. Finaly, the solution is verified on real physical model controlled by means of hardware in the loop (HIL).
• GREPL, R.:
  Řízení elektronické škrticí klapky osobního automobilu,
  Automa, Vol.15, (2009), No.5, pp.33-36, ISSN 1210-9592
  journal article - other
  Řízení tzv. elektronické škrticí klapky, která je dnes běžnou součástí automobilu, představuje zajímavý technický problém. Silně nelineární pružina a relativně velké suché tření v servopohonu komplikuje požadované přesné a rychlé polohové řízení (např. běžný PID regulátor zdaleka nedává uspokojivé výsledky). V článku je představen vývoj řídicího algoritmu pomocí přístupu nazývaného Rapid Control Prototyping. Součástí návrhu je modelování, pro vytvořený model provedeme odhad parametrů a použijeme jej v řídicím algoritmu, který je založen právě na znalosti modelu. Klíčovou částí je kompenzátor suchého tření.