Inertial measurement unit for mobile robots

Bakalářská práce Inerciální jednotka pro mobilní robotiku se zabývá problematikou určování polohy pomocí inerciálních senzorů. První část práce je rešerší dostupných senzorů a metod zpracování informací z nich získaných. Druhá část práce se zabývá vybraných metod a senzorů v simulaci a nasazení na reálném HW.Bachelor thesis Inertial measurement unit for mobile robots is focused on problem determination of position using inertial sensors. First part is reviw of available sensors and methods of processing data from sensors. Second part is implementation of chosen method and sensors in simulation and use it at real HW.

Design of UAV hardware - mechanical and electrical subsystem

Tato práce se zabývá vytvořením platformy pro testování stabilizačních a řídicích algoritmů pro UAV. Byl vybrán vhodný model letadla, do kterého byla navržena struktura řídicí a výkonové elektroniky. Byla provedena rešerše vhodných algoritmů a vybrané algoritmy byly implementovány. Pro implementované algoritmy byly pomocí simulace navrženy parametry regulátorů. Následně byl celý systém testován v letu.Main topic of this thesis is creation of platform for testing stabilization and control algorithms for UAV. For chosen suitable model plane was designed a structure of control and power electronics. Research of suitable algorithms was made and some of them were implemented. For this algorithms gains were designed, using simulation. The whole system was tested and validated in flight.

Dyon Spectrum in Generic N=4 Supersymmetric Z_N Orbifolds

We find the exact spectrum of a class of quarter BPS dyons in a generic N=4 supersymmetric Z_N orbifold of type IIA string theory on K3\times T^2 or T^6. We also find the asymptotic expansion of the statistical entropy to first non-leading order in inverse power of charges and show that it agrees with the entropy of a black hole carrying same set of charges after taking into account the effect of the four derivative Gauss-Bonnet term in the effective action of the theory.Comment: LaTeX file, 39 pages; minor change

Forming efficient agent groups for completing complex tasks

In this paper we produce complexity and impossibility results and develop algorithms for a task allocation problem that needs to be solved by a group of autonomous agents working together. In particular, each task is assumed to be composed of several subtasks and involves an associated predetermined and known overall payment (set by the task’s owner) for its completion. However, the division of this payment among the corresponding contributors is not predefined. Now to accomplish a particular task, all its subtasks need to be allocated to agents with the necessary capabilities and the agents’ corresponding costs need to fall within the preset overall task payment. For this scenario, we first provide a cooperative agent system designer with a practical solution that achieves an efficient allocation. However, this solution is not applicable for non-cooperative settings. Consequently, we go on to provide a detailed analysis where we prove that certain design goals cannot be achieved if the agents are self interested. Specifically, we prove that for the general case, no protocol achieving the efficient solution can exist that is individually rational and budget balanced. We show that although efficient protocols may exist in some settings, these will inevitably be setting-specific

Transformations among Pure Multipartite Entangled States via Local Operations Are Almost Never Possible

Local operations assisted by classical communication (LOCC) constitute the free operations in entanglement theory. Hence, the determination of LOCC transformations is crucial for the understanding of entanglement. We characterize here almost all LOCC transformations among pure multipartite multilevel states. Combined with the analogous results for qubit states shown by Gour \emph{et al.} [J. Math. Phys. 58, 092204 (2017)], this gives a characterization of almost all local transformations among multipartite pure states. We show that nontrivial LOCC transformations among generic, fully entangled, pure states are almost never possible. Thus, almost all multipartite states are isolated. They can neither be deterministically obtained from local-unitary-inequivalent (LU-inequivalent) states via local operations, nor can they be deterministically transformed to pure, fully entangled LU-inequivalent states. In order to derive this result, we prove a more general statement, namely, that, generically, a state possesses no nontrivial local symmetry. We discuss further consequences of this result for the characterization of optimal, probabilistic single copy and probabilistic multi-copy LOCC transformations and the characterization of LU-equivalence classes of multipartite pure states.Comment: 13 pages main text + 10 pages appendix, 1 figure; close to published versio