Visualisation of Path-Finding for Robot

Tato bakalářská práce pojednává o pravděpodobnostních algoritmech pro hledání cesty robota. Obsahuje teoretický popis pravděpodobnostních algoritmů včetně diskuze nad implementačními detaily, přibližuje jejich využití a popisuje jednotlivé algoritmy - PRM, EST, RRT a SRT včetně jejich dalších modifikací. Součástí práce jsou java applety znázorňující vybrané algoritmy a také webové stránky věnované této problematice.This thesis deals with sampling-based algorithms for robot path planning. Theoretical principles of probabilistic path finding and its implementation details are discussed here. The second part focuses on individual algorithms - PRM, EST, RRT and SRT and its modifications. Java applets for visualisation of algorithms and web pages related with sampling-based algorithms are included on the CD.

Distributed Mathematical Model Simulation on a Parallel Architecture

The aim of this article is to discuss the design of distributed mathematical models and suitable parallel architecture of computers. The paper summarises the author’s experience with mathematical modelling of decomposed information systems of a simulator. Conclusions are based on the theory of the design of the computer control systems. The author describes computers that create a distributed computer system of a flight simulator. Modelling of a time precision of mathematical model of the speed of a simulator system is done by describing equations. The qualities of models depend on the architecture of computer systems. Some functions of other sections of POSIX are also analysed including semaphores and scheduling functions. An important part of this article is the implementation of computation speed of aircraft in multicore processor architecture

Visualization of Aircraft Longitudinal-Axis Motion

In this paper, the use of continuous mathematical models of an aircraft in an aircraft simulator is described. The models are of lower degree and less time-consuming for calculation. Computer implementation of the models capable to work faster and more accurately and efficiently is also described. The suggested approach allows to achieve the required precision at accelerated simulation speed using the continuous mathematical models of an aircraft. Frequency of the computation of continuous mathematical models of an aircraft is higher, reaching up to 200 times per second. The main focus of the paper is designing continuous mathematical models of an aircraft, their simulation and visualization in aircraft simulators. Current mathematical models of a control of objects motion are based on aircraft aerodynamics. In our approach, these models have impact on the quality and completeness of simulation process and are crucial for computer modeling and visualization of equations of the continuous mathematical models of an aircraft. In the paper, creating continuous mathematical models of an aircraft and the way of visualization of simulation results are described in detail. The main aim of computer simulation of continuous mathematical models of an aircraft is pilots training. Aircraft simulator plays a key role in the process of pilots training; it enables pilots to control the aircraft and its equipment. Standard computer with a graphic processing unit for the visualization results from continuous mathematical models of an aircraft can be utilized

Forward Stochastic Reachability Analysis for Uncontrolled Linear Systems using Fourier Transforms

We propose a scalable method for forward stochastic reachability analysis for uncontrolled linear systems with affine disturbance. Our method uses Fourier transforms to efficiently compute the forward stochastic reach probability measure (density) and the forward stochastic reach set. This method is applicable to systems with bounded or unbounded disturbance sets. We also examine the convexity properties of the forward stochastic reach set and its probability density. Motivated by the problem of a robot attempting to capture a stochastically moving, non-adversarial target, we demonstrate our method on two simple examples. Where traditional approaches provide approximations, our method provides exact analytical expressions for the densities and probability of capture.Comment: V3: HSCC 2017 (camera-ready copy), DOI updated, minor changes | V2: Review comments included | V1: 10 pages, 12 figure

Analysis of Electric Car Charging

Cilem teto bakalarske prace je posouzeni nabijecich cyklu konkretnich elektromobilu a vyuziti kaskady nabijecich stanic. Uvodni cast predstavuje druhy elektromobilu a baterie, ktere jsou ci byly pouzivany. Dale prace zpracovava zpusoby nabiti elektromobilu a vykony pouzivanych konektoru. V zaverecne casti prace jsou rozebrany typy reseni kaskady od ruznych firem a vyhodnoceni nabijecich cyklu.he aim of this bachelor thesis is to evaluate the charging cycles of specific electric vehicles and the utilization of a charging station cascade. The introduction presents the types of electric vehicles and batteries that are currently used and were used in the past. Furthermore, this thesis addresses the methods of electric vehicle charging and the performance of used connectors. Finally, this thesis presents the types of cascade solutions from various companies and evaluates the charging cycles.410 - Katedra elektroenergetikydobř

Analysis of the explicit model predictive control for semi-active suspension

Explicit model predictive control (MPC) enhances application of MPC to areas where the fast online computation of the control signal is crucial, such as in aircraft or vehicle control. Explicit MPC controllers consist of several affine feedback gains, each of them valid over a polyhedral region of the state space. In this paper the optimal control of the quarter car semi-active suspension is studied. After a detailed theoretical introduction to the modeling, clipped LQ control and explicit MPC, the article demonstrates that there may exist regions where constrained MPC/explicit MPC has no feasible solution. To overcome this problem the use of soft constraints and combined clipped LQ/MPC methods are suggested. The paper also shows that the clipped optimal LQ solution equals to the MPC with horizon N=1 for the whole union of explicit MPC regions. We study the explicit MPC of the semi-active suspension with actual discrete time observer connected to the explicit MPC in order to increase its practical applicabili ty. The controller requires only measurement of the suspension deflection. Performance of the derived controller is evaluated through simulations where shock tests and white noise velocity disturbances are applied to a real quarter car vertical model. Comparing MPC and the clipped LQ approach, no essential improvement was detected in the control behavior

Control of an interference-microscope optical stage based on the image phase

Digitální holografická mikroskopie je interferenční zobrazovací metoda využívající principu mimoosové obrazové holografie. Z principu této metody vyplývá možnost rekonstruovat z výstupního signálu mikroskopu jak obrazovou amplitudu, tak i obrazovou fázi, a to prakticky v reálném čase. Tato dvě zobrazení lze získat z jediného obrazového hologramu. Rychlost zpracování obrazového hologramu je omezena rychlostí detekce a výkonem výpočetní techniky. Tato diplomová práce se zabývá vývojem obslužného softwaru pro komunikaci se snímací kamerou a pro zpracování obrazového hologramu. Cílem bylo dosáhnout co nejvyšší počet rekonstrukcí komplexní amplitudy provedených za jednotku času a dosáhnout takových výsledků, aby software využil maximálně možnosti datového přenosu mezi kamerou a počítačem. Dále se tato práce zabývá stabilizací polohy optického stolku reflexního digitálního holografického mikroskopu, která je v principu založena na zpracování rekonstruované obrazové fáze a na zavedení zpětné vazby mezi obrazovou fází a piezoelektrickým aktuátorem optického stolku. V práci jsou prezentovány výsledky měření potvrzující funkčnost stabilizace.Digital holographic microscopy is an interferometric imaging technique, the principle of which is the off-axis image plane holography. The principle of this technique enables to reconstruct both the image intensity and the image phase from the output interferencesignal. The reconstruction can be carried out on the basis of a single image plane hologram. This leads to the possibility of a realtime image reconstruction. The speed of the reconstruction depends on the detection and the computing process. The aim of this diploma thesis is to develop user software for the control of the detection camera and for the image plane hologram reconstruction. The effort was to achieve the highest number of image reconstructions per time unit, with the maximum utilization of the data transfer between the camera and the computer.The next aim of this thesis is the stabilization of the optical table position. The method of stabilization is based on the image phase information, which is used for the control loop feedback between reconstructed image phase and the piezoelectric actuator placed inside of the optical table. Experimental results, which prove the functionality of the stabilization, are presented.

Rationalization of the Assembly Working System

Import 04/07/2011Diplomová práce se zabývá racionalizací montážní činnosti v podniku MERKO CZ, a.s. Jedná se o externí montáže betonáren. Cílem této práce je úspora financí v oblasti montáže, zavedením objektivních norem spotřeby práce a montážních postupů. Dále se zabývá tvorbou datové základny a její počítačovou podporou. Práce obsahuje vyhodnocení snímku pracovního dne čety a předpokládané úspory.This thesis deals with the rationalization of the company's assembly operations in the MERKO ,a.s.. This is an external installation of concrete plants. The aim of this work is the financial savings in installation, implementation of objective standards of consumption, labor and installation procedures. It also deals with creating a data base and its computer support. The work includes the evaluation of work crews working day and projected savings.345 - Katedra mechanické technologievýborn