|
|
Computation geometry in robotics.
Pivovarník, Marek ; Pavlík, Jan (oponent) ; Hrdina, Jaroslav (vedoucí práce)
Thesis deals with finding forbiden configuration space for polygonal robot. The aim is to compute an obstacle shape in configuration space. This problem solves Minkowsky Sum. Also thesis deals with Minkowsky sum properties. In the rest of the thesis is mentioned algorithm to compute Minkowsky sum, its debugging and implementation to the C# enviroment.
|
|
|
New Approaches in Airborne Thermal Image Processing for Landscape Assessment
Pivovarník, Marek ; Pokorný,, Jan (oponent) ; Štarha, Pavel (oponent) ; Zemek, František (vedoucí práce)
Airborne thermal hyperspectral data delivers valuable information about the temperature and emissivity of the Earth's surface. However, attempting to derive temperature and emissivity from remotely sensed thermal radiation results in an underdetermined system of equations. Several approaches have been suggested to overcome this problem, but the most widespread one is called the Temperature and Emissivity Separation (TES) algorithm. This work focuses on two major topics: 1) improving the TES algorithm and 2) implementing it in a processing chain of image data acquired from the TASI sensor. The improvement of the TES algorithm is achieved by replacing the Normalized Emissivity Module with a new module, which is based on smoothing of spectral radiance signatures. The improved TES algorithm is called Optimized Smoothing for Temperature Emissivity Separation (OSTES). The OSTES algorithm is appended to a pre-processing chain of image data acquired from the TASI sensor. The testing of OSTES with simulated data shows that OSTES produces more accurate and precise temperature and emissivity retrievals. OSTES was further applied on ASTER standard products and on TASI image data. In both cases is not possible to observe significant improvement of the OSTES algorithm due to imperfect atmospheric corrections. However, the OSTES emissivitites are smoother than emissivities delivered as ASTER standard product over homogeneous surfaces.
|
|
|
Mathematical principles of Robotics
Pivovarník, Marek ; Kureš, Miroslav (oponent) ; Hrdina, Jaroslav (vedoucí práce)
This master's thesis deals with mathematical principles describing forward and inverse kinematics of robotic arm. In order to determine the position of end-effector, and thus to solve forward kinematics, it is necessary to define special Euclidean group. Such a group can be represented by matrices or dual quaternions. In this thesis the inverse kinematics, where the goal is to determine joint parameters using end-effector position, is solved by exponential mapping and Grobner basis. All mentioned descriptions of forward and inverse kinematics are applied to the specific robotic arm with three articulated joints. Furthermore, these methods are implemented and visualized in software Mathematica.
|
|
|
New Approaches in Airborne Thermal Image Processing for Landscape Assessment
Pivovarník, Marek ; Pokorný,, Jan (oponent) ; Štarha, Pavel (oponent) ; Zemek, František (vedoucí práce)
Airborne thermal hyperspectral data delivers valuable information about the temperature and emissivity of the Earth's surface. However, attempting to derive temperature and emissivity from remotely sensed thermal radiation results in an underdetermined system of equations. Several approaches have been suggested to overcome this problem, but the most widespread one is called the Temperature and Emissivity Separation (TES) algorithm. This work focuses on two major topics: 1) improving the TES algorithm and 2) implementing it in a processing chain of image data acquired from the TASI sensor. The improvement of the TES algorithm is achieved by replacing the Normalized Emissivity Module with a new module, which is based on smoothing of spectral radiance signatures. The improved TES algorithm is called Optimized Smoothing for Temperature Emissivity Separation (OSTES). The OSTES algorithm is appended to a pre-processing chain of image data acquired from the TASI sensor. The testing of OSTES with simulated data shows that OSTES produces more accurate and precise temperature and emissivity retrievals. OSTES was further applied on ASTER standard products and on TASI image data. In both cases is not possible to observe significant improvement of the OSTES algorithm due to imperfect atmospheric corrections. However, the OSTES emissivitites are smoother than emissivities delivered as ASTER standard product over homogeneous surfaces.
|
|
|
VUMOP – 1601
Hanuš, Jan ; Fabiánek, Tomáš ; Pivovarník, Marek
Účelem hyperspektrální kampaně VUMOP 1601 bylo nasnímání nových oblastí výrazně postižených půdní erozí a ověření metodiky použité při letecké kampani VUMOP 1601. Při snímkování bylo použito celého spektrálního rozsahu FLIS - Flying Laboratory of Imaging Spectroscopy. Zadavatel určil zájmové lokality a termíny akvizice dat, tak aby nasnímaná data byla plně využitelná pro následné obrazové analýzy.
|
|
|
Mathematical principles of Robotics
Pivovarník, Marek ; Kureš, Miroslav (oponent) ; Hrdina, Jaroslav (vedoucí práce)
This master's thesis deals with mathematical principles describing forward and inverse kinematics of robotic arm. In order to determine the position of end-effector, and thus to solve forward kinematics, it is necessary to define special Euclidean group. Such a group can be represented by matrices or dual quaternions. In this thesis the inverse kinematics, where the goal is to determine joint parameters using end-effector position, is solved by exponential mapping and Grobner basis. All mentioned descriptions of forward and inverse kinematics are applied to the specific robotic arm with three articulated joints. Furthermore, these methods are implemented and visualized in software Mathematica.
|
|
|
Computation geometry in robotics.
Pivovarník, Marek ; Pavlík, Jan (oponent) ; Hrdina, Jaroslav (vedoucí práce)
Thesis deals with finding forbiden configuration space for polygonal robot. The aim is to compute an obstacle shape in configuration space. This problem solves Minkowsky Sum. Also thesis deals with Minkowsky sum properties. In the rest of the thesis is mentioned algorithm to compute Minkowsky sum, its debugging and implementation to the C# enviroment.
|
|
|
VUMOP - 1501
Fabiánek, Tomáš ; Pivovarník, Marek ; Hanuš, Jan
Účelem hyperspektrální kampaně VUMOP 1501 byla aplikace dálkového průzkumu na identifikaci půdní eroze na zemědělsky využívaných půdách. Při snímkování bylo použito celého spektrálního rozsahu FLIS - Flying Laboratory of Imaging Spectroscopy. Zadavatel určil zájmové lokality a termíny akvizice dat, tak aby nasnímaná data byla plně využitelná pro následné obrazové analýzy.
|
|
|
Polkovice 2015
Hanuš, Jan ; Fabiánek, Tomáš ; Pivovarník, Marek
Účelem hyperspektrální kampaně Polkovice 2015 byla aplikace dálkového průzkumu ve výzkumu vodního režimu zemědělských plodin. Zadavatel určil zájmovou lokalitu a termíny akvizice dat, tak aby byly zachyceny zájmové hospodářské plodiny v patřičné fenologické fázi.
|
|
|
VUMOP – 1504
Fabiánek, Tomáš ; Pivovarník, Marek ; Hanuš, Jan
Účelem hyperspektrální kampaně VUMOP 1504 bylo nasnímání nových oblastí výrazně postižených půdní eropzí a ověření metodiky použité při letecké kampani VUMOP 2015. Při snímkování bylo použito celého spektrálního rozsahu FLIS - Flying Laboratory of Imaging Spectroscopy. Zadavatel určil zájmové lokality a termíny akvizice dat, tak aby nasnímaná data byla plně využitelná pro následné obrazové analýzy.
|
host ::
RSS.