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Graphical Editor for Design Models
Hlavačka, Filip ; Janoušek, Vladimír (referee) ; Kočí, Radek (advisor)
The thesis is aimed at the solution of graphical editing for design models, especially Object-oriented Petri nets. There are many tools for editing Object-oriented Petri nets, but none of these support complete cooperation with simulation classes. This thesis offers created tool, which is implemented in the Pharo environment and uses the Morphic library. The created tool enables users to create or modify Object-oriented Petri net. Users can export created net to SVG or PNG format. The tool also enables the saving and loading of Object-oriented Petri net. The tool provides syntax check to the user.
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Module Orchestration of Multitenant Systems
Jeřábek, Filip ; Janoušek, Vladimír (referee) ; Smrčka, Aleš (advisor)
The aim of this thesis is to propose and demonstrate a solution for alternative conversion of an application into multitenant form together with its transfer from a customer server and deployment on a shared server of the company that develops this system. The conversion does not include a classical modification of the original application and implementation of multitenancy directly into its code. Using systems such as Docker and Kubernetes, modules of the original application will be extracted, containerized and orchestrated, creating the illusion of multitenancy. This thesis does not aim at presenting a single solution, but appeals to provide the necessary knowledge, multiple design variants and the implementation of a universal demonstration solution, where before using any of the designs, it is expected to modify it according to the specific needs of the actual solution and its subsequent implementation. The proposed solutions aim to simplify the process of this conversion, which is related to saving resources, and also to provide the possibility of creating the illusion of multitenancy for systems where the classical approach is too difficult or impossible.
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Application of Reinforcement Learning in Autonomous Driving
Vosol, David ; Zbořil, František (referee) ; Janoušek, Vladimír (advisor)
This thesis is focused on the topic of reinforcement learning applied to a task of autonomous vehicle driving. First, the necessary fundamental theory is presented, including the state-of-the-art actor-critic methods. From them the Proximal policy optimization algorithm is chosen for the application to the mentioned task. For the same purpose, the racing simulator TORCS is used. Our goal is to learn a reinforcement learning agent in a simulated environment with the focus on a future real-world application to an RC scaled model car. To achieve this, we simulate the conditions of remote learning and control in the cloud. For that, simulation of network packet loss, noisy sensory and actuator data is done. We also experiment with the least number of vehicle's sensors required for the agent to successfully learn the task. Experiments regarding the vehicle's camera output are also carried out. Different system architectures are proposed, among others also with the aim to minimize hardware requirements. Finally, we explore the generalization properties of a learned agent in an unknown environment.
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Real-Time Operating System with Fixed Task Priority for Raspberry Pi
Kolář, Josef ; Peringer, Petr (referee) ; Janoušek, Vladimír (advisor)
The main goal of this work is to create a support for an open-source real-time operating system on the computer Raspberry Pi 3B+. The project FreeRTOS is selected as a great candidate for further work. The runtime environment and support for user-space applications are presented. Two demonstration applications serve as proofs of support, the first one uses two periodic tasks and reports their state to the serial interface. The second demonstration application runds the same periodic tasks, but reporting the state is done using the CAN bus, for which is the driver realised. The result of this thesis is a working system FreeRTOS for Raspberry Pi 3B+ computer with support for time-critical usages.
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Docking Station for Automatic Charging of Batteries of Robot
Beran, Jan ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The aim of this thesis is to create a functional docking and charging system for the Trilobot robot, which is improved and modified for use in future projects as a part of this thesis. The theoretical part discusses the path planning methods, battery types and charging methods, types of docking stations and the charging method itself. Also, a robot refurbishment design is presented, which is then implemented, along with the docking station. The refurbished robot has functional control software in the ROS framework, which allows it to perform not only the task of autonomous battery charging. In this thesis, a test of the whole system is also performed and the results are evaluated.
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Educational Simulator in WebAssembly Environment
Březina, Jaromír ; Janoušek, Vladimír (referee) ; Peringer, Petr (advisor)
This bachelor thesis focuses on the issue of simulation of timed stochastic Petri nets and continuous block diagrams for educational purposes. The resulting application consists of two sub-parts. The first is a simple graphical editor that provides tools to create the desired model in the form of a Petri net or block diagram and visualize the simulation results. The graphical user interface of the editor was created using the React library. The second part of the application consists of a simulator implemented in C++, which is used to simulate the created model and is integrated into the entire solution as a WebAssembly module. The application also includes a set of 10 examples that serve as a demonstration of simple models suitable for educational purposes.
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