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Multipoint identification of position and orientation of object
Řičánek, Dominik ; Ligocki, Adam (referee) ; Burian, František (advisor)
The goal of this paper is to find a good method to determine the pose of two, mutually rotated, objects and to try and implement it first in C++ without the usage of any external libraries and then in Kuka Robot Language (KRL). First we are going to look at two different approaches to solving this problem: The Iterative Closest Point algorithm (ICP) and the Kabsch Algorithm. From them one is going to be chosen and a program will be build around it. Following its implementation, the algorithm’s precision is going to be tested. Finally KRL will be briefly introduced and the various problems involving transition of the algorithm from C++ to KRL will be talked about.
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Influence of rotating wheels on vehicle aerodynamic characteristics
Oslizlo, Aleš ; Svída, David (referee) ; Vančura, Jan (advisor)
The diploma thesis is focused on computational examination of influence of boundary condition settings in CFD software on the final aerodynamic characteristics of a vehicle. The flow analysis is carried out around a vehicle with and without the rotation of the wheels and along with the stationary and moving road. Furthermore, there is demonstrated the method of the CFD model composition and there is described the influence of rotating wheels on vehicle aerodynamic characteristics.
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Lie groups theory in robotics
Horník, Petr ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
In this thesis we focus on the mathematical description of the forward kinematics in three-dimensional space using orthogonal transformations and matrix theory. Applying the acquired knowledge we solve an example using the method of moving frame. Between bases we pass using the passage matrix and we implement the example in the MATLAB environment. Consequently, we focus on deeper relation with exponential functions and extend the theory by the theory of Lie groups and algebras. Especially, we take notice of the special orthogonal group SO(3). Finally, we enrich the theory with homogeneous transformation and special Euclidean group.
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Generator for aircraft application HUMS
Zelda, Jan ; Huzlík, Rostislav (referee) ; Hadaš, Zdeněk (advisor)
Presented diploma thesis deals with development of the autonomous electric energy source for Health and Usage Monitoring Systems placed at the rear part of a helicopter. Firstly, the HUMS systems were described briefly and the research of available energy sources was made after that. After that, the magnetic properties of the materials were described with the special focus on the permanent magnets. The draft also includes the creation of model of the magnetic field using the final element method. Prototype was assembled and the other design solutions were evaluated. The evaluation of various designs passed in the use of SOMA optimization algorithms. The generator is followed by the draft of the electronics, which streamlines and regulates a voltage supplied by the generator. At the end of the thesis, the complete source prototype was assembled and tested with two different regulators
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3D scene reconstruction using Clifford algebras
Hrubý, Jan ; Návrat, Aleš (referee) ; Hrdina, Jaroslav (advisor)
Tato diplomová práce má za cíl seznámit čtenáře se stále ještě relativně novou a neznámou oblastí matematiky, s geometrickou algebrou. Nejdříve jsou uvedeny základní definice a poté jsou studovány vlastnosti obecné geometrické algebry. Další velká část textu se věnuje Konformní geometrické algebře, která je v současnosti jedna z nejvíce zkoumaných a aplikovaných geometrických algeber. Jsou popsány její algebraické a geometrické vlastnosti, konkrétně schopnost reprezentovat určité geometrické objekty jako vektory. Taktéž umožňuje počítat jejich průniky a konformní transformace. Další část textu je zaměřena na aplikace Konformní geometrické algebry, nejdříve k popisu kinematiky robotické ruky a poté v binokulárním viděni.
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Evaluation of Chosen Tree Search Methods
Tříska, Vít ; Lukáš, Roman (referee) ; Honzík, Jan M. (advisor)
A function to search is widely used operation in all possible forms. Recent developments show increasing importance of far more effective search methods. That is why this work deals with an evaluation of the fastest search methods at present time, namely AVL tree, red-black tree, splay tree and skip list. Moreover, it tries to recommend them for their correct usage. A supplementary goal of this thesis is to create a learning tool (study aid), which would facilitate better understanding of pitfalls of each individual search method.
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Fast Re-Calibration of PTZ Camera for Traffic Analysis
Dřevo, Aleš ; Juránek, Roman (referee) ; Sochor, Jakub (advisor)
This thesis deals with problematics of PTZ-camera re-calibration during movement. The objective of this work is to keep the camera in calibration mode from default status when the known positions of Vanishing Points are in the image. With their use during movement, which is changing with motion of the camera, their positions are kept with help of two implemented methods. The first method is based on the principle of homography, the second on the principle of cross ratio. The results show that both of these methods work especially for keeping the positions of First Vanishing Points. In the case of the Second Vanishing Points there appear various problems and the results are often quite inaccurate.
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Three-dimensional kinematics of eye movements
Stodola, Marek ; Velan, Petr (referee) ; Hrdina, Jaroslav (advisor)
The goal of this thesis is to describe eye movements and general eye position using apparatus of geometric algebra. The introduction covers the theory about the appropriate geometric algebra, followed by the classifications of the eye movements and the terms used to describe these movements. Following this, the calculations that describe eye position derived from a single observed point are listed, for distant and close points. In addition, the possible eye movements in respect to the axis in which an eye can rotate is described, for any general position. All the calculations are based on Donders' law and Listing's law.
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Image Transformations
Novák, Radim ; Juránek, Roman (referee) ; Venera, Jiří (advisor)
The main goal of this thesis is to introduce two fundamental geometric transformations in 2D space - by changing the resolution together with related image resampling and image rotation. Also brightness interpolation, technique of mapping and other problems related to the topic are explained there, i.e. Fourier transformations, problem with aliasing and technique of aliasing suppression.
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The relation of laterality and selection of rotation direction in U12 figure skaters
Hájková, Klára ; Sedláčková, Marie (advisor) ; Musálek, Martin (referee)
Title: The relation of laterality and selection of rotation direction in figure skating at children in preschool and younger school age Objectives: The aim of the thesis is to construct a test battery on the ice surface, to assess the laterality, i. e. the preferred lower limb and the preferred side of rotation and turning, for beginning figure skaters in preschool and younger school age. Subsequently, individual items of this test battery are examined with items from the standardized test battery for the child population aged 8-10 years, according to Musálek (2013). The relationships of individual test items are determined in order to determine whether the individual test items on the ice surface can be used to represent a relatively reliable tool for determining the rotation direction of a beginning figure skater. Methods: We use testing by standardized battery of tests according to Musálek (2013) for the diagnosis of motor manifestations of laterality for children aged 8-10. Next is used testing by created test battery on the ice surface, which should fulfill the purpose of demonstrate the preferred lower limb, or the preferred side of rotation and turning. Results: Test battery created for use on the ice surface shows some reliability only for test items that are designed to express the...
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