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Influence of physical load on electrical activity of muscles
Polach, Pavel ; Kolář, Radim (referee) ; Kolářová, Jana (advisor)
Bachelor´s thesis was focused on influence of physical load on electrical activity of muscles. The basic principles and terms from the problematics of measuring electric activity of human being were analyzed and also it was focused on mechanisms of neuromuscular system of human beings. The basic methods of measuring EMG were also mentioned in the text. Autor suggested measuring protocol, got data from a group of people, made an application and used this application to analyse measured signals. At the end of the work it was suggested statistic processing and evaluation of results.
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Knowledge representation methods
Verbík, Josef ; Polách, Petr (referee) ; Jirsík, Václav (advisor)
This thesis deals with methods of knowledge representation within expert systems. The thesis describes the expert systems and their history. Furthermore, it provides a description of individual types of expert systems and their components. Following this description, there is a characteristic of the knowledge representation. These characteristic has been divided into two parts. The first part describes the requirements neccessary for efficient knowledge representation. The second part describes the following individual methods of knowledge representation: rules, frames, semantic nets and predicate logic.
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Development of a tribometer for the adhesion measurement on a real rail
Vodehnal, Michal ; Polach, Pavel (referee) ; Omasta, Milan (advisor)
The submitted master’s thesis describes the development of a tribometer used to measure the adhesion of a real rail. The thesis contains an overview of the basic terms concerning wheel and rail contact. Following that, there is an overview of devicesthat are able to measure the adhesion on a real track. The author's solution includes a design of the tribometer, the proposed measurement methodology and also a description of the individual components. The result of this thesis is a functional device, verified in laboratory conditions and on a real track.
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Lubricant film formation in oil impregnated sintered metal parts
Látal, Roman ; Polach, Pavel (referee) ; Omasta, Milan (advisor)
This thesis deals with the experimental study of the formation of the lubricating film used for sintered metal parts impregnated with oil. The thickness of the lubricating film in a line contact is measured by the method of optical interferometry of thin lubricating films. In this thesis, the effects of various operating parameters on the formation of the lubricating film are described. The usage of impregnated lubricant leads to insufficient supply of lubricant to the contact. Individual results are significantly influenced by the degree of flooding of the contact area.
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On a stepladder model walking (with and without a decorator)
Polach, P. ; Prokýšek, R. ; Papáček, Štěpán
This work is related to our previous studies on underactuated biped robot models and has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences [1, 6, 7]. Underactuated biped robots with an upper body form a subclass of legged robots, see, e.g., [4] for a review on the control of underactuated mechanical systems and [2] for a study of an asymptotically stable walking for biped robots. It is obvious that in general, the walking control of underactuated walking robots is a more challenging problem than walking control of fully actuated walking robots. As follows, we examine the well-known mechanical system of the stepladder model with and without a decorator, whose role is substituted by an external inertial force according to the D’Alembert principle. It is well known, that stepladder walking is possible due to the periodic movement (pendulating) of an operator – decorator1 The rigorous dynamical analysis of stable cyclic walking of a class of stepladder models is presented in the next section.
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COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
Polach, P. ; Anderle, Milan ; Zezula, Pavel ; Papáček, Štěpán
A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool.
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On a class of biped underactuated robot models with upper body: Sensitivity analysis of the walking performance
Papáček, Štěpán ; Polach, P. ; Prokýšek, R. ; Anderle, Milan
Biped underactuated robots with an upper body (being a torso) form a subclass of legged robots. This study deals with the walking performance of such class of legged robot models and has been motivated by the need to implement of the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation (UTIA) of the Czech Academy of Sciences, see Fig. 1 (left). A detailed description of this underactuated walking-like mechanical system (called further UTIA Walking Robot – UWR) is provided in [2] and [5]. The simplest underactuated walking robot hypothetically able to walk is the so-called Compass gait biped walker, alternatively called the Acrobot, see Fig. 1 (right). For a review of underactuated mechanical systems, i.e. systems with fewer actuators than degrees of freedom, which encounter many applications in different fields (e.g., in robotics, in aeronautical and spatial systems, in marine and underwater systems, and in-flexible and mobile systems), see [3]. As follows, we examine the walking performance of parametrized models for different walking regimes and different values of model parameters. More specifically, the sensitivity analysis (i.e., parameter study) of the walking performance with respect to certain design variables (model parameters) is carried out using the software package alaska/MultibodyDynamics. The main attention is attracted to the role of the upper body mass m3 and position lc3, see Fig. 1 (right). Last but not least, having surveyed the mechanics of planar biped robots, our subsequent goal is the analysis of a 3D biped model where lateral balance is either controlled, suppressed or compensated.
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Performance of top-of-rail products in railway
Jordán, Tomáš ; Polach, Pavel (referee) ; Galas, Radovan (advisor)
Presented master’s thesis deals with a development of methodology of the top-of-rail products performance in railway with use of the real rail. The performance parameters are adhesion development with carry distance, carry distance, friction layer retentivity and product redistribution. The top-of-rail products are used to reduction of wear and noise pollution in railway. Currently used methodology in laboratory cause model distortion and unreal friction layer. Field experiments are affected by environmental conditions. As a main part of this thesis was developing of the methodology for the performance parameters study. The methodology was experimentally tested with four commercial products. An obtained knowledge was presented and discussed. As a part of the methodology was studied running-in of real rail. For measuring of shear friction on the top-of-rail was designed and realized a tribometer. The output of this work is functional sample of the tribometer and a manuscript dealing with the designed methodology.
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Top of rail lubricant development
Skurka, Šimon ; Polach, Pavel (referee) ; Kvarda, Daniel (advisor)
Friction modification within the wheel-rail interface is an important way of achieving ecologically friendly transportation of both persons and goods. This thesis aims to develop a new TOR lubricant, which will be able to maintain suitable frictional conditions while securing minimal adhesion required for traction. All measurements were carried out on tribometer MTM in the ball-on-disc configuration. In the first step, individual components were examined. More complex compositions were measured after that and the three best of them were compared with commercial TOR lubricants. The results show a good ability of developed compositions to maintain required adhesion, reduce wear, and all of them had resistivity against over-lubrication. Lastly, the process of lubricant verification before its application in real traffic was discussed.
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Testing of Rail Lubricants Performance
Tomčová, Renata ; Polach, Pavel (referee) ; Galas, Radovan (advisor)
Top-of- rail lubricants are an effective way to control adhesion, reduce contact wear and noise in rail transport. However, despite the widespread use of these lubricants, there is currently no standard defining how to test and evaluate their performance. This work aims to develop a methodology for testing top-of-rail lubricants in a laboratory environment using a tribometer in a ball-on-disk configuration. At first, important operational parameters of experiments are analyzed and experimentally tested. These are mainly wear-in and run-in, method of application, roughness and geometric parameters of contact bodies. The result of this work is a testing methodology that guarantees good repeatability and reliability of results. In the last part of this work, the methodology is verified using commercial top-of-rail lubricants.
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