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Robot Localization Using MEMS Sensors
Demín, Michal ; Bureš, Tomáš (referee) ; Obdržálek, David (advisor)
Autonomous robots are becoming more common in this world. To be able to survive, they need precise information about their position. Purpose of this thesis is to design and create robust localization library, that provides such information to the robots. MEMS sensors are used as inertial measurement unit, which provide acceleration and rotation data to the library. We are discussing various available MEMS sensors, and their usability for such task. Described are various methods used to process sensor data such as the Kalman fi lter used to lter noise from measurements, sensor alignment using quaternions as spacial rotation, and xed-point arithmetics for compatibility with embedded systems. We found out that gyroscopes can only be used for short term observations, because of their drift. Acceleration sensors proved themselves unusable for localization purposes, because of imprecise acceleration sensing and major drift over time.
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Outdoor robot localization
Marek, Jakub ; Iša, Jiří (referee) ; Obdržálek, David (advisor)
The work describes the design and implementation of a framework for building control systems for mobile robots. It is a simple modular system simplifying creation of control systems and experiments with the modules. The framework contains also several tools for localization in outdoor environment.
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Behaviour-based control of autonomous robots
Gažo, Matúš ; Obdržálek, David (referee) ; Mráz, František (advisor)
The aim of this bachelor's thesis was an implementation of a library, which should enable to develop controllers for autonomous mobile robots. The controllers are based on ideas of Behaviour-based robotics. This means that such a robot has a set of elementary behaviours and its control system consists of a set of parametrized rules, which decide according to the state of its sensors which one of the pre-defined elementary behaviours the robot has to use. This program shifts the substantial part of a robot control development from programming to defining such elementary behaviours and sets of rules. It includes a genetic algorithm that can help to optimize parameters of the rules used and/or the behaviours used in a controller. As a proof-of-concept a simulated experiment with multiple agents was conducted, in which the robots were assigned a simple construction task. All simulations were done in the Player/Stage simulator.
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Lotus Notes/Domino Design Elements Versioning
Kylberger, Jaroslav ; Tykal, Jaroslav (referee) ; Obdržálek, David (advisor)
Theoretical part of the thesis contains description and comparison of basic features of major version control systems from both commercial and freeware area. Beyond file oriented systems, the study also maps the situation in Lotus Notes/Domino version control systems area. Practical part of this thesis consists of the implementation of new version control system for Lotus Notes/Domino platform named DVS (Domino Versioning System).
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Analysis of SLD DNS servers state
Šťastný, Petr ; Obdržálek, David (referee) ; Peterka, Jiří (advisor)
The publication contains a brief introduction into the system of domain names on the Internet (DNS) and into DNS protocol and its functioning. The main part is a methodology for systematic examination of a domain name and its name servers, offering criteria for checking validity of DNS records and functionality and availability of DNS servers. This methodology is then implemented as a web application that allows us to perform an on-line analysis of a domain name and the evaluation of discovered errors and other problems. The second part of the implementation is a tool for bulk analysis of large number of domain names, which was subsequently used for analysis of all domain names under TLD CZ; its short results are mentioned in the end of the work.
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Adaptive e-mail classifier for IMAP servers
Rajčan, Šimon ; Bednárek, David (advisor) ; Obdržálek, David (referee)
The subject of this work is to project and implement a system for classification of certified electronic mail, based on rule acquired in certain mode of application. The main aim is classification of positive mail, not abstraction of ineligible mail. System will be implemented as interactive application worked with protokol IMAP4 with mail stored on server.
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History and Backup Support for zlomekFS
Wartiak, Rastislav ; Babka, Vlastimil (advisor) ; Obdržálek, David (referee)
zlomekFS is a distributed file system that supports disconnected operation using local cache. During synchronization of local changes it offers easyto-use conflict resolution mechanism. Further improved it became a file system with no specific kernel code. It has therefore a good potential in future public use. As the content of this file system can be updated by many users, keeping history of the changes can be a useful feature. This thesis implements file versioning in zlomekFS, answering the questions such as how to store and access the history. On top of the versioning, the possibility of consistent backup is introduced into the file system. New functionality is derived from the analysis of other file systems with similar features and selection of the most suitable approach for zlomekFS.
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Effective and transparent data backup
Milan, Ján ; Obdržálek, David (referee) ; Kopecký, Michal (advisor)
The thesis describes the implementation of an effective and easily manageable backup system for OS MS Windows XP and newer. Emphasis is put on the simplicity of defining objects to be backed up. Effectiveness has been attained by backing only those files up, which has changed since last backup cycle. Unlike most other backup systems, delta files are used during transferring into remote server. The main contribution of this thesis is unique mechanism used to create copies of old versions of files. These are created by moving the files itself into temporary storage, when the request to overwrite them arrives. Moved old versions of files are used as an input for creating delta files. Designed solution contains user interface which enable comfortable backup of user data onto a removable disk. However it may be used also as a base for backup onto a remote computer. The description of file system filter development among others summarizes many issues and best practices for developing in kernel mode and may be used as an introduction into this area.
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