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Hybrid mobile robots able to operate in the university campus
Chlud, Michal ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This thesis describes actually known hybrid mobile robots platforms including analysis of different types of wheels, tracks and other instruments of locomotion. Sets potencial advantages and disadvantages for every found platform. Thesis shows all possible hindrances for mobile robots in the university campus, including hindrance parameters. Multicriterial valuation’s basic metod takes out optimal variant of platform.
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Algorithmic Trading Using Artificial Neural Networks
Chlud, Michal ; Pešán, Jan (referee) ; Szőke, Igor (advisor)
This diploma thesis delas with algoritmic trading using neural networks. In the first part, some basic information about stock trading, algorithmic trading and neural networks are given. In the second part, data sets of historical market data are used in trading simulation and also as training input of neural networks. Neural networks are used by automated strategy for predicting future stock price. Couple of automated strategies with different variants of neural networks are evaluated in the last part of this work.
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Dynamic behavior od rotor dynamics stystem vibrating in a liquid
Chlud, Michal ; Pochylý, František (referee) ; Malenovský, Eduard (advisor)
This thesis deals with dynamic behavior of swirl turbine vibrating in a liquid. Primarily is studied decrease of natural frequencies of rotor due the interaction with fluid environment, namely for different levels of submerged rotor in fluid. After that follows the detection of natural frequencies of swirl turbine in operating speed. The problem is solved by computational modeling in ANSYS system. For this solution is used acoustic elements method. The results are compared with experiment.
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Ground Vehicle Control by User Gestures
Chlud, Michal ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor's work is focused on basic methods leading to successful gesture recognition in video sequence using standard RGB camera. Key steps required for hand classification are described, mainly segmentation of input video based on skin color model. Next there are discussed methods for object tracking and gesture analysis. Main goal of this work is to demonstrate this knowledge by creating application which controls robot's movement by hand gesture analysis. Solution is proposed and individual implementation steps are described.
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Formulation the Methodology for Analysis the Seismic Response of the Piping Systems with Viscose Dampers
Chlud, Michal ; Salajka, Vlastislav (referee) ; Kanický, Viktor (referee) ; Malenovský, Eduard (advisor)
Viscous dampers are widely used to ensure seismic resistance of pipelines and equipment in nuclear power plants. Damping characteristics of these dampers are nonlinearly frequency dependent and thus causing complications in computational modelling of seismic response. Engineers commonly use two ways to deal with this nonlinearity: The first option is to consider damper by means of “snubber”. This is essentially linear spring element that is active for dynamic load and does not resist static loads. Snubber behaviour during seismic event is described by a equivalent stiffness (sometimes called pseudostiffness). The equivalent stiffness could be defined by the iterative calculations of piping natural frequencies and mode shapes taking into account seismic excitation. However, in complicated structures such as the main circulation loop of nuclear power plant the iterative calculation is difficult and could bring significant inaccuracies. On the other hand, the benefit of such modelling is a possibility to apply the commonly used linear response spectrum method for a solution. The second option is to describe damping characteristics using suitable rheological model. The seismic response is than determined by direct integration of the equations of motion. The behaviour of dampers is described exactly enough but the calculation and post-processing, especially nodal stresses time-histories, are time consuming. The goal of this work was to find a methodology for determining the seismic response of complex pipe systems with viscous dampers. Methodology allows a sufficiently accurate determination of the seismic response of piping systems and also allows obtaining of the results in effective time. The procedure is as follows. Firstly, specialized piping program (AutoPIPE) is used for the development of computational model. Next step is to determine a static response of structure and its verification with experimental measurements, if possible. Using script in Python language a computational model is converted from AutoPIPE into general finite element model in ANSYS system. Four-parameter Maxwell rheological model is used to describe behaviour of viscous dampers. Seismic load is represented by synthetic accelerograms. Newmark algorithm of direct integration of the equation of motion is used to obtain seismic response (only reactions and displacements in nodes of interest are necessary). Than is the equivalent stiffness is than gained from displacements and reactions as median value of their ratios. Received stiffness are subsequently transferred to AutoPIPE program where the seismic solution is performed using response spectra method. Finally, the dynamic response is combined with the static response and stress assessment according standards is done. The created methodology was applied in the seismic resistance calculation of the main circulation piping and piping of pressurizer in nuclear power plants type VVER 440 and type VVER 1000.
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Evaluation of the flange joints calculations approaches
Jeník, Ivan ; Chlud, Michal (referee) ; Hůlka, Jiří (advisor)
This bachelor´s thesis deals with the design and assessment of flange joints with gasket. The first part defines term flange joint and its load. It surveys and assesses the possible alternatives of design solution. Mentioned is the issue of bolt connections with pretension, including force relations in the joint, determination rigidity of parts and their strength. In addition, analysis of the causes of bolts failures and their removal, methods of creating pretension. It gives an overview of the most widely used types of gaskets, their properties, application and definition of characteristic values of gaskets and their determination according to ČSN EN 13 555. Another section deals with the design process of flange joints, standards for the design, desired outputs and assesses analytical and numerical approach. Computational program was created in MS Excel 2007 for design calculation of flange joints according to ČSN EN 1591-1. Verification of the results was performed with calculation of identical models using finite element method (FEM) in ANSYS Workbench 14.0. Errors in standards formulas were submitted. In conclusion, the results obtained analytically and by FEM were assessed for a specific load conditions of gate valve DN 300. Camprofile (grooved) gasket with nonlinear material model was used.
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Energy balance the blade of the last stage steam turbine
Horák, Petr ; Chlud, Michal (referee) ; Malenovský, Eduard (advisor)
Created methodology for calculating the potential deformation energy parts is described in this thesis. Calculation method uses the outputs of modal analysis, which is performed using computational modelling. The potential deformation energy parts are calculated for three cases. Two benchmark problems and one case of blade model. Blade geometry is received by 3D scanning and reconstruction of given specimen. Results of the potential deformation energy parts calculations are analyzed and conclusions are formulated.
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Seismic Analysis of The Pump 200-QHD
Čapičík, Martin ; Chlud, Michal (referee) ; Lošák, Petr (advisor)
The main goal of this thesis is dynamic analysis of shaft of booster pump QHD-200. In the beginning we offer basic equations generally used in dynamics and common/possible methods for their solution. Then we focus on specific problems connected with rotor dynamics and using simple Laval rotor we show their mathematical interpretation. Based on given load as accelerogram we create response spectrum in different ways (using different methods) and compare their CPU time demand. In the next part we make three finite element models of different physical level. We perform modal analysis and comparison of eigen frequencies, mode shapes. In following chapter transient analysis was performed on all models. As load we use accelerogram. We evaluate translations in particular positions of model. After that, we decide whether or not gap between impeller and stator case will be erased. Finally we make assessment of force acting upon bearings.
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Research study of „Tilt pad bearings“ (computational and experimental modelling)
Havlásek, Michal ; Chlud, Michal (referee) ; Malenovský, Eduard (advisor)
The bachelor’s thesis is focused on the computational and experimental modelling of the tilting pad bearings. The computational and experimental modelling is based on solving the lubrication theory provided by English professor Osborn Reynolds, published in 1886. The main part of the thesis is the description of the most widely used computational models, especially TEHD analysis, and the description of the only two experimental devices for the testing of the tilting pad bearings. The thesis is supplemented with the prediction of the development of the computational modelling in the near future.
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Algorithmic Trading Using Artificial Neural Networks
Chlud, Michal ; Pešán, Jan (referee) ; Szőke, Igor (advisor)
This diploma thesis delas with algoritmic trading using neural networks. In the first part, some basic information about stock trading, algorithmic trading and neural networks are given. In the second part, data sets of historical market data are used in trading simulation and also as training input of neural networks. Neural networks are used by automated strategy for predicting future stock price. Couple of automated strategies with different variants of neural networks are evaluated in the last part of this work.
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