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Mathematical modelling of walking robots
Kiša, Daniel ; Opluštil, Zdeněk (oponent) ; Tomášek, Petr (vedoucí práce)
This master's thesis deals with mathematical models of walking robots. Two such models are introduced. The rimless wheel, a passive precursor for other models, is studied analytically in detail. The compass gait biped model is analysed and simulated numerically in the Python programming language. A method for finding the conditions for passive gait of the biped is also implemented.
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Applications of fractional calculus in control theory
Kiša, Daniel ; Nechvátal, Luděk (oponent) ; Kisela, Tomáš (vedoucí práce)
This bachelor's thesis deals with the mathematical theory of fractional calculus and its applications in the field of control theory. We lay out the basics of control of linear time-invariant systems and discuss three of the classical problems - determining stability, controllability, and observability. In the second part, we introduce the Riemann-Liouville and Caputo differintegrals and formulate the above mentioned problems for a fractional-order linear time-invariant system. We discuss the solutions to them and show how they are derived.
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Mathematical modelling of walking robots
Kiša, Daniel ; Opluštil, Zdeněk (oponent) ; Tomášek, Petr (vedoucí práce)
This master's thesis deals with mathematical models of walking robots. Two such models are introduced. The rimless wheel, a passive precursor for other models, is studied analytically in detail. The compass gait biped model is analysed and simulated numerically in the Python programming language. A method for finding the conditions for passive gait of the biped is also implemented.
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Applications of fractional calculus in control theory
Kiša, Daniel ; Nechvátal, Luděk (oponent) ; Kisela, Tomáš (vedoucí práce)
This bachelor's thesis deals with the mathematical theory of fractional calculus and its applications in the field of control theory. We lay out the basics of control of linear time-invariant systems and discuss three of the classical problems - determining stability, controllability, and observability. In the second part, we introduce the Riemann-Liouville and Caputo differintegrals and formulate the above mentioned problems for a fractional-order linear time-invariant system. We discuss the solutions to them and show how they are derived.
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