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Multirobot Path Planning in a Dynamic System
Dokoupil, Ladislav ; Veigend, Petr (referee) ; Zbořil, František (advisor)
This thesis deals with the problem of dynamic environment search using multi-agent systems. The primary result of this work is participation in the MAPC2022 contest, but the application can be found in the exploration of unknown space, assuming finite visibility and unlimited distance of communication of the agents. After describing the current methods for solving the given problem and their limitations, an algorithm based on ant colony optimization is proposed. Graphs were then created with data from running program with various parameters. The result of work is agents synchronization improvements and overall optimization of the platform involved in the mentioned contest from previous year. As a result half more of explored space was measured compared to previous solution.
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Multirobot Path Planning in a Dynamic System
Plachý, Dominik ; Uhlíř, Václav (referee) ; Zbořil, František (advisor)
This thesis deals with the design of a path planning algorithm for a multi-robot system in order to cover a dynamic environment. The coverage problem is solved by dividing the space into equal sized areas, of which there are at least as many as the number of agents covering the space. The agents divide the areas among themselves and resolve any collisions that occur. They are also able to react by changing their plan when they encounter an obstacle. The thesis contains measured and commented data from running the algorithm for different parameters of the environment dynamics. The result of the work is an algorithm whose efficiency increases directly proportional to the number of agents.
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Design of hybrid computer for modelling of dynamic systems
Rujzl, Miroslav
This paper deals with the design of an analog computer with digitally controlled components for the simulation of linear and nonlinear dynamic systems or for the study of transfer functions of electronic filter or oscillator topologies. The device should allow partial adjustment using a standard computer and also record the measured results in digital form.
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Multirobot Path Planning in a Dynamic System
Dokoupil, Ladislav ; Veigend, Petr (referee) ; Zbořil, František (advisor)
This thesis deals with the problem of dynamic environment search using multi-agent systems. The primary result of this work is participation in the MAPC2022 contest, but the application can be found in the exploration of unknown space, assuming finite visibility and unlimited distance of communication of the agents. After describing the current methods for solving the given problem and their limitations, an algorithm based on ant colony optimization is proposed. Graphs were then created with data from running program with various parameters. The result of work is agents synchronization improvements and overall optimization of the platform involved in the mentioned contest from previous year. As a result half more of explored space was measured compared to previous solution.
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Vibration energy harvester as a tuned mass damper
Novák, David ; Machů, Zdeněk (referee) ; Rubeš, Ondřej (advisor)
This bachelor thesis it's about vibration energy harvester as a tuned mass damper the design of a vibration generator as a dynamic vibration damper.The work contains a research part, which examines the methods of damping mechanical systems and the influence of the vibrating generator on the vibrating base. Based on this knowledge, equations of motion were derived for the design of the model in the SIMULINK program, where we optimized the parameters for maximizing the obtained electrical power and maximizing the damping effect.
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Construction of educational model "Ball on Stick"
Coufal, Ondřej ; Formánek, Martin (referee) ; Dobossy, Barnabás (advisor)
The goal of this thesis was to create an educational model, which could be used as a demonstration of dynamic model and its regulation for future students of mechatronics. The construction was inspired by a similar construction but with much smaller dimensions where most of components were printed by a 3D printer. Afterwards there was created an electrical scheme and implemented on a printed circuit board. For the whole system was designed a caskade regulation, that makes sure the ball will reach the desired position, which is adjustable.
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Multirobot Path Planning in a Dynamic System
Plachý, Dominik ; Uhlíř, Václav (referee) ; Zbořil, František (advisor)
This thesis deals with the design of a path planning algorithm for a multi-robot system in order to cover a dynamic environment. The coverage problem is solved by dividing the space into equal sized areas, of which there are at least as many as the number of agents covering the space. The agents divide the areas among themselves and resolve any collisions that occur. They are also able to react by changing their plan when they encounter an obstacle. The thesis contains measured and commented data from running the algorithm for different parameters of the environment dynamics. The result of the work is an algorithm whose efficiency increases directly proportional to the number of agents.
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Thermal Model Of Vehicle Cabin
For Hil Simulation
Chromiak, Michael
The Thermal model of the vehicle cabin was created using differential equations in the Matlab Simulink environment. By changing parameters, it is easy to set the model to any type of passenger vehicle. The accuracy of the model calculation has been successfully verified by real temperature measurement in the car. The model can therefore be used for HIL simulation to develop control system for air conditioning for cars. The output of the model is the average temperature of individual parts of the car as well as air temperature in the cabin.
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Design and realization of a new laboratory exercise with PLC B&R Automation
Cejpek, Zdeněk ; Němec, Zdeněk (referee) ; Lang, Stanislav (advisor)
This bachelor thesis is concerned with designing of a laboratory task primary dedicated for the course „Advanced control methods“, which for the education uses the instruments of company B&R Automation. From possible aproaches chooses modeling of dynamic systems using analog electrical circuits. Those circuits are realized in modular manner, in order to allow building models of various systems. The thesis also includes a desing of proper casing, which simplifies the manipulation by building of the systems. Using designed prototype modules, a model of a separately excited DC motor was built. This model is used for realization of the laboratory task, for which is provided a short manual including some basic program for Automation Studio. The thesis also briefly introduces the company B&R, it´s products and a PLC configuration used in courses „Advanced control methods“.
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