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Trajectory planning for vehicle with four steering and driven wheels
Trávníček, Tomáš ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This thesis deals with trajectory planning and driving for two-wheel steering (2WS) and four-wheel steering (4WS) vehicle in environment with static obstacles. Algorithms, mentioned in the search, are used for planning the path for vehicles with front wheel steering. The kinematic model is ana-lyzed and simplified. The problem of trajectory planning is solved in Matlab using trajectory dis-cretization and searching within the state space. The implemented algorithm deals with obstacle collisions as long as the map is obtained, therefore the planning does not take so much computa-tional time. Finally, the algorithm is tested on a two-wheel minibike. The solution is applicable for variety of vehicles with additional movement possibilities, even when adapted it can deal with planning in the three dimensional workspace. The results of this thesis are applicable for planning for 2WS and 4WS vehicles.
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Advanced trajectory management techniques for model station in the OPNET Modeler environmen
Ludvíček, Pavel ; Mácha, Tomáš (referee) ; Vajsar, Pavel (advisor)
The aim of this work is to study and theoretically process existing movement options of station in OPNET Modeler environment. These options are described in first part. Furthermore to design and implement function to display path obtained from real-world conditions and done to station following this route during simulation. Coordinates used to move station are obtained by GPX format, which is used to store clearly the GPS coordinates. Second part is devoted to describing creation of this function, first using PHP script, then direct implementation into OPNET Modeler environment using C++.
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Knowledge Discovery in Spatio-Temporal Data
Pešek, Martin ; Bartík, Vladimír (referee) ; Zendulka, Jaroslav (advisor)
This thesis deals with knowledge discovery in spatio-temporal data, which is currently a rapidly evolving area of research in information technology. First, it describes the general principles of knowledge discovery, then, after a brief introduction to mining in the temporal and spatial data, it focuses on the overview and description of existing methods for mining in spatio-temporal data. It focuses, in particular, on moving objects data in the form of trajectories with an emphasis on the methods for trajectory outlier detection. The next part of the thesis deals with the process of implementation of the trajectory outlier detection algorithm called TOP-EYE. In order to testing, validation and possibility of using this algorithm is designed and implemented an application for trajectory outlier detection. The algorithm is experimentally evaluated on two different data sets.
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Methods for the evaluation of postural stability
Nevěčná, Leona ; Janoušek, Oto (referee) ; Koťová, Markéta (advisor)
This study deals with methods for evaluation of postural stability. The main problem of posturography is lack of standardization in measurement and evaluation. There are presented some parameters affecting postural stability that are often taken into account. Those are parameters that might be changed while measuring, for example standing position, sampling duration or visual control. And others that are altered when evaluating is taking place, variability of those parameters, is much greater. Measurement protocol taking into account the most promising parameters was put together based on literary search. Changes in COP of ten subjects were measured with Wii Balance Board, according to the proposed measurement protocol. The data acquired from a particular subject were used to count values of parameters used in evaluation. After that the values were statistically analyzed. To compare each parameter, trajectory with good results according to other literature was chosen to pose as a reference. Final result is comparison firstly between importance of changes in parameters of measuring and secondly between success of detection of those changes of separate parameters.
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NoSQL: Support of Multidimensional Data Storage
Hrivnák, Jan ; Zendulka, Jaroslav (referee) ; Volf, Tomáš (advisor)
This bachelor's thesis deals with posibilities of storing multidimensional data in NoSQL databases. It compares suitability of several different databases for storing trajectories of moving 2D objects. Experiments with MongoDB were carried out to find the best way to store trajectories and create indexes over them. This thesis also provides a simple demonstration program in Python which works with MongoDB API.
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Path Planning of Airplane with Obstacles
Očenáš, Marek ; Zbořil, František (referee) ; Samek, Jan (advisor)
The aim of this master's thesis is the implementation of optimal trajectory planning for an airplane flying in lower altitudes, which has to avoid collision with obstacles. For the planning we assume static and fully known environment. There are described principals, optimality and complexity for some chosen methods of planning in this thesis. And based on the methods' characteristics it's chosen the best method for implementation.
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Computer graphics flow visualization methods
Častulíková, Veronika ; Štefan, David (referee) ; Urban, Ondřej (advisor)
Flow visualization is one of the important topics in the scientific visualization, which is a subject of ongoing research. Data obtained by numerical simulations are further analysed to gain a better understanding of fluid flow. With the rapid development of computational simulations, demand for more advanced visualization methods has grown. Basic overview and a detailed description of the fluid flow visualization techniques is introduced in the bachelor thesis. Afterwards, the techniques are applied on data obtained by CFD simulation of a vortex rope in the draft tube swirl generator.
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Platform for Measurement of Atmospheric Quantities
Hanák, Jiří ; Vlk, Jan (referee) ; Chudý, Peter (advisor)
This work is dealing with the design and implementation of an embedded system for aerology measuring. The aim of the system is to monitor atmospheric states during an ascent in the suspension under an meteorological balloon. First of all, attention is given to the Earth's atmosphere and its quantities, then an overview of existing systems for performing aerological measurements. The core of the work is focused on the choice of measurement techniques and the selection of suitable measuring elements for a given scenario. The aerological probe is using atmospheric sensors HIH-8131-021-001, MS5611-01BA03 and PT1000-550 for temperature sensing, while GNSS data is received using the MAX-M8Q-0 module and the measured data is stored on a microSD card and transmitted in parallel using the MTX2-434.650-10 radio module. The system is controlled by STM32L1 from STMicroelectronics programmed in C using HAL abstraction layer.
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