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Navigation System for a Mobile Robot Based on Omni-Directional Vision
Benda, Jan ; Flusser, Jan (advisor) ; Bakstein, Hynek (referee)
The thesis addresses the vast problem of mobile robot localization in the dynamic environment of a robotic contest. Method based on particle filters is developed, using only the image of a catadioptric visual sensor as its input. The advantage of this approach is an easy portability thanks to independence on other systems of the mobile robot and robustness to external influences such as robot collisions. This new method employs the composition of fast color thresholding, look-up coordinate transformation, vision-based motion prediction and Monte Carlo Localization to gain robust and reliable pose tracking using a color map of a delimited environment. Since the method uses visual data both to determine the relative motion and to verify the current location, it can cope with an unexpected events such as wheel slippage or collision.
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Building survey and evaluating the state construction
Sloupenský, David ; Anton, Ondřej (referee) ; Heřmánková, Věra (advisor)
The diploma thesis in theoretical section is focused on a brief overview of the methods used in the diagnostic of reinforced concrete structures. The practical part of this thesis deals with the diagnostics of the manufacturing reinforced concrete buildings in the complex Fatra Napajedla. This part will provide concrete strength of existing structures and will verify the reinforcement of individual elements of the structure by means of modern devices – radar and electromagnetic rebar locator. In the final section of this thesis will be performed static reports of selected parts of the structure.
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The timber viewtower
Lecián, Martin ; Straka,, Bohumil (referee) ; Buchta, Stanislav (advisor)
The master's thesis deals with design and static assessment of loadbearing structure the timber viewtower on the hill Hostyn. The shape of the structure is very close oblate spheroid. Towers plan shape is a regular octagon whose outer diameter varies along the height. Tower in the footing and in the top measure 10,5 meters, at mid-height measure 6.5 meters. The height of the viewtower is 35 meters and view floor is located at a height of 30.5 meters. The main structure of tower consists outer towers curved wooden columns and interior steel column. Columns support the horizontal beams and bracing provide rigidity of the structure. The roof has a pyramid shape towers and tends to 17 °. Outer columns are designed from glued laminated wood GL24h, others carrying wooden beam are designed from solid timber C24 steel rods are designed from steel S235. Connections are solved using steel components. The work includes structural calculation, technical report and drawings.
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Motel
Beranová, Iveta ; Utíkal, Aleš (referee) ; Utíkalová, Ivana (advisor)
The diploma thesis deals with the processing of project documentation. Specifically, the parts A, B, C, D.1.1 and D.1.3 of Annex 6 to Regulation No. 499/2006 Coll., On construction documentation, as amended by Decree No. 62/2013 Coll. The documentation refers to a motel with restaurant designed for 50 guests. The plot is located in Troubsko. The motel is divided into three separate buildings. In the main building is reception, restaurant with kitchen and offices. The building has ground floor and underground floor. The accommodation is divided into two one-storey buildings. The buildings are formed by separate units with 4 or 2 rooms which are connected by one roof. All buildings are designed with flat green roof. There is parking lot for public and restaurant guests, for accommodated guests ans private parking for employees and supply is solved on the plot. The buildings are based on plain concrete foundation strips. Vertical load-bearing structures are designed from sand-lime. Horizontal load-bearing structures are designed from precast filigree slabs. Partitions are designed from autoclaved aerated concrete blocks. The facade is thermally insulated by EPS boards. The 3% slope of the roof is achieved by using tapered EPS boards. Vegetation (stone crops) will be planted on the roof. part of this thesis is static calculation and design of staircase slab from reinforced concrete.
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Multifunctional buiding Dělnická
Horňáková, Veronika ; Velecký, Pavel (referee) ; Utíkalová, Ivana (advisor)
The subject of diploma thesis is processing of the desing documentation for new multifunctional building in the street Dělnická, cadastre unit Komín, Brno - Komin. The building is a 3 floors and one underground floor and is designed as a last building in the street on the nearly flat land. In the building is located non-residential space, dwelling units and studios. Non-residential space comprise seven parking spaces in a public underground garage, two stores barrier-free solution with the facilities and two studios 1 + 1. The residential part has two dwelling units 1 + kk, two dwelling units 2 +1 and two dwelling units 4 + kk. The building is based on a waterproof concrete structure "white tub". The vertical structure is built of clay blocks Porotherm, horizontal structures are cast-in-place reinforced concrete. The exterior building envelope is completed with thermal insulation. An internal staircase is cast-in-place reinforced concrete. The entrance to the garage for cars is possible by Autolift. The building is roofed with warm flat roof. The drawings are processed in AutoCAD software visualization are processed in Sketch Up
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Traffic lanes merging analysis and possible improvement measures
Mikolášek, Igor ; Ščerba, Marek (referee) ; Holcner, Petr (advisor)
The presented thesis deals with lane merging at lane drops. The theory of traffic flow is briefly introduced and put into the perspective of lane merging. Forming of queues at lane drops, the capacity drop and traffic flow behaviour at lane merging is explained. A review of existing measures at lane drops at work zones and elsewhere is provided. Measurements of traffic flow from three different locations are presented. The locations are introduced, the methods used for analysis of the data are explained and the results are provided and discussed. The capacity drop is confirmed and the first proof of concept of the later introduced metering system is presented. The behaviour of the merging drivers was found to have a significant influence on the merging capacity during congestion. Further, an overview of existing applications of traffic light in traffic flow control is provided and ramp metering and mainstream metering is explained. The new metering system for lane drops is presented including several possible modifications and extensions. Finally, the proposed metering system is tested in microsimulation software Aimsun. The simulations further confirm the viability of such systems. It brings significant capacity improvements and consequently even greater improvements of delays and travel times due to shorter queues.
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Cultural and educational center
Hemza, Jakub ; Manová, Ludmila (referee) ; Maceková, Věra (advisor)
My diploma thesis deals with newly-built cultural and educational centre in the city of Velké Bílovice. The project is conducted at the level of documentation for construction. Building has the Z-shaped construction plan and contains a basement with two common floors. Cultural and educational centre is based on the basement walls of concrete formwork with concrete grout. The basement masonry is followed by concrete prefabricated skeleton with a lining of ceramic fittings of therm type. Horizontal structures are made of prestressed concrete panels Spiroll. The roof is flat with extensive greenery. The main entrance is oriented to the southwest side. Entryway to the lobby is through the hall where is access to all parts of the building. In the lobby there is a reception and main staircase with an elevator. Bar, library, reading room and an office adjoins the hall on the east side. On the west side there are sanitary facilities, dressing room and multipurpose hall. Technical facilities (including room of technology) are placed in the basement. Hall with gallery and sanitary facilities are situated in the central part of the second floor. House offices are functionally separated from the rest of the floor and located on the eastern side. There are also two lecture halls which can be combined into the one single hall on the west side of the building.
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Kindergarten
Hlavinková, Veronika ; Klímek, Karel (referee) ; Čuprová, Danuše (advisor)
The subject of my thesis is a project documentation of kindergarten in the land of the municipality Litovel. It is a two - storey detached house which disposal solution meets the conditions of operation of the building – the education of children aged from three to six years. There are classes for children aged three to four years and technical support for the school in the first floor. In the second floor there are two classes, one class for children aged four to five and second class for pre - school children and children with deferred schooling. Each department has a separate entrance, which is located on the north side. The constructive design of the system is designed from the POROTHERM system. The vertical rim of the structure of the first and second floor are bricked up wiith POROTHERM 44 T Profi dimension of 248 x 440 x 249 mm. Inside walls with POROTHERM 30 Profi, a wall between the rooms, and the food servery is of POROTHERM 30 Aku Profi dimension of 247 x 300 x 249 mm and internal masonry POROTHERM 11, 5 Profi dimension 497 x 115 x 249 mm. In the object there are used SDK pre-walls and ceilings Rigips 150 mm thickness. The ceiling is ceramo-concrete POROTHERM system (carrier beams Pot and cartridge Miako) 290 mm thickness. The vertical structure are obtained from internal and external parties plaster. The roof is designed as a green roof. The windows and the front door are designed in plastic with mahogany colour. Floor coverings are designed with regard to the use or operating rooms - the ceramic floor tiles or vinyl flooring. The operation of the school on the 1 st and 2. floor is linked with monolithic staircase. The outer surface layers are equipped with mineral coloured paint. The main objective of my work was to design a correct disposition suitable for given purpose, i. e. the proposal of a suitable system design, carrier system and the drawings, including text parts. Thesis is processed in the form of project documentation for instance in t
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Tennis Sporting Club Facilities
Kliment, Daniel ; Struhala, Karel (referee) ; Manychová, Monika (advisor)
The subject of the thesis to this is newly built sports facilities tennis club in Brno Pole. The building has a basement and three floors. The main entrance to make the building is from the west side of the level 1.NP. At the bottom of the building is the location of facilities for athletes. On the top floor located facilities for staff and snackbar. Vertical and horizontal structures are mostly made from ceramic system components Heluz. The staircases are monolithic reinforced concrete. Part of the new buildings are complete aluminum construction, plumbing, others, carpentry, locksmith's products. The project was evaluated by computer program AutoCAD.
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Polyfunctional building
Michna, Patrik ; Pospíšil, Jaroslav (referee) ; Fuciman, Ondřej (advisor)
The assignment of my diploma thesis was to design a polyfunctional building. Function of the building is based on the requirements of the Land Use Plan Brno, cadastral zone Židenice. The aim of the design was to improve the quality of public space in the area by creating parks, urban parterre with services, parking and by bringing missing features to the area. The building is located in the centre of the plot. The main facade is oriented to the main street. Design creates new parking on the ground and in the underground garage. On the first floor are rentable spaces for commerce and services. At 2nd and 3rd floor are open space offices with the possibility of spatial variability solutions. Architectural expression of the building is simple, consisting as a compact mass with parterre subsided, useful in terms of energetical sustainability. The facade of the building is made as a combination of a transparent double skin facade and opaque ventilated facade with fibre cement panels. Structural system is a precast concrete frame with a cast-in-place reinforced concrete shear core. Foundation is made as a reinforced concrete pads and strips. Ceiling is made of a precast prestressed hollow core slabs.
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