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Algorithms for Movement Control of Bipedal Robot
Pokorný, Jan ; Janoušek, Vladimír (referee) ; Martinek, David (advisor)
This thesis is focused on using softcomputing method for learning bipedal robot to walk. Robot is represented by virtual model. At the beginning are the motivation and reasons for processing this theme. Next is devised shape of the robot which will be used. Then are selected libraries used by simulation. Further is devised system of robot learning algorithms. The most important of them is SOMA which is therefore described more. Due to assumed computational complexity is part of thesis focused on optimalization and simplification. One chapter focuses on measurement of quality of solution approximation. At the end there is an evaluation of thesis results.
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Creation of Sparse Adapter for the Code Listener Infrastructure
Pokorný, Jan ; Peringer, Petr (referee) ; Dudka, Kamil (advisor)
Program checking is indisputably important, especially if originating in formal methods. VeriFIT at FIT BUT uses custom Code Listener (CL) infrastructure modularly interconnecting the front-end, typically a code parser adapter, and the back-end, typically an analyser. Our aim is to offer a former as a compact alternative to existing GCC compiler plug-in. This adapter uses linearized code mediated by sparse library for static analysis of programs in C. According to the experiments with one of the main CL analysers, Predator tool and its tests suite, our product - clsp program - is successful successful in roughly 75% of cases in comparison with the GCC plug-in. Further improvements are expected.
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Coupling of the Models of Human Physiology and Thermal Comfort
Pokorný, Jan ; Jícha, Miroslav (advisor)
The thesis deals with car cabin environment and thermal comfort inside. A car cabin heat load model was developed in Dymola/Modelica to investigate influence of ambient environmental parameters. The model was validated on the data set of eight test cases measured in a climatic chamber and in a real traffic. The main objective of the thesis was to develop a human thermal comfort model suitable for non-homogenous environments and for a car cabin environment especially. The Coupled model of human physiology and thermal comfort was developed in Dymola/Modelica. The model allows predicting an overall human thermal comfort from local boundary conditions representing ambient and personal factors. The model was validated by 16 test cases taken from experiments in literature. Moreover three test cases were created in Theseus-FE to consider an asymmetrical heat load from Sun rays inside a car cabin. Prediction of the Coupled model was compared with Fiala model and experimental data. The Coupled model predicted mean skin temperature for moderate activities in neutral and warm environment well. In cold environment a predicted core temperature was very affected by ambient temperature and during high activity exercises, the predicted mean skin temperature was too high.
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Coupling of the Models of Human Physiology and Thermal Comfort
Pokorný, Jan ; Masaryk, Michal (referee) ; Kratochvíl, Zdeněk (referee) ; Jícha, Miroslav (advisor)
The thesis deals with car cabin environment and thermal comfort inside. A car cabin heat load model was developed in Dymola/Modelica to investigate influence of ambient environmental parameters. The model was validated on the data set of eight test cases measured in a climatic chamber and in a real traffic. The main objective of the thesis was to develop a human thermal comfort model suitable for non-homogenous environments and for a car cabin environment especially. The Coupled model of human physiology and thermal comfort was developed in Dymola/Modelica. The model allows predicting an overall human thermal comfort from local boundary conditions representing ambient and personal factors. The model was validated by 16 test cases taken from experiments in literature. Moreover three test cases were created in Theseus-FE to consider an asymmetrical heat load from Sun rays inside a car cabin. Prediction of the Coupled model was compared with Fiala model and experimental data. The Coupled model predicted mean skin temperature for moderate activities in neutral and warm environment well. In cold environment a predicted core temperature was very affected by ambient temperature and during high activity exercises, the predicted mean skin temperature was too high.
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Interaction between Mobile Working Machines and Rolled Surfaces
Pokorný, Jan ; Hrabovský, Leopold (referee) ; Červinka, Jan (referee) ; Škopán, Miroslav (advisor)
This dissertation thesis is concerning with an interaction between mobile working machines and rolled surfaces. Machines and their constructions parts behavior were observed. There are some machines that can change state of surface. And due to these change of surface the machine is in different conditions for drive and also for works. The interaction of working machines and rolled surfaces was categorized in this work and for each category here is a methodic work flow for solution of various cases. Three examples are described in this work. Some simulating programs were used for all cases and therefore there is a methodic work flow for creating and simulating of models. Three described examples include a complex solution of hydraulic drive for vibration exciter of vibration roller, small cleaner of canalizations with aim on load case to frame of this cart. The third example describes solution of undercarriage frames of agricultural semi-trailers. This example is the most extensive chapter from this work due to including of marketing research at the beginning of development and also verification of simulated results with results from real prototype tests at the end of development of these undercarriage frames.
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Design of universal hydraulic power unit
Holub, Vojtěch ; Pokorný, Jan (referee) ; Knoflíček, Radek (advisor)
The first part of this masters thesis deals with research of modulat type hydraulics power units from other significant world producers. Design part of thesis contains complete design of three product ranges of hydraulics power units. It also includes simulation by FEM method. Last part descibe safety of machine and brief economic evaluation of product.
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Design of micro drive for harvester
Jonák, Vojtěch ; Pokorný, Jan (referee) ; Škopán, Miroslav (advisor)
This master thesis deals with design of hydrostatic drive for harvester. It contains calculations of parameters from current drive like speed, hydraulic losses and tractive effort. Because now these parameters are insufficient in next part of work is proposed few options how to achieve required parameters. In selected cases are made calculations and based on the results are recommended two options for realization.
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A space heating system for a three-story row hose
Aulehla, Jiří ; Pokorný, Jan (referee) ; Charvát, Pavel (advisor)
This master`s thesis describes the design alterations that lead to a reduction in heat loss of the house, an extension of living space in the attic and the subsequent reconstruction of the heating system. The first is presentation of the house. After that, there is calculation heat loss of the house. The next step contains design of a reconstruction for every room and calculation modified heat loss. Another point this work is design the reconstruction of the heating system, extension heating system to the attic floor, calculation pressure losses and selection condensing gas boiler. After that is designed regulation with central control unit and electric thermostatic radiator valve. The last part of master`s thesis is focused on benefit assessment changes, budget and return of investment. The drawings are listed in the appendix.
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