|
|
Localization Accuracy of Autonomous Mobile Robots: A Comprehensive Evaluation of KISS-ICP Odometry
Cihlář, Miloš
This paper emphasizes the importance of accurate localization for the appropriate behavior of autonomous mobile robots. In particular, it provides a rigorous evaluation of the accuracy of the KISS-ICP algorithm, a lightweight lidar-based pose estimation algorithm known for its simplicity with minimal setup parameters. The algorithm works only with lidar data; unlike other more sophisticated SLAM algorithms, it does not use IMUs. The algorithm is shown to work under a variety of conditions and sensors. To comprehensively evaluate how the algorithm performs under varying conditions, several sensors were used in the experiments. The evaluation included a series of 3D lidars, namely Ouster OS0, OS1, and OS2. These lidars are characterized by different field-of-view settings and operating modes with different point per row. In order to facilitate this evaluation, a data set with extensive robot traversals over a distance of more than 9 km in two different environments, each equipped with different sensor types, was prepared.
|
|
|
Analysis of the current development of downhill skiing technique with a focus on vertical movement
Benda, Radek ; Macas, Tomáš (advisor) ; Havel, Jan (referee)
Title: Analysis of the current development of downhill skiing technique with a focus on vertical movement. Objective: Creation of an overview study of downhill skiing and turning techniques on alpine skis, based on content analysis focused on the vertical movement of the skier's center of gravity. Methods: This work is conceived as a development-oriented overview study. It utilizes research methods and is based on content analysis. Within this study, open databases and specialized web browsers were explored for relevant literature. The parameter of focus was set as the vertical movement. Results: From the studied literature and professional articles, we have found that the vertical movement of the body's center of gravity currently does not hold the same significance in skiing technique as it did in the past. Although vertical movement is present in modern technique, it is primarily utilized, for example, when traversing uneven terrain to maintain contact with the snow surface. Additionally, it is important to emphasize that the development of skiing technique goes hand in hand with advancements in ski equipment. Therefore, progress in equipment contributes to progress in technique. Conclusions: This bachelor's thesis presents a comprehensive text in the form of a developmental study that focuses...
|
|
|
"Immense Beauty, Tremendous Trap": the Roman Journeys of Josef Svatopluk Machar and Jaroslav Durych
Horský, Jan ; Vojvodík, Josef (advisor) ; Merhaut, Luboš (referee)
This thesis deals with the tradition of literary reflections on journeys to Rome and Italy by comparing two Czech essayistic travelogues that fall into this tradition - Josef Svatopluk Machar's Rome and Jaroslav Durych's Roman Journey. Both of these texts present very specific and contrasting representations of the traveller's experience and stay in the "eternal city". On the basis of the genre and Italian-travel contextualization of both works and the theoretical conceptualization of the two basic themes (the issue of movement in travel writing and the concept of Rome as a text or palimpsest), it was possible to analyze the common features of both works as well as significant differences in a comprehensive way. Both author-travelers bring with them to Rome their own, very specific and highly exacerbated view of Italy, history, art or religion, and these dispositions are strongly manifested in the way they elaborate their experience of travel and Rome in their texts. Josef Svatopluk Machar traverses Roman history, creating a strong opposition between antiquity and Christianity, and is completely captivated by Rome. Jaroslav Durych seeks his place in an incomprehensible world through intimate, poetic reflections. Both travelogues, with their distinctive portrayals of Rome, continue the tradition of...
|
|
|
Machining of flat-shaped components on CNC machines
Fridrich, Tomáš ; Dvořák, Jaromír (referee) ; Kalivoda, Milan (advisor)
This bachelor thesis deals with machining of flat shaped components using CNC machines. In the theoretical part, the characteristics of CNC machines, NC programming and various methods of workpiece clamping are presented. It is followed by an overview of some Czech and foreign vertical machining centres with traverses only in X, Y and Z axes. Furthermore, an analysis of suitable technological operations for the production of flat-shaped parts is made. The last theoretical chapter deals with flat-shaped components and their division. The practical part of the bachelor thesis is focused on the creation of the NC program and the production procedure of the sample product, the compilation of data into the technological preparation of the production and the evaluation of the production.
|
|
|
Design of a mechanism for adaptive distribution of plants in hydroponic cultivation
Lupínek, Antonín ; Lošák, Pavel (referee) ; Naď, Martin (advisor)
This thesis addresses the issue of energy consumption n the field of increasingly popular hydroponic cultivation technology and its possible reduction with the help of movement mechanism. The mechanism in question adjusts the distances between plants in order to reduce the number of active artificial lights at different stages of plant growth. In order to achieve this goal, several movement mechanisms were proposed using the theoretical knowledge obtained in the first part of the thesis, from which a mechanism for the movement of the traverses with the plants along the channel of the NFT system, realized with the help of an electric motor and a set of pulleys, was subsequently selected. This mechanism was subsequently modelled in detail and used for the development of the motion study.
|
|
|
Noise form rolling stock in Brno
Dolíhal, František ; Dočkal, Aleš (referee) ; Klapka, Milan (advisor)
This study is focused on the analysis of data from long-term noise measurements of trams at the turning loop in Brno-Komín, and at the Technological Park turning loop in Brno. Automated field measurement based on sound pressure level and frequency evaluated tram passages to determine if there was the occurrence of squealing noise while traversing tightly curved track segments. Concurrent with noise measurements, meteorological conditions (temperature, relative humidity, and rain) were recorded. Alongside data from the preceding switch memory, including vehicle identification numbers and inspection data provided by the Brno Public Transit Company, an analysis of influencing factors on the occurrence and parameters of squealing noise was conducted. A weak dependence on air humidity (and consequently temperature) was found. This revealed varied noise behavior among tramcars of the same construction. Influence of water in contact of wheel was described during process of drying tracks. Manual field measurements also suggest the influence of vehicle speed. Observations also indicate the need for future assessment of the driver's influence and overall driving dynamics (especially acceleration), which this study does not address.
|
|
| |
|
|
Documentation of Barová cave - northeastern part
Nováková, Zuzana ; Weigel, Josef (referee) ; Kratochvíl, Radim (advisor)
Bachelor thesis looks into speleological mapping of the northeastern part of the cave system Barová cave, namely of the passages IV. abyss, V. abyss and Jezerní dóm, which is located under the V. abyss. The introductory section introduces the cave location a gathering available data. Following the reconnaissance of the location and the existing survey network, the documentation of the location was carried out with detailed measurements using Disto X2 and sketching on a tablet in the Topodroid program. The result of the work is a ground plan including cross-sections and a developed longitudinal section at a scale of 1:250, in the JTSK coordinate system and the Bpv height system.
|
|
|
Lifting devices of portal crane
Kouřil, Martin ; Malášek, Jiří (referee) ; Pokorný, Přemysl (advisor)
The work is focused on the design of the lifting device of a special gantry crane for handling ships up to 50 tons. Concretly for the structural design of the lifting device, its functional calculation, strength control of the crane traverse and partial drawing documentation.
|
|
|
Locus Map Extension for Communication between Units on the Battlefield
Bukas, Jozef Michal ; Rychlý, Marek (referee) ; Hranický, Radek (advisor)
Existuje mnoho systémov riadenia bojiska, ale nie sú dostupné pre širokú verejnosť. Mnohé používateľské základne by však takýto systém mohli využiť. Napríklad nadšenci milsimu, záchranné služby, prípadne poľovníci počas organizovaných poľovačiek. Cieľom tejto bakalárskej práce je vytvoriť open-source rozšírenie systému riadenia bojiska pre aplikáciu Locus Map. Samotný klient bol implementovaný ako Android aplikácia ktorá využíva Locus API na integráciu do aplikácie Locus Map ktorá dopĺňa klienta mapou a funkciamy s ňou spojenými. Samotný system používa architektúru klient-server kde komnukácia medzi serverom a klientom používa protokol WebSocket pre skoro okamžitú propagáciu dát zo serveru ku klientom. Nakoniec bol tento systém otestovaný priamo v akcií napríklad na dvoj-dňovej airsoftovej akcií.
|
guest ::
