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Geodesic curves and their applications
Orgoník, Svetoslav ; Hrdina, Jaroslav (oponent) ; Vašík, Petr (vedoucí práce)
The aim of the thesis is to give a survey of basic results from the classical theory of curves. A special attention will be paid to geodesics and their properties. In particular, we treat geodesics on some special surfaces. We treat one application with animations. All examples will be illustrated by pictures, which were drawn by means of mathematical software.
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Foundations of geometric control theory
Čulák, Michal ; Hrdina, Jaroslav (oponent) ; Vašík, Petr (vedoucí práce)
This bachelor thesis deals with the description of algorithm for motion planning of trident snake robot. His model is created by means of differential geometry. The controllability of the robot is provided by Lie algebra, generated by elementary vector fields and their Lie bracket. The system is approximated by nilpotent approximation. In this thesis is proposed and described algorithm of motion planning with piecewise constant input. This algorithm is further derived for trident snake robot. Finally, selected motions of trident snake robot are simulated and portrayed in enviroment called MATLAB.
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Výpočty v geometrických algebrách
Tomešová, Tereza ; Vechetová, Jana (oponent) ; Vašík, Petr (vedoucí práce)
Tato práce se zabývá výpočty v geometrických algebrách, a jejich ukázkou v softwarovém prostředí CLUCalc na konkrétním příkladě. V prvé řadě seznamuje se základními pojmy a vlastnostmi vektorového prostoru, skalárního součinu a Cliffordovy algebry. Dále je zde zaveden pojem geometrická algebra, součiny a operace geometrické algebry. Tyto získané pojmy jsou poté demonstrovány na konkrétním příkladě, tj. na translaci a rotaci sféry po dané křivce, v softwarovém prostředí CLUCalc.
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Geometrically controlled snake-like robot model
Shehadeh, Mhd Ali ; Návrat, Aleš (oponent) ; Vašík, Petr (vedoucí práce)
This master’s thesis describes equations of motion for dynamic model of nonholonomic constrained system, namely the trident robotic snakes. The model is studied in the form of Lagrange's equations and D’Alembert’s principle is applied. Actually this thesis is a continuation of the study going at VUT about the simulations of non-holonomic mechanisms, specifically robotic snakes. The kinematics model was well-examined in the work of of Byrtus, Roman and Vechetová, Jana. So here we provide equations of motion and address the motion planning problem regarding dynamics of the trident snake equipped with active joints through basic examples and propose a feedback linearization algorithm.
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Game Theory in Waste Management
Osička, Ondřej ; Vašík, Petr (oponent) ; Hrdina, Jaroslav (vedoucí práce)
In this thesis, a game-theoretic model representing a decision-making situation in the waste management is created as a noncooperative game representing the conflict of waste processors and a cooperative game representing the conflict of waste producers. For the conflict of waste processors, the Nash equilibria are used to find stable strategies on gate fee values, which serve as a good prediction for the future. To specify the strategy sets, a lower bound and an upper bound are determined. For the conflict of waste producers, assuming a cooperation among all of them, a cost distribution is determined using the Shapley value and the nucleolus. For more producers, approximation algorithms for the Shapley value and the nucleolus are developed. These algorithms are based on an assumption that distant producers can not influence each other. The model is applied to a situation in the Czech Republic. For the conflict of waste processors, one Nash equilibrium is found. For the conflict of waste producers, some producers with high potential in cooperation are recognized.
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Geometric algebra applications
Machálek, Lukáš ; Návrat, Aleš (oponent) ; Vašík, Petr (vedoucí práce)
This diploma thesis deals with geometric algebra for conics (GAC) in autonomous navigation, presented on robot movement in a tube. First, the theoretical concepts are introduced. Consequently, the representations of conics in GAC are presented. Then an engine is implemented, which is capable of performing basic operations in GAC including displaying conics, which are entered in GAC context. In the end an algorithm is presented, which estimates the tube axis using points, placed into space from image, where we place center of an ellipse, which is obtained by image filter and fitting algorothm.
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Teorie her na grafech
Osička, Ondřej ; Vašík, Petr (oponent) ; Hrdina, Jaroslav (vedoucí práce)
Tato prace se zabyva studiem teorie her a kooperativni teorie her v kombinaci s teorii grafu. Vyuzivanym matematickym modelem hry je zde hra ve tvaru s charakteristickou funkci. Pro urceni optimalniho rozdeleni zisku u kooperativnich her je zavedeno jadro hry a Shapleyho hodnota. Na prikladech je ukazan vyznam jejich pouziti. Z teorie grafu jsou zde vyuzity orientovane i neorientovane ohodnocene ci neohodnocene grafy pro reprezentaci vztahu mezi hraci a siti, na kterych se hra a mozna rozhodnuti hracu odehravaji.
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Shor's algorithm in Quantum Cryptography
Nwaokocha, Martyns ; Vašík, Petr (oponent) ; Hrdina, Jaroslav (vedoucí práce)
Cryptography is a very important aspect of our daily lives as it gives the theoretical foun-dation of information security. Quantum computation and information is also becoming avery important field of science because of its many application areas including cryptologyand more specifically in public key cryptography.The difficulty of numbers into its prime factors is the basis of some important publickey cryptosystems key of which is the RSA cryptosystem. Shor’s Quantum factoring al-gorithm leverages most especially the quantum interference effect of quantum computingto factor semi-prime numbers in polynomial time on a quantum computer. Though thecapacity of current quantum computers to execute the Shor’s Algorithm is very limited,there are many extensive foundational scientific research on various techniques of opti-mizing the algorithm in terms of factors such as number of qubits, depth of the circuitand number of gates.In this thesis, various variants of the Shor’s factoring algorithm and quantum circuits arediscussed, analysed and compared. Also, some variants of the Shor’s algorithm are simu-lated and actually executed on simulators and quantum computers in the IBM QuantumExperience platform. The simulation results are compared in terms of their complexityand success rate.The organization of the thesis is as follow: Chapter 1 discusses some key historical resultin quantum cryptography, states the problem discussed in this thesis and presents the ob-jectives to be achieved. Chapter 2 summarizes the mathematical background in quantumcomputing and public key cryptography as well as describing the notation used through-out the thesis. This also explains how a realizable order-finding or factoring algorithmcan be used to break the RSA cryptosystem. Chapter 3 presents the building blocks ofShor’s algorithm including the Quantum Fourier Transform, Quantum Phase Estimation,Modular Exponentiation and Shor’s algorithm in detail. Different optimization variantsof the quantum circuits are also presented and compared here. Chapter 4 presents theresults of the simulations of the various versions of the Shor’s algorithm. In Chapter 5, wediscuss the achievement of thesis goals, summarize the results of the research and outlinepossible future research directions.
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Teorie Lieových grup v robotice
Horník, Petr ; Vašík, Petr (oponent) ; Hrdina, Jaroslav (vedoucí práce)
V této bakalářské práci se zaměříme na matematický popis dopředné kinematiky v trojrozměrném prostoru pomocí ortogonálních transformací a teorie matic. Užitím nabytých znalostí řešíme příklad metodou pohyblivého repéru, kdy mezi jednotlivými bázemi přecházíme pomocí matice přechodu a příklad implementujeme v prostředí programu MATLAB. Následně hledáme hlubší souvislosti s exponenciálními funkcemi a rozšíříme teorii o teorií Lieových grup a algeber. Zvláště si všímáme speciální ortogonální grupy SO(3). Nakonec teorii obohatíme o homogenní transformaci a speciální Eukleidovskou grupu.
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