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Evolutionary Design of Moving Objects
Fajkus, Jakub ; Schwarz, Josef (referee) ; Bidlo, Michal (advisor)
The aim of this work is to implement a system for automatic evolutionary design of virtual robot controllers. In particular, Linear Genetic Programming representation combined with a steady-state genetic algorithm will be used to find a suitable program that will lead a given virtual robot across a sequence of points denoting a predefined trajectory. The MuJoCo physics engine is applied to allow the user to specify the robot shape and to evaluate its behavior according to candidate programs generated by the genetic algorithm. The goal is to train the robot to follow the given path by optimizing the distance of the robot from the given points during the simulation. The optimization is performed by evolving the programs for a given number of generation of the genetic algorithm. Several sets of experiments will be presented and obtained results will be evaluated.
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Moving Objects Indexing
Vetešník, Jiří ; Chmelař, Petr (referee) ; Zendulka, Jaroslav (advisor)
This work is aimed for proposing acceptable indexing of moving objects. With the enlargement of mobile computing it is needed to manage large sets of spatiotemporal data. We introduce the problem of spatiotemporal data and basic general approaches of indexing these data. Further, we show support of spatial data in Oracle. The movement is typically represented as trajectory in two dimensional space with temporal component in third dimension. The thesis contains experiments performed in database Oracle on artificially generate data.
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Asymptotic stability of systems of linear ordinary differential equations in engineering
Mašek, Jakub ; Opluštil, Zdeněk (referee) ; Tomášek, Petr (advisor)
This bachelors thesis is dealing with stability of system of linear ordinary dierential equations and specially lyapunov stability and asymtotic stability.The are established necessary concepts from the theory of stability and form systems of dierential equations at rst. Furthermore there are listed basic methods for determining the stability of linear dierential equations with constant coecients and they are compared. The next part of thesis is dedicated to trajectory in plane with focus on isolated singular points. At the end are two technical applications and they are linked sections and oscillators.
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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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