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Adaptive Planning of Industrial Robot Trajectory
Dizorzi, Matúš ; Burian, František (referee) ; Chromý, Adam (advisor)
This thesis deals with the extension of the RoScan scanning system features, making its behaviour more secure and adaptivte during scanning of the object on its whole trajectory. This work contains mathematical model of said manipulator, suggested methods to ensure proper behaviour during singularities. New features were added to the RoScan system such as control panel for manipulator control including new format of trajectory log, moving closer or further away from manipulator’s end effector and non adaptive trajectory testing for singularities. Result of this work is ready-to-use.
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Synthetic Fingerprints Generator with Dactyloscopic Minutiae
Kodaj, Radoslav ; Sakin, Martin (referee) ; Kanich, Ondřej (advisor)
The goal of this thesis is to improve algorithm for synthetic fingerprint generation using dactyloscopic minutiae. The focus will be on the analysis of minutiae and on the creating of algorithm that will generate enhanced fingerprints. The improvement consists in using larger scale of minutiae . This work also includes basic knowledge about fingerprints, their sensing and recognition. The theory also deals with the study of generation methods from which the improved generator is also developed. The improved generator is created according to the design. The results of the improvement of fingerprint generation by the new algorithm are also summarized.
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Exact spacetimes and their physical properties
Veselý, Jiří ; Žofka, Martin (advisor) ; Hennigar, Robie (referee) ; Tahamtan, Tayebeh (referee)
Motivated by our desire to find generalizations of the Bonnor-Melvin spacetime, the thesis investigates seven static, cylindrically-symmetric and electrovacuum exact solutions to the Einstein-Maxwell equations. They contain a magnetic field and six of them also include the cosmological constant. After discussing some of the methods we use during our investigation, we present the basic properties of the spacetimes, and for each of them we also study charged test particle motion and their admissible shell sources composed of particle streams. We also perform numerical computations to determine whether the equations admit more general solutions than the exact ones we derived. 1
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Selected exact spacetimes in Einstein's gravity
Ryzner, Jiří ; Žofka, Martin (advisor) ; McNutt, David D. (referee) ; Pravdová, Alena (referee)
The aim of this thesis is to construct exact, axially symmetric solutions of Einstein- Maxwell(-dilaton) equations, which possess a discrete translational symmetry along an axis. We present two possible approaches to their construction. The first one is to solve Einstein-Maxwell equations, the second one relies on a dimensional reduction from a higher dimension. We examine the geometry of the solutions, their horizons and singu- larities, motions of charged test particles and compare them. 1
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Adaptive Planning of Industrial Robot Trajectory
Dizorzi, Matúš ; Burian, František (referee) ; Chromý, Adam (advisor)
This thesis deals with the extension of the RoScan scanning system features, making its behaviour more secure and adaptivte during scanning of the object on its whole trajectory. This work contains mathematical model of said manipulator, suggested methods to ensure proper behaviour during singularities. New features were added to the RoScan system such as control panel for manipulator control including new format of trajectory log, moving closer or further away from manipulator’s end effector and non adaptive trajectory testing for singularities. Result of this work is ready-to-use.
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Fluid flow in cavity solved by finite element method
Burda, P. ; Novotný, J. ; Šístek, Jakub
The problem of singularities caused by boundary conditions is studied in the flow of lid driven cavity. The asymptotic behaviour near the singularity points is used together with the apriori error estimates of the finite element solution, in order to design the finite element mesh adjusted to singularity. A posteriori error estimates are used as the principal tool for error analysis. Thus we obtain very precise solution in the vicinity of the singularity. Numerical results are presented.
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