Number of found documents: 58
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Learning Body Models:From Humans to Humanoids
Hoffmann, Matěj
2021 - English
Humans and animals excel in combining information from multiple sensory modalities, control-ling their complex bodies, adapting to growth, failures, or using tools. These capabilities are alsohighly desirable in robots. They are displayed by machines to some extent. Yet, the artificial crea-tures are lagging behind. The key foundation is an internal representation of the body that theagent—human, animal, or robot—has developed. The mechanisms of operation of body modelsin the brain are largely unknown and even less is known about how they are constructed fromexperience after birth. In collaboration with developmental psychologists, we conducted targetedexperiments to understand how infants acquire first “sensorimotor body knowledge”. These ex-periments inform our work in which we construct embodied computational models on humanoidrobots that address the mechanisms behind learning, adaptation, and operation of multimodalbody representations. At the same time, we assess which of the features of the “body in the brain”should be transferred to robots to give rise to more adaptive and resilient, self-calibrating ma-chines. We extend traditional robot kinematic calibration focusing on self-contained approacheswhere no external metrology is needed: self-contact and self-observation. Problem formulationallowing to combine several ways of closing the kinematic chain simultaneously is presented,along with a calibration toolbox and experimental validation on several robot platforms. Finally,next to models of the body itself, we study peripersonal space—the space immediately surround-ing the body. Again, embodied computational models are developed and subsequently, the pos-sibility of turning these biologically inspired representations into safe human-robot collaborationis studied. Available in digital repository of ČVUT.
Learning Body Models:From Humans to Humanoids

Humans and animals excel in combining information from multiple sensory modalities, control-ling their complex bodies, adapting to growth, failures, or using tools. These capabilities are alsohighly ...

Hoffmann, Matěj
České vysoké učení technické v Praze, 2021

Contribution to three problems of nonlinear acoustics
Červenka, Milan
2021 - English
Available in digital repository of ČVUT.
Contribution to three problems of nonlinear acoustics

Červenka, Milan
České vysoké učení technické v Praze, 2021

Hollow-core optical fibers for sensing and communications
Komanec, Matěj
2021 - English
Hollow-core optical fibers represent the state-of-the-art in fiber optics and are on the verge of surpassing the loss performance of standard single-mode fibers in the very near future. Apart from low loss, they bring high-power delivery possibilities, mid-infrared guidance even when made of silica and numerous other advantages. Nevertheless, their incorporation into standard fiber-optic systems is desired. In my habilitation thesis I present the development of a novel type of hollow-core fiber interconnection, based on the fiber array approach which led to record-low insertion loss, negligible back reflections and higher-order mode suppression. Our interconnection technique is then demonstrated in Fabry-Perot interferometer and microwave photonics applications. Keywords: Photonic crystal fibers; hollow-core optical fibers; coupling methods; fiber interconnections; Fabry-Perot interferometer; microwave photonics Available in digital repository of ČVUT.
Hollow-core optical fibers for sensing and communications

Hollow-core optical fibers represent the state-of-the-art in fiber optics and are on the verge of surpassing the loss performance of standard single-mode fibers in the very near future. Apart from ...

Komanec, Matěj
České vysoké učení technické v Praze, 2021

Simple and Commutative Semirings
Korbelář, Miroslav
2021 - English
Available in digital repository of ČVUT.
Simple and Commutative Semirings

Korbelář, Miroslav
České vysoké učení technické v Praze, 2021

Analysis, Modeling and Enhancement of Scientific Images
Švihlík, Jan
2020 - English
Available in digital repository of ČVUT.
Analysis, Modeling and Enhancement of Scientific Images

Švihlík, Jan
České vysoké učení technické v Praze, 2020

CONTROLLED INDUCTION MOTOR DRIVE IN RAILWAY TRACTION
Bauer, Jan
2020 - English
This habilitation thesis presents improvements in selected areas of induction motor drive application in railway traction vehicles. One of the most common induction motor control strategies in railway traction drives, is the Rotor Flux-Oriented Control. To reach high performance and high efficiency of the drive, precise knowledge of the induction motor equivalent circuit parameters is needed. Inaccurate knowledge of the induction motor equivalent circuit parameters leads to FOC detuning, which causes misalignment of the estimated flux position and, thus, inaccuracy of the whole control part. The problematics of induction motor drive parameter identification and accuracy of the induction motor model is one of the key points of the thesis. The other part of the thesis describes a slip controller's development for freight locomotive with the induction motor drive, that is based on adhesion-slip characteristic slope detection. The proposed slip controller is designed to cope with a nonlinearity of the adhesion-slip characteristic and noise that occurs in the system. Moreover, the proposed slip controller does not need to know the train velocity, the wheelset velocity is only required parameter. The slip controller is designed as modular, and it consists of the adhesion-slip characteristic slope detection part and a controller part with acceleration protection. Keywords: Induction Motor; Adhesion Characteritsc; Field Oriented Control; Slip; Asynchronní motor; vektorové řízení; adhezní charakteristika; skluz Available in digital repository of ČVUT.
CONTROLLED INDUCTION MOTOR DRIVE IN RAILWAY TRACTION

This habilitation thesis presents improvements in selected areas of induction motor drive application in railway traction vehicles. One of the most common induction motor control strategies in ...

Bauer, Jan
České vysoké učení technické v Praze, 2020

Many-valued conjunctions
Petrík, Milan
2020 - English
Available in digital repository of ČVUT.
Many-valued conjunctions

Petrík, Milan
České vysoké učení technické v Praze, 2020

Supravodiče pre aplikácie v elektroenergetike
Chudý, Michal
2020 -
Je známym faktom, že vysokoteplotné supravodiče sú materiály, ktoré sú schopné zvýšiť výkon a efektívnosť elektrických zariadení. Širokospektrálna adopcia týchto materiálov v energetike by mala nesporne obrovský impakt na efektívnosť a znamenala by obrovské úspory v spotrebe elektrickej energie. Najjednoduchšie riešenia spočívajú vo vybraných aplikáciách v nahradení klasických cievok cievkami vyrobených s vysokoteplotnej supravodivej pásky. Avšak v reálne existujú vážne bariéry vo širokospektrálnom využívaní supravodičov ako aj vysokoteplotných supravodičov (hlavne YBCO = Ytrium Barium Copper Oxide, BSCOO =Bismuth Strontium Calcium Copper Oxide) ktorým sa venuje táto práca. Hlavným problémom však nie je potreba chladenia na kryogenické teploty ale stále príliš vysoká cena supravodivých materiálov a priveľa technických špecifickostí, ktoré by mohli znamenať kazovosť zariadení hlavne pri vysokoteplotných supravodičoch. Navyše pri aplikáciách so striedavým prúdom vykazujú aj supravodiče nenulové straty. Z tohto dôvodu treba pristupovať veľmi opatrne k aplikáciám kde sú supravodiče vystavené striedavým magnetickým poliam. Vysokoteplotné supravodiče sú dostupné hlavne ako supravodivé pásky a vyznačujú vysokou mierou magnetickej anizotropie. Magnetické pole pôsobiace kolmo na plochu pásky dokáže spôsobiť pomerne výrazné straty. Dizajn supravodivých zariadení je preto mimoriadne dôležitý aby sa v čo najväčšej miere predišlo zníženiu výkonu supravodiča priamym pôsobením magnetického poľa. Kapacita vedenia prúdu musí byť preto otestovaná aj pre najhorší prípad veľkosti a smeru magnetického poľa, aby sa predišlo prípadnému prepáleniu supravodiča vplyvom preťaženia v danom zariadení. Táto práca sa venuje využitiu vysokoteplotných supravodičov v rôznych aplikáciách v elektroenergetike. Konkrétnejšie aplikáciám vysokoteplotných supravodičov budúcich fúznych reaktoroch, elektrických generátoroch a to hlavne vo veterných turbínach ale tiež v supravodivých rotačníkoch na uskladňovanie energie. Available in digital repository of ČVUT.
Supravodiče pre aplikácie v elektroenergetike

Je známym faktom, že vysokoteplotné supravodiče sú materiály, ktoré sú schopné zvýšiť výkon a efektívnosť elektrických zariadení. Širokospektrálna adopcia týchto materiálov v energetike by mala ...

Chudý, Michal
České vysoké učení technické v Praze, 2020

Efficient Modelling and Reformulation of Planning Tasks
Chrpa, Lukáš
2020 - English
Available in digital repository of ČVUT.
Efficient Modelling and Reformulation of Planning Tasks

Chrpa, Lukáš
České vysoké učení technické v Praze, 2020

Applications of high-speed camera systems
Vítek, Stanislav
2019 - English
Available in digital repository of ČVUT.
Applications of high-speed camera systems

Vítek, Stanislav
České vysoké učení technické v Praze, 2019

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