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 ...
Contribution to three problems of nonlinear acoustics
Červenka, Milan
2021 - English
Available in digital repository of ČVUT.
Contribution to three problems of nonlinear acoustics
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 ...
Simple and Commutative Semirings
Korbelář, Miroslav
2021 - English
Available in digital repository of ČVUT.
Simple and Commutative Semirings
Analysis, Modeling and Enhancement of Scientific Images
Švihlík, Jan
2020 - English
Available in digital repository of ČVUT.
Analysis, Modeling and Enhancement of Scientific Images
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 ...
Many-valued conjunctions
Petrík, Milan
2020 - English
Available in digital repository of ČVUT.
Many-valued conjunctions
Efficient Modelling and Reformulation of Planning Tasks
Chrpa, Lukáš
2020 - English
Available in digital repository of ČVUT.
Efficient Modelling and Reformulation of Planning Tasks
Applications of high-speed camera systems
Vítek, Stanislav
2019 - English
Available in digital repository of ČVUT.
Applications of high-speed camera systems
Full-time and full-authority vehicle advance control system design techniques
Haniš, Tomáš
2019 - English
This habilitation thesis is focused on Full-time Full-authority vehicle (motion) control system design methodologies and their applications, mainly in the automotive domain. The technology is well known in aerospace and especially in the Flight Control System community. It is however for some obscure reason completely ignored by the automotive community and therefore missing in vehicles. Furthermore, the development of complex control system architectures, fulfilling multi-domain and often contradicting objectives of rigid body motion control requirements versus constraining requirements (coming from structural loading objective, crew and passengers comfort requirements, etc.) is of interest of this thesis.Předkládaná habilitace pojednává o vývoji metodologie řídicích systémů s plnou kontrolou nad manévry dopravního prostředku a její aplikací v oblasti automobilového průmyslu. Tato technologie je velmi dobře známá v leteckém a kosmickém průmyslu a komunitě zabývající se návrhem řídicích systémů pro letadla, nicméně naprosto opomíjená automobilovou komunitou. Předkládaná habilitační práce se dále soustřední na návrh řídicích systémů respektující často protichůdné požadavky na provedení samotného manévru a požadavky na strukturální zatížení, případně komfort posádky/řidiče nebo pasažérů.
Available in digital repository of ČVUT.
Full-time and full-authority vehicle advance control system design techniques
This habilitation thesis is focused on Full-time Full-authority vehicle (motion) control system design methodologies and their applications, mainly in the automotive domain. The technology is well ...
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