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Network Representation of Latent Features Extracted from Text Documents
Skrbek, Miroslav; Kordík, Pavel; Háva, Ondřej
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Network Representation of Latent Features Extracted from Text Documents
Distributed Mobile Graphics
Žára, Jiří; Danihelka, Jiří
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Distributed Mobile Graphics
Data Structures and Algorithms for Interactive Ray Tracing
Havran, Vlastimil; Hapala, Michal
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Data Structures and Algorithms for Interactive Ray Tracing
Modern Valuation Methods in the Energy
Starý, Oldřich; Pavlátka, Pavel
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Modern Valuation Methods in the Energy
A guided approach to sampling-based motion planning
Přeučil, Libor; Kulich, Miroslav; Vonásek, Vojtěch
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
A guided approach to sampling-based motion planning
Data fusion for localization using state estimation and machine learning
Roháč, Jan; Reinštein, Michal; Šimánek, Jakub
2015 - anglický
Using multiple sensory information is acknowledged as one of the major topics in the navigation
of aerial and ground vehicles. This doctoral thesis considers localization as a state
estimation problem, which is solved by data fusion techniques and supported by machine
learning methods. It attempts to address the issue of developing a better localization
system for a ground vehicle by seeking the best possible pose estimator (i.e., position,
velocity and attitude) and improving its robustness to unexpected sensor measurements.
The vehicle of interest is represented by a skid-steer tracked mobile robot; however, all
the algorithms work with a sensory set, which can be with minor changes deployed on any
vehicle, legged, wheeled, tracked, or aerial. First part of this thesis explores the development
of different state estimation architectures, which exploit the extended Kalman filter
for full 3D dead reckoning (i.e., incremental or relative pose estimation). The purpose of
this part is to use inertial and odometry dead reckoning to its optimal extent, considering
both the performance and computational complexity. Such combination of proprioceptive
sensory modalities used on a ground vehicle is expected to provide the core localization—
foundation for any other higher level localization or navigation systems. Second part of
the dissertation investigates means of improving overall robustness and performance of the
multi-modal state estimation. Different sensory modalities are prone to various types of
errors, especially in an environment that changes dynamically. Therefore, the thesis shows
the importance of identifying and rejecting unexpected or erroneous measurements. The
multi-modal data fusion is based on inertial and odometry measurements aided by information
from a camera and laser range finder. These two exteroceptive modalities are in
particular prone to real-world disturbances, therefore, they are the subject of anomaly detection
process. Various state-of-the-art machine learning methods (i.e., logistic regression,
Support Vector Machines, Gaussian Mixture Models and Gaussian Processes) are applied
in a Kalman filter framework to monitor the measurements and overcome the commonly
used covariance monitoring and chi-squared gating test. Verification of all the techniques
in this thesis is supported by extensive experimental datasets collected with a real mobile
robot in both indoor and challenging outdoor environments.
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Data fusion for localization using state estimation and machine learning
Using multiple sensory information is acknowledged as one of the major topics in the navigation of aerial and ground vehicles. This doctoral thesis considers localization as a state estimation ...
PHOTONIC CRYSTAL FIBERS : OPTIMIZATION FOR TELECOMMUNICATION PURPOSES
Lucki, Michal; Zelený, Richard
2015 - anglický
Photonic crystal bers are optical waveguides based on a periodic air-glass structure o ering
higher design
exibility compared to that of standard single-mode bers. On one hand,
such bers allow for extremely tight mode con nement related to increased nonlinearity
and better chromatic dispersion controllability. On the other hand, photonic crystal bers
enable light guiding in very large cores keeping the single-mode regime of operation and
low loss.
This doctoral thesis deals with scienti c problems related to control of light propagation
within photonic crystal bers and it contributes mainly to the areas of optics, photonics,
telecommunication and sensing. The objective is to describe main design principles, nd
their limitations and consequently optimize ber geometries. Until now, these limitations
have not been investigated thoroughly and therefore became the central point for the
doctoral thesis.
The goal is not to present ber structures with novel geometries, but to investigate new
limits in designing photonic crystal bers. One of the presented designs is a photonic crystal
ber with a dispersion parameter as close as possible to zero value. Further e ort is applied
on a hexagonal ber structure that is optimized to operate as a dispersion compensator of
standard single-mode bers. The author predicts that the negative dispersion parameter
cannot be higher in this structure operating over a bandwidth larger than that considered
in this thesis.
Another important part of the thesis aims to control of con nement loss, which is used
to design a narrowband ber lter as well as an e ectively single-mode photonic crystal
ber with large e ective mode area and chalcogenide background.
Fiber designs were carried out by varying key geometrical parameters such as holeto-
hole spacing, airhole diameters in selected rings and number of rings around the ber
core. The in
uence of each structural parameter on modal properties is examined and
described in detail. Understanding the mechanism governing chromatic dispersion as well
as con nement loss is necessary not only for the ber design, but also to predict the
potential manufacturing tolerances.
Last but not least, supercontinuum generation is investigated in the designed chalcogenide
ber using the split-step Fourier method. The modal properties are calculated by
the full-vectorial nite di erence frequency domain method. The simulation models of
presented bers are veri ed by convergence testing.
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
PHOTONIC CRYSTAL FIBERS : OPTIMIZATION FOR TELECOMMUNICATION PURPOSES
Photonic crystal bers are optical waveguides based on a periodic air-glass structure o ering higher design exibility compared to that of standard single-mode bers. On one hand, such bers allow ...
Emergence in Urban Environments. Agend-based Simulation of Environment Reconfiguration
Achten, H. A.; Búš, Peter; Kieferle, J. B.; Vorel, Jakub
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Emergence in Urban Environments. Agend-based Simulation of Environment Reconfiguration
Assessment of Sound by Means of an Auditory Model - Prediction og Roughness
Otčenášek, Zdeněk; Vencovský, Václav
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Assessment of Sound by Means of an Auditory Model - Prediction og Roughness
Modelling and control of walking robots
Čelikovský, Sergej; Anderle, Milan
2015 - anglický
Plné texty jsou dostupné v digitálním repozitáři ČVUT.
Modelling and control of walking robots
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