Intelligent systems with even the bare minimum of sophistication require extensive computational power and complex processing units. At the same time, small insects like flies are adept at visual navigation, target pursuit, motionless hovering flight, and obstacle avoidance. Thus, biology provides engineers with an unconventional approach to solve complicated engineering design problems. Computational models of the neuronal architecture of the insect brain can provide algorithms for the development of software and hardware to accomplish sophisticated visual navigation tasks. In this research, we investigate biologically-inspired collision avoidance models primarily based on visual motion. We first present a comparative analysis of two leading collision avoidance models hypothesized in the insect brain. The models are simulated and mathematically analyzed for collision and non-collision scenarios. Based on this analysis it is proposed that along with the motion information, an estimate of distance from the obstacle is also required to reliably avoid collisions. We present models with tracking capability as solutions to this problem and show that tracking indirectly computes a measure of distance. We present a camera-based implementation of the collision avoidance models with tracking. The camera-based system was tested for collision and non-collision scenarios to verify our simulation claims that tracking improves collision avoidance. Next, we present a direct approach to estimate the distance from an obstacle by utilizing non-directional speed. We describe two simplified non-directional speed estimation models: the non-directional multiplication (ND-M) sensor, and the non-directional summation (ND-S) sensor. We also analyze the mathematical basis of their speed sensitivity. An analog VLSI chip was designed and fabricated to implement these models in silicon. The chip was fabricated in a 0.18 um process and its characterization results are reported here. As future work, the tracking algorithm and the collision avoidance models may be implemented as a sensor chip and used for autonomous navigation by intelligent systems.

The Roobots are a robot soccer team which participated in the RoboCup small-sized robot league competition in the years 2000, 2001 and 2002, when they finished in fourth place. This thesis describes the design of the robots in the 2002 team. Design issues for mobile robots in the RoboCup small-sized robot league are reviewed. The design decisions are presented. Finally, some lessons learnt for system design and project management from the three years of competition are presented.

No description available.

L’orchestration des mouvements directionnels d’architectures supramoléculaires s’avère cruciale pour la préparation de machines moléculaires artificielles. Les oligomères d’amides aromatiques (i.e. foldamères) peuvent adopter des conformations stables capables de se complexer à des tiges moléculaires pour former des (pseudo)-rotaxanes. Un contrôle fin des cinétiques d’association et de dissociation de l’hélice autour de la tige permet à l’oligomère hélicoïdal de glisser le long de celle-ci sans dissociation. Des études RMN et cristallographiques ont montré que des tiges moléculaires possédant plusieurs sites de reconnaissance pour des hélices permettaient l’élaboration d’architectures supramoléculaires hélicoïdales chirales avec une haute-fidélité. Chaque station possédant une longueur et une chiralité définie peut induire la complexation de foldamères de taille et d’hélicité concordante. Le glissement directionnel d’une double hélice le long d’une tige possédant plusieurs stations a également été investigué. Insérer un espaceur encombrant (i.e. plus large que la cavité de l’hélice) sur le chemin du foldamère le force à se déplier et se replier pour atteindre le site le plus favorable thermodynamiquement. Un oligomère asymétrique montrant de hautes affinités et de fortes sélectivités pour des tiges asymétriques a été préparé. L’enfilement de cet oligomère sur des tiges asymétriques a été étudié. Des données cinétiques (RMN) indiquent que l’enfilement de celui-ci s’effectue de façon polarisée en fonction de la nature de la tige. / The directional motion orchestration of supramolecular architectures is crucial for the construction of artificial molecular machines. Aromatic amide oligomers (i.e. foldamers) can adopt stable helical conformations able to wind around dumbbell-like guests to form (pseudo)-rotaxanes. A fine control of the association-dissociation kinetics allows the oligomers to slide along the rods without dissociation. In this thesis, based on the segregation of the kinetics of association-dissociation and sliding, helical oligomer motions were orchestrated to form complex self-assemblies and to perform directional motion. NMR and crystallographic studies showed that multistation rod guests can template the formation of well-defined multi-helical supramolecular polymers with high fidelity. Each station possessing a defined length and chirality can induce the complexation of oligomers presenting matching length and chirality. Directional sliding of a double helical oligomer along linear multistation rod guests was investigated. Placing a bulky spacer on the rod prohibits the sliding process, forcing the oligomer to dissociate and reassociate onto the thermodynamically favored station. An asymmetrical oligomer was prepared showing highly selective binding toward asymmetrical rod guests. The threading of this oligomer onto linear asymmetrical guests was investigated. Kinetic data indicated that the threading orientation of this asymmetrical oligomer was polarized by its passage along guest molecules.

Tato diplomová práce je zaměřena na vývoj simulačního prostředí v Matlab/Simulink zvoleného letadla ve známém letovém režimu. Pozice a orientace letadla pohybujícího se ve vzduchu je popsána pohybovými rovnicemi se šesti stup\v{n}i volnosti. Soustava translačních, rotačních a kinematických rovnic tvoří soustavu devíti nelineárních diferenciálních rovnic prvního řádu. Tyto rovnice lze linearizovat okolo nějakého rovnovážného stavu, který budeme nazývat letovým režimem. Součástí simulačního prostředí je řídící systém letadla založený na PID regulaci. Základem je návrh autopilota, který řídí úhel podélného sklonu a úhel příčného náklonu. Součástí návrhu jsou takzvané „flight director\textquotedblright \phantom{s}m\'dy jako udržení výšky, volba kursu, regulace vertikální rychlosti, změna výšky, zachycení požadované výšky a navigační m\'{o}d založený na nelineárním navigačním zákonu. Optimalizace regulátorů za použití PSO algoritmu a Pareto optimalitě je využita pro nastavení parametrů PID regulátoru. Simulační prostředí je vizualizováno v softwaru FlightGear.