A wheeled mobile robot (WMR) will move on uneven terrain without slip if the length of the axle connecting two wheels can change or for a fixed length axle the wheels are allowed to tilt in a lateral direction. In this work, we consider a three-wheeled mobile robot with torus shaped wheels capable of lateral tilting. Due to the requirement of lateral tilting a two degree of freedom (DOF) suspension, one for maintaining contact with terrain and one for lateral tilting, is assumed to connect the wheels to the WMR body. Six concepts of two DOF suspension mechanisms are proposed. A WMR with these suspension mechanisms are modeled and two kinds of simulations, namely, direct kinematic analysis and inverse kinematic analysis are performed on several uneven terrains with and without suspension. Slip velocity, the path followed and the lateral tilt angle are estimated as a function of time. The force-angle stability measure is used to check the tip-over instability of the WMR on uneven terrain. It is shown that without the two DOF suspensions and with the wheels not allowed to tilt laterally, the WMR is not capable of traversing uneven terrains without large slip. When the wheels are allowed to tilt laterally with a two DOF suspension, the wheeled mobile robot slips very little. Based on least slip and less deviation from desired path, it is shown that the two best possible suspension mechanisms are the SFTA suspension and D4Bar suspension. Two prototype of three-wheeled mobile robot with these suspensions are fabricated using some components from a readily available commercial kit and with especially designed and manufactured wheels with the two degrees of freedom suspension. Simulations on an uneven terrain verify that the three-wheeled mobile robot can traverse uneven terrains with very little slip for three representative paths, namely a straight line, a circular arc and a path representing a lane change. Experiments with the two prototypes on physically constructed uneven terrain, very similar to the one used for simulation, confirm that the slip is significantly reduced with the two degree of freedom suspensions. The path of the centre of mass of the WMRs, projected on uneven surface, and the error from the desired path is presented for all the three representative paths. The simulation and experimental results clearly show that the three wheeled mobile robot with the novel two DOF suspension mechanisms can traverse uneven terrain with low slip.

The diploma thesis deals with the construction project of the new building of the primary school in Bobrová. The main goal of the thesis is to propose a suitable implementation procedure in relation to the specific place of the site. The thesis deals with the time schedule of the main object, itemized budget, major building machines and mechanisms, project of site equipment, study of the construction realization, material resources plan, technical report, time schedule and financial plan of the main object and also with the situation of the construction. It focuses in detail on the stage of earthworks, including the reinforcement of the walls of the building pit using soil nailing. For this stage a technological regulation and a control and test plan have been developed.

The thesis is focused on construction technology solution for realization of the construction of a polyfunctional building in Velké Bílovice. Part of the thesis is technical report for construction technology project, time and financial evaluation of selected building as well as the whole project. The thesis contains selected technological regulations of carried out activities, control, and test plans, safety and health protection at work, a design of major building machines and mechanisms, a concept of the construction site or instructions for using the building.

The subject of this diploma thesis is construction-technological project of the integrated rescue system station. The building is situated in the village of Týn nad Vltavou and will be used to perform the service of fire protection of the population. The thesis is focused on the design of the construction site equipment, the time and financial plan, the design of the main building machines and mechanisms, the technological specification, the control and test plan, and also the occupational safety and health protection.

This diploma thesis deals with demolition of the motorway overpass. The bridge (overpass) is located over the D1 motorway from Prag to Brno at the 115,881 km. On the brigde runs the local comunication II/352 between villages Švábka and Měšín. The bridge demolition is part of the D1 renovation plan. The main reason behind the demolitions si that the bridge no longer meets it´s lenght requierments. During the demolition and construction will be any use of II/352 for public transport over the bulding site forbiden. This diploma thesis include technical report for construction technology project, time and financial evaluation of the project. Also the thesis deals with the selected technological regulations of carried out activities, timetable of controls and tests, trafice relationships on wider scale, a list of main building machines and mechanisms with their specification, a concept of the construction site, health and safety requlations, and in detail plans for realization of a road surface layers.

This diploma thesis is focused on construction technology solution of the construction of an apartment building in Hradec Králové. It contains a technical report of the construction technology project, time and financial evaluation of the object and the apartment building as a whole. The thesis deals with the technological regulations for the construction of a flat roof and the monolithic structures, for which control and test plans and the calculation of stripping of the formwork are prepared. The project of construction site equipment is divided into three stages, mainly rough substructure, rough superstructure and finishing work stage. Furthermore, the thesis contains the design of the main mechanisms and their deployment over time and item budget with a statement of acreage.

The subject of this thesis is also dealt with construction of the second phase of the congress and wellness centre in Jinačovice. The work includes technical report, time and financial plan, project site equipment, technical regulations, inspection and test plans, implementation of technology water impermeable concrete

In my master thesis I deal with construction and technological solutions of Residental House Hubertus in Karlova Studánka. Thesis mainly includes technical report of the construction technology project, coordination situation of building with relationships to the wider transportation routes, the implementation study of the main technological stages of the main building structure, technical report of building-site equipment with drawings of building-site equipment, design of the main building machines and mechanisms, project calculation budget, calculation of construction by the building structures, time schedule, technological prescription ceiling slab with inspection and test plan.

This thesis addresses the Design centrum HANÁK NÁBYTEK a.s., Popůvky u Kojetína - This is a new object had the basement and a second floor. The thesis includes - Technical report on the construction technology of the project , which are described in each chapter building equipment, coordination of building relationships with the wider transport routes , the study of the main technological stages, the design of the main building machines and mechanisms. There is a solution on time and financial plan object , the schedule object SO03 - Rapid technological and construction timetable and plan for securing material resources SO03 object . This thesis addresses the technological specification for excavation work with the control and test plan then is solved problems of chemical anchoring pillars object SO203 , which are included tensile tests on chemical anchors.

This diploma thesis deals with solution of construction of steel hall in Blansko. In this thesis is solved constructional-technological study of construction of steel hall. The thesis focuses in assembly of steel skeleton. More specifically deals with traffic situation around building, time and financial plan of the building for individual objects, draft of equipment of construction site, design of the main lifting machines and mechanisms, schedule of the main building object, safety measures at the construction site and ensuring quality requirements for the installation of a steel skeleton. Extra is processed itemized budget with bill of quantities, risk plan of construction of steel hall and construction details. This building is very interesting about architectural design. The basis for this thesis was a drawing documentation for realization of this construction.