This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its environment. The programming system is referred to as high level because the user is spared of many robot-level details, such as the specification of conditional tests, motion termination conditions, and compliance parameters. Instead, the user specifies task-level information, including a geometric model of the robot and its environment. The user may also have to specify some suggested motions. There are two main system components. The first component is an interactive teaching system which accepts motion commands from a user and attempts to build a compliant motion strategy using the specified motions as building blocks. The second component is an autonomous compliant motion planner, which is intended to spare the user from dealing with "simple" problems. The planner simplifies the representation of the environment by decomposing the configuration space of the robot into a finite state space, whose states are vertices, edges, faces, and combinations thereof. States are inked to each other by arcs, which represent reliable compliant motions. Using best first search, states are expanded until a strategy is found from the start state to a global state. This component represents one of the first implemented compliant motion planners. The programming system has been implemented on a Symbolics 3600 computer, and tested on several examples. One of the resulting compliant motion strategies was successfully executed on an IBM 7565 robot manipulator.

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Registration means to bring two or more shapes into a suitable relative configuration (position and orientation). In its major applications like 3D scan alignment, the aim is to coalesce data and regions originating from the same physical region have similar local form. So, the correspondence between shapes is discoverable from the shapes themselves, and the registration makes corresponding regions coincide. This work concerns the registration of shapes to satisfy a purpose or intent, not involving data integration. Regions relevant to the purpose are marked as patches correspondingly on two input 3D meshes of objects. Then, a method of registration is used to obtain the suitable configuration. Three methods of registration are explored in the present work. The first method of registration is to align intrinsic co-ordinate frames defined on the shapes. This is used in a scenario of comparison of shapes with dissimilar local form, which are to be aligned as an expert requires, as in the comparison of dental casts and apple bitemarks in forensics. Regions recognized in dentistry are marked as patches on the cast and bitemark shapes by a dentist. From these, an intrinsic frame is defined and aligned to bring the shapes close. The alignment is used to calculate distortion of a deteriorated bitemark. Another application of frame alignment is the analysis of shape variation of contours in a population for wearable product design. A frame based on anthropometric landmarks is used to construct the contours of the product's interface with the body-part, analyze its spread through a 2D grid-statistics method, and construct the interface shape. The frame helps assess the fit of the constructed shape on an individual. The method is demonstrated with respirator masks. Frame-based alignment is seen to give unsatisfactory results with head shapes for motorcycle-helmet interior design, as it does not adequately describe the helmet-head interaction. This inspires the second method of registration. The second method of registration is the biased minimization of distance between corresponding patches on the shapes, by weighting patches to indicate their importance in the registration. The method is used to assess the small deviation of precisely-known quantities in shapes, such as in manufactured part inspection. Here, the patches marked are grouped, and the part and model shapes registered at patches in the combinations of groups, by giving a binary weighting of 1 to these patches and 0 to others. The deviation of every patch across the registrations at multiple datum systems is tabulated and analyzed to infer errors. The method is exemplified with welded bars and bent-pipes. In the analysis of head-shape variation in a population to create headforms for wearable products, the deviations are large and not precisely known. So, the head shapes are registered at patches on regions pertinent to the product's functioning, with a relatively higher weight for a reference patch. A 3D grid-statistics method is used to analyze the shapes' spread and arrive at the headform shapes. The selection of head form for a given head shape is also treated. The method is demonstrated with motorcycle helmets and respirator masks. Biased distance-minimization is applied to obtain the mechanical assembly of part meshes. Different schemes of marking patches are tested as cases. The method leads to both intended and unintended final configurations, prompting for a better objective in registration. Thus, the third method of registration, that of normals is proposed; this happens in a transformed space. By analyzing the nature of assembly in CAD systems, the face-normals of the mesh are used to obtain the intended orientation of parts. The normals of corresponding patches are registered using three methods of registration, namely on a unit-sphere, of unit-normals, and spherical co-ordinates of normals. In each method, the optimal transformation is suitably converted to be applied on the actual part shape in 3D. Unit-normal alignment gives sensible results, while the other two lead to skewed final orientations. This is attributed to the nature of the space of registration. The methods are applied to examples involving different assembly relations, such as alignment of holes. On the whole, it is shown that correspondence embodies the knowledge of importance of regions on shapes for a purpose. The registration method should lead to an apt shape placement, which need not always mean coincidence. In essence, correspondence denotes 'what' regions are of relevance, and registration, 'how' to get the relative configuration satisfying a purpose or intent.

My thesis deals with the technological design of reconstruction and extension pavilion health center in Prague. The building is divided into two buildings. The construction will be dismantled roof strata of the existing building and the subsequent installation of two new floors. Inside will be built new partitions and other fittings. Then the building will be insulated. The thesis describes the installation detail superstructures Eye Center of reinforced concrete prefabricated parts and assembly of the external thermal insulation system.

Mechanical assembly is an important step during product realization, which is an integrative process that brings together the parts of the assembly, the people performing the assembly and the various technologies that are involved. Assembly planning involves deciding on the assembly sequence, the tooling and the processes to be used. Assembly planning should enable the actual assembly process to be as effective as possible.Assembly plans may have to be revised due to issues arising during assembly. Many of these revisions can be avoided at the planning stage if assembly planners have prior knowledge of these issues and how to resolve them. General guidelines to make assembly easier (e.g. Design for Assembly) are usually suited for mass-manufactured assemblies and are applied where similar issues are faced regularly. However, for very specific issues that are unique to some domains only, such as aircraft assembly, only expert knowledge in that domain can identify and resolve the issues. Assembly experts are the sources of knowledge for identifying and resolving these issues. If assembly planners could receive assembly experts’ advice about the potential issues and resolutions that are likely to occur in a given assembly situation, they could use this advice to revise the assembly plan in order to avoid these issues. This link between assembly experts and planners can be provided using knowledge based systems. Knowledge-based systems contain a knowledge base to store experts’ knowledge, and an inference engine that derives certain conclusions using this knowledge. However, knowledge acquisition for such systems is a difficult process with substantial resistance to being automated. Methods reported in literature propose various ways of addressing the problem of automating knowledge acquisition. However, there are many limitations to these methods, which have been the motivations for the research work reported in this thesis. This thesis proposes a dialog-like method of questioning an expert to automatically acquire knowledge from assembly experts. The questions are asked in the context of an assembly situation shown to them. During the interviews, the knowledge required for diagnosing potential issues and resolutions are identified. The experts were shown a situation, and asked to identify issues and suggest solutions. The above knowledge is translated into the rules for a knowledge based system. This knowledge based system can then be used to advise assembly planners about potential issues and solutions in an assembly situation. After a manual verification, the questioning procedure has been implemented on computer as a software named EXpert Knowledge Acquisition and Validation (ExKAV). A preliminary evaluation of ExKAV has been carried out, in which assembly experts interacted with the tool using the researcher as an intermediary. The results of these sessions have been discussed in the thesis and assessed against the original research objectives. The current limitations of the procedure and its implementation have been highlighted, and potential directions for improving the knowledge acquisition process are discussed.

The subject of this diploma thesis is a construction technology project for an office building Dukelská in Brno. The content of the work is a technical report to the construction technology project, design of transport solutions, time and financial evaluation of the construction, project for a construction site equipment, design of a machine assemblies. For the selected construction phase a technological specification and check and test plan is designed. The work also deals with environmental and safety risks, draft contract for work and alternative technologies of vertical structures.

Purpose of this master’s thesis is to compile structurally – technological aspects of the project of new housing building in Brno. Thesis concentrates on technological phase of upper rough construction, which involves prescriptions for masonry of walls and constructions from reinforced concrete. Thesis is also includes suggestions of constellation of machines, time plan, supplying of construction site, rules of workplace safety, quality requirements, solutions for organization of construction and maintenance of the building. Conclusion of this master’s thesis is comparison of different systematical variations of constructing peripheral wall based on many structurally – technological factors.

The master´s thesis is solving build - up technology of reconstruction pipeline.

The subject of this final thesis is to process selected parts of the construction technological project for the apartment house Eden in Poprad. The thesis deals with the implementation of the rough construction of the building. The content of this thesis is a engineering report, site plan with estate road layout, time schedule and financial plan for the whole object, feasibility study of the main technological stages of the building, construction site equipment project with drawings of three main technological stages, design of major construction machinery and mechanisms, time schedule of the rough construction of the main building, balance of workers and main machines, item budget, technological regulation for the realization of monolithic floor slab, control and test plan for the realization of monolithic reinforced concrete structures. As another assignment, I process selected points of LEED certification, noise study and health and safety plan.

The topic of the diploma thesis is the elaboration of a construction-technological project for the Underground Parking for the Pradiareň BCT in Bratislava. The work contains a technical report for a construction technology project, a study of the implementation of the main technological stages of the building, solving broader transport relations with the design of the building supply, object time and financial plan, time plan, construction site project, design of main machines, technological regulation for monolithic construction , the balance of workers and main machines, control and test plans for the operation of the monolithic structure and the health and safety plan. As another assignment, I process the item budget of selected technological processes, schematic solution of pilots, selected LEED certification points, noise study, access road technology, scheme of connection of object SO 0.2 to object BCT1 and formwork drawings.