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This thesis deals with design of inversion pendulum, pole rod balancing on mobile vehicle.In the first part is described projection and realisation of mechanical part of the task, the problems encountered during the projection and eventuallly its final solution. Follows verification of the mechanical and electrical part and testing of possibilities of operating by programated machine.

The thesis deals with the planar problem regarding balancing of an inverted pendulum whose real model is situated in the laboratory A1/731a. The goal of this thesis is to build up the simulation model in the program Matlab Simulink and compare the attributes of the model with the real pendulum. The next step is to prove a regulation of the model in Matlab Simulink and find the way of controlling the real model by PLC on the basis of results found within the simulation.

Tato práce popisuje další vývoj výukového sériového manipulátoru se třemi stupni volnosti. Práce se zabývá jednoduchou mechanickou úpravou manipulátoru, ale především pak softwarovou částí. Výsledkem je pak hra piškvorky, kdy manipulátor umožňuje hru proti lidskému protějšku. První část práce je věnována zlepšení inicializačního procesu manipulátoru a následně pak i návrhem vhodné polohové regulace. V další části je manipulátor rozšířen o jeden stupeň volnosti. Součástí je i návrh koncového efektoru vhodného pro psaní. Z takto upraveného manipulátoru je sestaven kinematický model vhodný pro real-time řízení. Dalším krokem v práci je návrh samotné aplikace hry piškvorky. Je navržen vhodný hrací algoritmus, včetně detekce a rozpoznání znaků v hracím poli pomocí kamery. Následně je vše implementováno do real-time aplikace, kde komunikaci s uživatelem zajišťuje navržené uživatelské rozhraní.

Numerical simulations of thermal processes are based on known geometry, material properties, initial and boundaries conditions. The massive use of these simulations in the metallurgical industry (for example for simulation of heat treatment of steel) is limited by the knowledge of precise boundary conditions, which are not easy to determine in compare to other input parameters. Empirical formulas are not sufficiently accurate for most non-trivial processes. Therefore, it is necessary to obtain the boundary conditions by experimental way. Boundary conditions can not be measured directly. The boundary conditions are determined by solving inverse heat conduction problem based on the measured temperature records. This doctoral thesis focuses on two types of the inverse heat conduction problems, which are poorly solved by existing methods. The first type are tasks that contains sharp increase/decrease in the values of the boundary conditions. Two new approaches are proposed and compared in this thesis for this type of tasks. The second type are tasks with non-stationary and non-homogeneous cooling. Three new methods were developed for this case. They are applied for the case of water cooling of vertical aluminum sample. The base characteristics of the current task is inhomogeneous cooling. One part of the surface is cooled intensively by flowing water in contrast to the other part of surface which is cooled only with low intensity since it is protected from direct contact with water by the vapor layer (Leidenfrost effect). The positions of these two part of surface are not stationary (they change during the experiment). The newly developed methods are compared to each other.

Title: Solution of inverse problem for a flow around an airfoil Author: Mgr. Jan Šimák Department: Department of Numerical Mathematics Supervisor: prof. RNDr. Miloslav Feistauer, DrSc., dr. h. c., Department of Numerical Mathematics Abstract: The method described in this thesis deals with a solution of an inverse problem for a flow around an airfoil. It can be used to design an airfoil shape according to a specified velocity or pressure distribution along the chord line. The method is based on searching for a fixed point of an operator, which combines an approximate inverse and direct operator. The approximate inverse operator, derived on the basis of the thin airfoil theory, assigns a corresponding shape to the specified distribution. The resulting shape is then constructed using the mean camber line and thickness function. The direct operator determines the pressure or velocity distribution on the airfoil surface. We can apply a fast, simplified model of potential flow solved using the Fredholm integral equation, or a slower but more accurate model of RANS equations with a k-omega turbulence model. The method is intended for a subsonic flow.

Inverted repeats (IR) are common part of DNA of all living prokaryotic and eukaryotic organisms. Inverted repeats plays an important role in the regulation of basics cells processes. They are responsible for formation of cruciform structures. Inverted repeats also cause genomic instability and can be a source of numerous mutations. Cruciform structures can be recognized by DNA-binding proteins and can also act as a transcriptional regulators. Using the Palindrome Analyser tool, the frequency of IR and localization of inverted repeats in bacterial genomes was analyzed. The frequency of IR across the bacterial genome is variable. The frequency of short inverted repeats shows an approximately quadratic dependence on the %GC content in the genome with a minimum of about 50% of GC content. The localization of inverted repeats with respect to “annotated features” show a non-random distribution. The frequency of IR for most features is higher “outside” than “inside”.

This diploma thesis deals with inverse pendulum control. There are described types of inverse pendulums, used power electronics, sensors and their connection to the MF624 control card and to external hardware. Further is described the identification of parameters, including the assembly of a custom algorithm for identification of viscous friction in the pendulum rotary coupling. For identification of moments of inertia are used 3D CAD models, where the thesis describes also use of these models for VRML visualization. The thesis also describes how to build a dynamic model by using Matlab-Simulink and the Simscape-Multibody toolbox. This model is further used in design of the controller using LQR and its simulation testing. The controller is complemented by swing-up algorithm, security elements and MF624 driver interface is designed. The control is tested on a real inverse pendulum assembly and implemented in external hardware.

This thesis is focused in design low cost robotic manipulator known as SCARA. Chapters are sorted chronological by degrees of manipulator development. Thesis will present metods of inverse kinematics, that determines intaraction between joint rotation and cartesian coordina-tes of gripper. Next it introduces flowcharts for controlling machine and explains the control software determinater especially for microcontroller called Arduino MEGA.

The purpose of this paper is to assemble measurement chain dedicated to contactless measuring of acoustic fields emitted by test sources and to validate its results. At first author discusses possible optic methods which can be used to measure acoustic fields, then he talks about theoretical foundations which are needed to measure data and to reconstruct final data. The last two chapters are dedicated to cover basics about created program and to analyse various aspects which influence measured and reconstructed data. Created measurement chain is fully functional, at the end of this thesis are proposed some ways of improving