For adaptive motion control of an autonomous vehicle, operating in a generally structured environment, position and velocity feedback are required to ascertain the vehicle location relative to a reference. Whilst the literature offers techniques for guiding vehicles along external references, autonomous vehicles should be able to navigate between despatch locations without the need to rely on external guidance systems. Considerations of the vehicle stability and manoeuvrability favour a vehicle design with four independently steered wheels. A new motion control methodology has been proposed which utilises the geometric relationship of the angular displacements and the rotations of the wheels to estimate the longitudinal and lateral motions of the vehicle. The motion controller consists of three building blocks: the motion control system comprising the position tracking and the motion command generation; the electronic system comprising a data acquisition system and proprietary power electronics; the mechanical system which includes an undercarriage enabling permanent contact of the wheels with the floor. The components have been designed not only to perform optimally in their specific functions but also to ensure full compatibility within the integrated system. For reliable deduction of the wheel rotations with a high degree of accuracy a dedicated data acquisition interface has been developed, which enables data to be captured in parallel from four optical encoders mounted directly on the wheel axles. Parallel sampling of the angular wheel position and parallel actuation of all steering motors improves the accuracy of the system state and gives a higher degree of certainty. Considering only circular motion of the vehicle, a method for calculating the steering angles and wheel speeds based on the complex notation is presented. By cumulating the displacement vectors of the vehicle motion and the location of the centre of rotation between consecutive samples of the controller, the path of the vehicle is estimated. The difference between the nominal and the deduced centre of rotation is determined to minimise deviations from the reference trajectory and to allow the controller to adapt to changes in the road/tyre interface characteristics. The individual mechanical and electronic components have been assembled and tested. Additionally, the performance of the electronic interface has been evaluated on a purpose built test-bed. For the experimental validation of the methodology, a simple method of mapping the centre of curvature with a pen mounted at the nominal centre of rotation has been proposed. Experiments have been conducted with both the steering angles fixed to their theoretical values for the nominal centre of rotation and with the proportional steering controller enabled. The results from the latter method have shown a significantly reduced deviation from the nominal centre of rotation. The data captured of the angular wheel positions and steering angle settings has been analysed off-line. Good agreement is obtained between the deduced and the actual centres of rotation for the measurements averaged over 1.5 seconds. A number of different centres of rotation have been investigated and the required steering angles to compensate for the deviation have been plotted to form a control surface for the motion controller. The deviation between the estimated and the actual centre of curvature was less than 1.6% and adequate results could be obtained with the proportional steering controller.

This diploma thesis deals with rail undercarriage of stacker/reclaimer used in thermal power plants. The paper focuses on a conceptual framework of two-track bogie rail undercarriage and on a calculation of maximal load of undercarriage wheels within operational processes. The results are used for a design of two-wheel driven bogie and its main parts. The next part of the thesis presents finite element method analysis of a designed bogie along with a projection drawing. The diploma thesis was elaborated in cooperation with a company NOEN a. s.

The thesis describes the design of a modular track undercarriage system for a forest utility vehicle called the forest forwarder. In the introduction there is a research study which reviews a variety of design options. The main part of the thesis describes the 3D model created in the Catia V5 programme. The model was subjected to an analysis of dynamic effects by simulated use of the track undercarriage system in the MSC Adams programme. A selected part of the undercarriage was analyzed by the finite element method in the Ansys Workbench programme. Drawing documentation of some of the components is included at the end of the thesis.

This diploma thesis targets in concept of wing, aileron, flap and main undercarriage of the ultralight replication of the plane L-40 called Meta Sokol. The thesis developed from cooperation with two other members of the team – Alice Lipková (aerodynamics, power) and Miroslav Růžička (fuselage, tail unit and rear gear). The first part of this diploma thesis is concerned with load and concept of structure of the wing. At first the flight envelope is specified, then charakteristics of shearing force, bending moment and torsion moment are determined spanwise. The concept and subsequent strength verification of structure of the wing is also solved. The same process is claimed to concept of the aileron and the flap. The second part of this diploma thesis is dealt with main landing gear, its support, structure, springing and the principle of retraction. The final passage is devoted to load of the undercarriage.

The aim of this diploma thesis is a concept of hydraulic (hydrostatic) circuit of rail – road vehicle drive for the drive on communication and railway. As my work is not related to a specific type of road vehicle dedicated to a drive on railway, my work is of strictly reference nature. On request I was provided by Bosh Rexroth s.r.o. with a hydraulic scheme of two-way undercarriage (see appendix), which is also a source material for the new concept. My work is focused on interests of SaZ s.r.o., which deals with the development and rebuilding of road vehicles into rail – road vehicles. The first phase is focused on the choice of the most convenient component of railway undercarriage in accord with the assignment. The second phase is oriented on the calculation of travel parameters, dimensioning of systems with concretization of typal mark of components. A part of the second phase is also a concept of hydraulic braking system of rail undercarriage. After that follows a complete evaluation, eventually an alternative solution of given problem.

The object of diploma thesis is a loading determination for strength calculation of HPH 2 Twin Shark glider matching the requirements of Certification Specification for Sailplanes (CS-22). Loading of the wing, tail section, fuselage and undercarriage is determined in this work.

The aim of this master´s thesis is to replace the current engine M 337AK of the aeroplane Zlin 142 for the engine of Lycoming type with an appropriate propeller. Another purpose of the study is the installation of a nose undercarriage of VUT 100 type. The first part of the thesis examines the alternatives of replacement engines. Here the individual engines are compared with regard to their flight characteristics (climbing etc.). The next part presents the calculation of new CG positions, flight envelopes and the load affecting the engine mount. Finally, the last part focuses on the constructional plan for the engine installation and the structural analysis.