BYRTUS, R. Simulace pohybu neholonomních mechanismů [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2019.
Evaluation of the proposed thesis is twofold. On one hand, the text is written very well with extraordinary level of English with minimum misprints and the topic covers an area far beyond the content of standard courses in differential geometry. On the other hand, too many approaches to the solution of the aims led to too many open questions which can't be solved within one thesis for neither time nor scope reasons. Theoretical part is well elaborated and precisely formulated in an appropriate range. Simulations in V-Rep are well implemented and correspond to theoretical model but their deeper analysis is necessary. Also hardware model was constructed but the implementation of some motion planning algorithms remains open. Nevertheless, due to applicant's initiative, some results were published in a conference paper indexed in WoS. The topics from this thesis form a good base for future research. I consider the applicant a good student with professional attitude to given tasks and therefore I recommend the thesis for the defence.
| Kritérium | Známka | Body | Slovní hodnocení |
|---|---|---|---|
| Splnění požadavků a cílů zadání | B | ||
| Postup a rozsah řešení, adekvátnost použitých metod | B | ||
| Vlastní přínos a originalita | B | ||
| Schopnost interpretovat dosažené výsledky a vyvozovat z nich závěry | A | ||
| Využitelnost výsledků v praxi nebo teorii | B | ||
| Logické uspořádání práce a formální náležitosti | B | ||
| Grafická, stylistická úprava a pravopis | A | ||
| Práce s literaturou včetně citací | B | ||
| Samostatnost studenta při zpracování tématu | A |
The topic of the thesis is the geometric control of planar nonholonomic models. The text is divided into five main chapters. The main advantage of the work is its complexity. The model is mathematically solved, simulated in a suitable environment and realistically constructed. Some parts are processed better, others are worse. Working with the VREP simulation tool is well done and it is clear that there was a lot of work to do. Hardware implementation is interesting, but rather marginal from a mathematical point of view. The implementation of control theory algorithms in chapters 2 - 3 is fine. Unfortunately, the theoretical part in the chapter one, is a bit of weaker. It is relatively short and contains several misprints of a mathematical nature: Pg 13. in the middle … We are looking for curve x(t), such that x(0)=a, x(T)=b ( not for control law u(t), such that u(0) =a ….) pg. 18. – in the middle, \delta_{i-1} \subset \delta_i pg. 18. – on the end … delta2=span(delta1+[])… span is missing pg. 20. – In the theorem 1, q has to be in M ( see expression (4) )
| Kritérium | Známka | Body | Slovní hodnocení |
|---|---|---|---|
| Splnění požadavků a cílů zadání | B | ||
| Postup a rozsah řešení, adekvátnost použitých metod | C | ||
| Vlastní přínos a originalita | B | ||
| Schopnost interpretovat dosaž. výsledky a vyvozovat z nich závěry | C | ||
| Využitelnost výsledků v praxi nebo teorii | A | ||
| Logické uspořádání práce a formální náležitosti | D | ||
| Grafická, stylistická úprava a pravopis | C | ||
| Práce s literaturou včetně citací | B |
eVSKP id 112966