SHEHADEH, M. Geometrické řízení hadům podobných robotů [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2020.
I appreciate that the student wrote the thesis with minimal support under very difficult circumstances. The task was to extend and re-formulate the paper by Pietrowska and Tchon and simulate the motion of a trident snake robot with dynamics included. This goal has been achieved in Maple and the model has been verified which is very valuable for future research and forms a basis for publication. Theoretical part is well ordered and all necessary notions are clearly defined. Calculations are well described in the text or are referred to the appendix with Maple code. I only regret that the feedback control model has not been explored and I hope that the student will come to it in the future. I recommend this thesis for the defence with the top grade A.
| Kritérium | Známka | Body | Slovní hodnocení |
|---|---|---|---|
| Splnění požadavků a cílů zadání | A | ||
| Postup a rozsah řešení, adekvátnost použitých metod | A | ||
| Vlastní přínos a originalita | B | ||
| Schopnost interpretovat dosažené výsledky a vyvozovat z nich závěry | A | ||
| Využitelnost výsledků v praxi nebo teorii | A | ||
| Logické uspořádání práce a formální náležitosti | B | ||
| Grafická, stylistická úprava a pravopis | B | ||
| Práce s literaturou včetně citací | B | ||
| Samostatnost studenta při zpracování tématu | A |
This master's thesis describes the controllability, kinematics and dynamics of a specific nonholonomic mechanism, so called trident snake robot. The model is studied in the differential geometric language and its dynamics was done using Lagrange's equations and D'Alembert's principle. In the last chapter, simple motions of the robot are proposed and the effect of the drift caused by the dynamics is computed. The simulation was calculated in Maple, and the code is attached. The thesis meets the goal and results in a valuable theoretical study and successful practical implementation. The report itself is very well written, using an appropriate language and thesis structure, which makes the thesis easy to follow. I have only a few comments: 1) The background from the differential geometry in chapter 1 is deep too much - not many is used in the next chapters. 2) The feedback control is not fully explained in chapter 4 and it is not used afterwards. 3) The name of the last chapter is not appropriate. It deals with basic simpe motions only, not the motion planning. Overall the thesis is interesting an well written, and I suggest to evaluate it by grade A
| Kritérium | Známka | Body | Slovní hodnocení |
|---|---|---|---|
| Splnění požadavků a cílů zadání | A | ||
| Postup a rozsah řešení, adekvátnost použitých metod | A | ||
| Vlastní přínos a originalita | B | ||
| Schopnost interpretovat dosaž. výsledky a vyvozovat z nich závěry | A | ||
| Využitelnost výsledků v praxi nebo teorii | B | ||
| Logické uspořádání práce a formální náležitosti | A | ||
| Grafická, stylistická úprava a pravopis | A | ||
| Práce s literaturou včetně citací | A |
eVSKP id 124856