Kybernetika pro materiálové vědy

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Brno Urban Dataset - The New Data for Self-Driving Agents and Mapping Tasks
(IEEE, 2020-06-01) Ligocki, Adam; Žalud, Luděk; Jelínek, Aleš
Autonomous driving is a dynamically growing field of research, where quality and amount of experimental data is critical. Although several rich datasets are available these days, the demands of researchers and technical possibilities are evolving. Through this paper, we bring a new dataset recorded in Brno, Czech Republic. It offers data from four WUXGA cameras, two 3D LiDARs, inertial measurement unit, infrared camera and especially differential RTK GNSS receiver with centimetre accuracy which, to the best knowledge of the authors, is not available from any other public dataset so far. In addition, all the data are precisely timestamped with sub-millisecond precision to allow wider range of applications. At the time of publishing of this paper, recordings of more than 350 km of rides in varying environment are shared at: https: //github.com/RoboticsBUT/Brno-Urban-Dataset.
Adaptive Human Control Model and its Usability in Modeling of Human-in-the-loop Cyber Physical Systems
(ELSEVIER, 2019-10-29) Jirgl, Miroslav; Bradáč, Zdeněk; Fiedler, Petr
This paper discusses usability of an adaptive human control model in the context of a simple Human-in-the-loop Cyber Physical Systems (HiLCPS). The first part of the paper characterizes human factor assessment with an emphasis on the modeling of human behavior. This section is followed by a description of the human control model structure, including a definition of the individual components and their roles during the control phases. Exploiting relevant theoretical background, the authors present an example of a human controller comprising the feedback component and two different implementations of a pursuit controller. The parameters of the controllers are obtained from data measured on a flight simulator controlled by a pilot during the defined task. The first results presented in this paper indicate the possibility of use the described human control structure in HiLCPS modeling and its potential for other, more complex experiments within human factor assessment.
Utility of several microsatellite markers for the genetic characterisation of three ex situ populations of threatened caprine taxa (Capra aegagrus, C. cylindricornis and C. falconeri)
(ARCHIV FUR TIERZUCHT, 2015-10-07) Štohl, Radek
Caprines belong to the most endangered group of mammals and artiodactyls suffering from many negative human impacts. Fortunately, many of them are protected and managed by national and international legislation and in situ and ex situ conservation actions. Although many microsatellite markers have been developed for wild and domestic caprines, they remain uninvestigated in respect of their utility for some taxa. We examined the utility of the International Society for Animal Genetics microsatellite set for genetic characterisations of three wild and one domestic Capra species from captive or semi-captive ex situ populations in Europe. Our data suggest the utility of this microsatellite set for detecting shared and species-specific alleles, characterising the genetic variability, and determining phylogenetic relationships and intraspecific structures in investigated taxa. We detected a depleted genetic variability in Capra falconeri and Capra cylindricornis in European ex situ populations; unrelated individuals are therefore needed for improving genetic variability parameters, as they are for the extralimital population of Capra aegagrus in the Vřísek game reserve (Czech Republic), for which we identified no genetic introgression from the domestic goat and great dissimilarity with some analysed individuals from European zoos. Current results here indicate some difficulties with the historical evidence, for example with respect to the origin and purity of particular individuals under breeding programmes.
Prognosis and Health Management in electric drives applications implemented in existing systems with limited data rate
(IEEE, 2019-09-10) Klíma, Bohumil; Buchta, Luděk; Doseděl, Martin; Havránek, Zdeněk; Blaha, Petr
Importance of the condition monitoring and predictive maintenance in motion systems is growing up as motion systems quantum and their complexity (number of axes, performance parameters) increases with increasing the automation of huge range of human activities and manufacturing processes. Probability of failures increases with the system complexity. Many faults and indication of their propagation in the electric drives would require additional sensors or hardware, higher bandwidth and sampling frequencies of feedback sensors, high computing power etc. for development of sophisticated methods to detect specific faults with good sensitivity, robustness and reliability under any operating condition. This paper presents an approach to the condition monitoring and prognosis applicable into the existing systems. These methods use the information available in the traditional electric drives – especially the information from the individual sensors in a voltage source inverter (VSI) and/or an electric motor. Condition indicators for these methods are based on application specific operating states or actions, which generates typical patterns in the signals. The condition monitoring is based on observing the deviations of these patterns between the healthy system and the system with fault propagating. The implementation strategy is described in the paper and some demonstration examples are shown as well.
Application of Differential Transform to Multi-Term Fractional Differential Equations with Non-Commensurate Orders
(MDPI, 2019-11-09) Rebenda, Josef
The differential transformation, an approach based on Taylor’s theorem, is proposed as convenient for finding an exact or approximate solution to the initial value problem with multiple Caputo fractional derivatives of generally non-commensurate orders. The multi-term differential equation is first transformed into a multi-order system and then into a system of recurrence relations for coefficients of formal fractional power series. The order of the fractional power series is discussed in relation to orders of derivatives appearing in the original equation. Application of the algorithm to an initial value problem gives a reliable and expected outcome including the phenomenon of symmetry in choice of orders of the differential transformation of the multi-order system.

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