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MATHEMATICAL AND COMPUTER MODELING OF CONTROL AND NAVIGATION OF AUTONOMOUS VEHICLES

Petr STODOLA, Milan PODHOREC, Radek KREMIEC

Abstract


This paper deals with basic mathematical and computer modeling of control and navigation of an autonomous unmanned ground vehicle. This model comes from the specific construction of the vehicle, which was designed in order to verify and demonstrate its autonomous motion possibilities indoors and outdoors. This article presents two different issues of the basic model: a) computing vehicle’s position depending on values of parameters of its motion system and b) deriving values of these parameters according to current demands for movement of the vehicle from a current position to a new position.

Keywords


Modeling, Unmanned vehicle, Autonomous motion, Manual control, Autonomous control, Navigation, Localization
Full paper

2010-12-30

POSITION-TRACKING SYSTEMS IN PROJECTS OF THE SOLDIER OF THE 21ST CENTURY

Petr STODOLA, Petr HRŮZA, Miroslav OVESNÝ

Abstract


This article deals with position-tracking systems in S21 projects (Soldier of the 21st Century) being used in NATO’s armed forces and other modern foreign armies. The work presented in this paper demonstrates some partial results achieved within our project of defence research (dealing with utilization and implementation of localization systems). Also it briefly describes the basic principles our own position-tracking system.

Keywords


Position-tracking system, Localization system, Navigation, Soldier of the 21st century, Gyroscope, Accelerometer, Magnetometer, Altimeter, Pedometer
Full paper

2010-12-30

The Software Design of Flight Simulation with the Hybrid Distributed-Shared Memory Architecture

Petr KVASNICA, Tomáš PÁLENÍK

Abstract


This paper deals with the experiences with the parallel architectures software design that is used for computing the mathematical models of flight simulator. Introduce the base knowledge from process creation and management, one-sided communications, added operations, external interfaces in separate methods. The first architecture is based on Message Passing Interface implemented in the distributed architecture. The second architecture is accomplished by programming tool OpenMP on multicore processor. It is able to create a shared-memory parallel programming. The realized hybrid
distributed-shared memory architecture is the result of the connection of previously mentioned architectures. The paper also describes fundamental principles of software application creation that
computes the mathematical models connected with the flight simulator.

Keywords


Mathematical model, Message passing interface, Open message passing, Shared-memory
architecture, distributed-memory architecture, parallel computing
Full paper

2010-12-30

Operational Needs and Requirements for the System for Forces and Devices Localisation During Tactical Operation Leading within Build-up Area

Vítězslav JAROŠ, Petr HRŮZA

Abstract


Authors in the paper specify the possible operational needs and requirements for the system used for forces and devices localisation within build-up area with the orientation to the level team and small troops.

Keywords


FIBUA (Fight in Build-Up Area), MOUT (Military Operations on Urban Terrain), 3D image, Localization system, Operational and technical requirements
Full paper

2010-12-30

Simultaneous Measurement of the Postural Stability of the Bipedal Body by the Cameras, Accelerometers and Force Platform

Patrik KUTILEK, Lucie TALACKOVA

Abstract


This paper is focused on the application of parallel measurement of postural stability of bipedal body by the accelerometers, cameras and force platform. In the initial part of the paper is described the designed method to apply accelerometer and a web cam for the study of postural stability and we mentioned application the force platform as a stabile-graphic platform. In the second part of the article is described comparison of methods and the options how to apply accelerometer and web cam in the study of the postural stability, with respect of application, as an example, in physiotherapy. In our study of the postural stability was verified the option of the stabile-graphic platform replacement by the one of above mentioned apparatus. This option was verified in accordance with requirements of the 2nd Faculty of Medicine, Charles University for application and study of postural stability by the different MoCap systems and BrainPort system.

Keywords


Postural stability, Accelerometers, Atabile-graphic platform, BrainPort system.
Full paper

2010-11-02

Developing An Interface For The Special Target Group: Comparsion Of Verbal And Non-Verbal Voice Interaction

Vladimir BURES, Pavel CECH, Daniela PONCE

Abstract


Advanced information and communication technologies (ICT) can help us to support active aging. Unfortunately, many seniors cannot benefit from the number of computer programs designed to preserve cognitive ability, since they are more or less computer illiterate. The Vital Mind project uses a combination of cognitive psychology, the television medium and advanced interactive ICT to enable the elderly to actively participate in mind fitness exercises. This paper provides an in-depth analysis of verbal and non-verbal human to device voice interaction, which is grounded on the research conducted with group of elderly users who were interacted with an application using both methods of control. The particular attention of the research was devoted to test the verbal and non-verbal voice interaction in respect to the usability and preference of both modalities, the speed of processing the voice signals and the accuracy of recognition the voice signals.

Keywords


Verbal voice interaction, non-verbal voice interaction, seniors, iDTV, Vital Mind project.
Full paper

2010-08-23

Possible Ways to Solve a Design Damage Target Identification System and Advantages in Distributed Artificial Intelligence

Pavel VASICEK

Abstract


The article deals with the ways how to use new technologies of the distributed artificial intelligence to solve of the Damage Target Identification System. This paper is specialized to the most suitable technologies to use and design system that will be constructed for modeling and simulation. It is necessary way to verify correctness of this system because of using in a near future.

Keywords


Productive system, multiagent system, fuzzy logic system.
Full paper

2010-08-18

Fuzzy Damage Target Identification System Matlab Simulation

Pavel VASICEK

Abstract


The article deals with the Matlab simulation of the Fuzzy Damage Target Identification System that is designed as two-phase fuzzy logic system that could be use as protective system in modern battles or against the terrorism in a future.

Keywords


Fuzzy logic system, fuzzification, fuzzy rules.
Full paper

2010-05-31

Quantity Identification of the Extent Damage Target

Pavel VASICEK

Abstract


In this paper we want to present possible solution of the extent damage target that is designed as two-phase fuzzy logic system. We would like to specialize and describe the second part of this computing mechanism.

Keywords


Identification, extent damage target, fuzzy logic system.
Full paper

2010-02-11

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