Tesis sobre el tema "Chassis Control"
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Brandao, Felipe Tavares de Vilhena. "Integrated control of vehicle chassis systems". Thesis, Loughborough University, 2004. https://dspace.lboro.ac.uk/2134/7641.
Texto completoKissai, Moad. "Optimal Coordination of Chassis Systems for Vehicle Motion Control". Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLY004/document.
Texto completoA large interest has been given recently to global chassis control. One of the main reasons for this would be the approach of fully autonomous vehicles. These vehicles, especially the SAE (J3016) level 5 of automation, are expected to replace the human driver in all situations. The automated vehicle should be able to manage coupled situations in harmony where longitudinal control, lateral control, and eventually vertical control are involved. To do so, the vehicle has more than one embedded system per control axis. Equipment suppliers and new entering automotive actors are continually proposing new solutions to satisfy a specific performance required from future passenger cars. Consequently, the car manufacturer has to coordinate different subsystems coming from different stakeholders to ensure a safe and comfortable driving experience. Until these days, car manufactures favoured simple solutions consisting on adding a coordination layer downstream the competing subsystems in order to mitigate eventual conflicts. Most of strategies adopted consist on prioritizing one system over another depending on predictable conflicting scenarios. Autonomous vehicles need additional subsystems to operate safely. Interactions between these subsystems will increase to the point of becoming unpredictable. This thesis focus on the coordination approach that should be adopted by future vehicles. Particularly, the coordination layer is moved upstream the standalone subsystems to ensure an optimal control distribution. This layer acts as a supervisor depending on optimization-based control allocation algorithms. The control synthesis is based on robust control theories to face environmental changes and the vehicle’s parameters and dynamics uncertainties. Results showed first that even regarding today’s vehicles, the upstream approach can offer additional advantages when it comes to multiple objectives problems solving. In addition, the upstream approach is able to coordinate subsystems of vehicles with a higher over-actuation. Fault-tolerance can be ensured between completely different chassis systems, and qualitative objectives, if rigorously formalized, can be satisfied. The more numerous subsystems will get in the future, the more relevant the upstream approach would become to vehicle motion control. We expect that the important benefits shown in this thesis thanks to an optimal upstream coordination approach would encourage car manufacturers and equipment to switch towards more open solutions, propose together the necessary standardizations, and accelerate the autonomous vehicles development
Selby, Mark Albert. "Intelligent vehicle motion control". Thesis, University of Leeds, 2003. http://etheses.whiterose.ac.uk/1038/.
Texto completoChokor, Abbas. "Design of several centralized and decentralized multilayer robust control architectures for global chassis control". Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2514.
Texto completoGlobal Chassis Control (GCC) is crucial task in intelligent vehicles. It consists of assisting the driver by several automated functionalities especially for active safety and comfort purposes. Due to the fact that the dynamics of these functionalities are interconnected, thus the awaited performances are sometimes contradictory. Hence, the main task in GCC field is to coordinate the different Advanced Driving Assistance Systems (ADAS) to create synergies between the interconnected dynamics in order to improve the overall vehicle performance. Several powerful coordination strategies have already been developed either in the academic world or in the industrial one to manage these interconnections. Because the active safety needs are increasing from one side, and the technology that can be embedded into vehicles is evolving, an intense research and development is still involved in the field of global chassis control. This thesis analyzes di_erent dynamics interconnections and develops new several GCC strategies where the Active Front Steering, Active Differential Braking, and the Active Suspensions are coordinated - all together or partially - to improve the vehicle overall performance i.e. the rollover avoidance, the lateral stability, the driving comfort (maneuverability), and the ride comfort. Several multilayer architectures formed by three hierarchical layers are proposed. The lower layer represents the actuators implemented into the vehicle which generate their control inputs based on the orders sent from the middle layer. The middle layer is the control layer which is responsible to generate the control inputs that minimize the errors between the desired and actual vehicle state variables i.e. the yaw, side-slip, roll, pitch, and heave motions, regardless of the driving situation. The higher layer is the decision making layer. It instantly monitors the vehicle dynamics by di_erent criteria, then, it generates weighting parameters to adapt the controllers performances according to the driving conditions i.e. to improve the vehicle's maneuverability, lateral stability, rollover avoidance, and ride comfort. The proposed architectures di_er in the control and decision layers depending on the proposed embedded actuators. For instance, the decision layers di_er in the monitored criteria and the way the decision is taken (fuzzy logic or explicit relations). The control layers di_er in structure, where centralized and decentralized controllers are developed. In the centralized architecture, one single Multi-Input-Multi-Output optimal controller generates the optimal control inputs based on the Linear Parameter Varying (LPV)/H-infinity control technique. In the decentralized architecture, the controllers are decoupled, where the Super-Twisting Sliding Mode (STSM) technique is applied to derive each control input apart. The proposed architectures are tested and validated on the professional simulator « SCANeR Studio » and on a Full vehicle nonlinear complex model. Simulation shows that all architectures are relevant to the global chassis control. The centralized one is optimal, complex and overall stability is guaranteed, while the decentralized one does not guarantee the overall stability, but it is intuitive, simple, and robust
Rengaraj, Chandrasekaran. "Integration of active chassis control systems for improved vehicle handling performance". Thesis, University of Sunderland, 2012. http://sure.sunderland.ac.uk/4017/.
Texto completoSoukka, Erik. "Chassis Design of a Control Pod for a Kite Power System". Thesis, KTH, Marina system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240262.
Texto completoI en värld som hotas av klimatförändringar på grund av utsläppen av fossila bränslen i atmosfären, men där människorna som befolkar den har ett stort behov av energi för sin livsstil finns det ett behov av alternativa källor och metoder till att utvinna den. Ett relativt nytt och hållbart sätt till detta är kite-baserad vindkraft. Mananvänder sig av en skärm eller drake, lite som en fallskärm fast i större storlek, som är kopplad med en vajer till en bas-station där vajern rullas upp på en trumma. Skärmen fungerar som en vinge och skapar ett lyft när den flyger i kors-vind och rullar ut vajern på trumman som fungerar samtidigt som en elektrisk generator. Alternativtlåter man skärmen ha ett konstant avstånd och har bas-stationen installerad på ett fartyg och använder lyftet från skärmen till att driva fram fartyget.Ett av företagen som arbetar med att få denna teknik lönsammare än konventionell vindkraft i vissa väder och geografiska lägen är SkySails som gav i uppdrag som examensarbete att utveckla en ny modell av chassit till styrenheten till sitt kite-system. Styrenhetens ligger mellan skärmen och vajern och har som huvudfunktion attstyra draken som görs med en mindre elektrisk motor och ett tandat bälte. Dessutom innehåller styrenheten mycket elektronik och sensorer vilket gör utvecklingen till ett komplext problem. Studentens två huvuduppgifter var göra en konceptuell utvecklingsstudie av hela styrenheten och att utveckla ett chassi, till ett stadie att dengår att tillverka från ritningar, för det mest framgångsrika konceptet. Chassit måste tåla hela skärmens laster och kosta och väga så lite som möjligt.Designprocessen var iterativ med ett systemingenjörsmässigt angreppssätt. Första delen av tiden ägnades åt att studera den befintliga styrenheten och lära sig om hela kite-teknologin. Sedan sattes tydligare och mätbara mål och specifikationer tillsammans med uppdragsgivaren. Därefter började den kreativa fasen och skissa fram bådekonventionella och okonventionella koncept för hela styrenheten. De tre mest lovande koncepten utvärderades mot de tidigare satta kriterierna så kvantifierbart som möjligt och det visade sig att det koncept som hade används var fortfarande det bästa. Sista fasen av arbetet var att sätta gränssnittet för chassit i detta koncept ochdesigna chassit så lätt som möjligt.Resultatet blev ett liknande chassi jämfört med vad det var innan men med en vikt som var lägre än om det förra chassit hade ökat sin vikt lika mycket som lastökningen. Kostnaden för chassitillverkningen gick ner i absoluta termen på grund av byte av material och tillverkningsmetod. Av detta kan man påstå att examensarbetet varframgångsrikt och nådde sina mål. Däremot måste en prototyp tillverkas testas i för att fastställa att modellerna som tog fram designen motsvarar verkligheten. Dessutom måste de andra komponenterna tillverkas i för att hela styrenheten kunna testas så som den är avsedd att användas. Chassit och styrenheten är bara ett steg på vägentill en hållbarare värld men metoderna som användes kan återanvändas.
Davis, A. G. W. "A transputer ring network for real time distributed control applications". Thesis, University of Nottingham, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260571.
Texto completoBoes, Christoph. "Active automatic chassis actuation for an excavator". Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71224.
Texto completoAMRIK, SINGH PHUMAN SINGH. "Autonomous Collision Avoidance by Lane Change Maneuvers using Integrated Chassis Control for Road Vehicles". Kyoto University, 2019. http://hdl.handle.net/2433/242443.
Texto completoRyberg, Sebastian. "Driver Chassis Control Functions in New Vehicles : Based on Steering, Suspension, and Propulsion Actuators". Thesis, Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-56597.
Texto completoHancock, Matthew. "Vehicle handling control using active differentials". Thesis, Loughborough University, 2006. https://dspace.lboro.ac.uk/2134/8075.
Texto completoNeto, Alvaro Costa. "Application of multibody system (MBS) techniques to automotive vehicle chassis simulation for motion control studies". Thesis, University of Warwick, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.357279.
Texto completoSingh, Kanwar Bharat. "Development of an Intelligent Tire Based Tire - Vehicle State Estimator for Application to Global Chassis Control". Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/76959.
Texto completoMaster of Science
Bařinka, Martin. "Elektronická stabilizace podvozku Formule Student". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413184.
Texto completoBarthelmes, Stefan [Verfasser]. "Model-Based Chassis Control of a Wheeled Mobile Robot on Soft Ground Using the Example of the ExoMars Planetary Exploration Rover / Stefan Barthelmes". München : Verlag Dr. Hut, 2020. http://d-nb.info/1222353156/34.
Texto completoAgrawal, Harshit y Jacob Gustafsson. "Investigation of active anti-roll bars and development of control algorithm". Thesis, KTH, Fordonsdynamik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223321.
Texto completoIvanov, Valentin [Verfasser], Klaus [Gutachter] Augsburg, Johann [Gutachter] Reger y Roland [Gutachter] Kasper. "Advanced automotive active safety systems : focus on integrated chassis control for conventional and electric vehicles with identification of road conditions / Valentin Ivanov ; Gutachter: Klaus Augsburg, Johann Reger, Roland Kasper". Ilmenau : Universitätsbibliothek Ilmenau, 2017. http://d-nb.info/1148438866/34.
Texto completoTermous, Hussein. "Approche hiérarchisée pour le contrôle global du châssis d'un véhicule électrique". Thesis, Bordeaux, 2020. http://www.theses.fr/2020BORD0081.
Texto completoRoad transportation is shifting significantly toward electrification around the globe. A market for light electric mobility solutions had emerged where all-in-wheel devices are expected to play an important role in this new trend. This technology offers new opportunities and raises new challenges in Global Chassis Control (GCC) that rises, recently, to remarkable levels. This study is based on a supervision control approach for vertical, longitudinal, and lateral control in light electric vehicles. The developed control system designs rely on the CRONE method which can ensure the robustness of the stability degree against the system parametric variations. For vertical dynamics, various control solu-tions are developed for automotive suspensions to improve passenger comfort and road holding. For longitudinal dynamics, a study for the ABS function is done for braking system enhancement while considering the effect of the vertical dynamics. Then, a combination of ABS control and suspension control is presented in the sense of reducing the deterioration effect of vertical dynamics. Finally, the work is concerned by the development of vehicle lateral stability control, where the effect of the vehicle vertical dynamics was analyzed. The obtained results verify the effectiveness of the designed control strategies in enhancing the vehicle comfort, handling, and safety. Moreover, the well understanding of the influence of the vertical dynamics, as well as the key role of the controlled suspension on other vehicle dynamics, will open up new prospects to the development of new strategies for global chassis control of light electric vehicle
Strähle, Peter. "Integration eines Fahrzeugniveausensors in ein Gummi-Metall-Lager eines Fahrwerklenkers". Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2007. http://nbn-resolving.de/urn:nbn:de:swb:14-1178278199080-48805.
Texto completoIn motor vehicles, information on the position of the vehicle in direction of the vehicle height axis in relation to the road surface is increasingly provided by sensors. This positional information is required for the automatic headlight range control of gaseous discharge headlights and chassis control systems. In cooperation with Volkswagen AG and University of Technology Dresden, ZF Lemförder Fahrwerktechnik GmbH & Co. KG integrated a vehicle height sensor as a prototype in a rubber mount of an axle link with the aim of avoiding the disadvantages of standard sensors using ball joints. In this mechatronic system, the direction of the magnetic field of a permanent magnetic ring placed on the inside of the outer bearing case is measured by anisotropic magnetoresistive (AMR) sensors integrated in the centre of the bearing. The vertical movement of the relevant wheel is measured via the torsion of the rubber mount. The mechanics and the magnetic field were designed in order to get measurements that are not affected by rotational and linear rubber mount distortions. This thesis works summarizes the key points of this project. The reader will be first introduced to advantages and disadvantages of the measuring quantity and the sensor principle used for measuring the positioning of the vehicle concerning the requirements of vehicle height sensors. In addition, an optimized construction of the sensor rubber mount will be described. The main focus of this work is the design of the magnetic field of the required permanent magnet. While considering adequate approaches, the magnetic field of this magnet is formulated from the theory of magnetic fields. The presented magnetic field is an optimisation in terms of the insensitivity of sensoric measurements towards interferic rubber mount distortions, the field force that can be accomplished at the sensor, the linearity of the signal and the producibility of the permanent magnet ring. Further topics that are addressed in this thesis are the discussion of the used sensor electronic including essential software algorithms and the discussion of the experimentally derived characteristics of the prototype of the sensor rubber mount and its components
Strähle, Peter. "Integration eines Fahrzeugniveausensors in ein Gummi-Metall-Lager eines Fahrwerklenkers". Doctoral thesis, Technische Universität Dresden, 2006. https://tud.qucosa.de/id/qucosa%3A24921.
Texto completoIn motor vehicles, information on the position of the vehicle in direction of the vehicle height axis in relation to the road surface is increasingly provided by sensors. This positional information is required for the automatic headlight range control of gaseous discharge headlights and chassis control systems. In cooperation with Volkswagen AG and University of Technology Dresden, ZF Lemförder Fahrwerktechnik GmbH & Co. KG integrated a vehicle height sensor as a prototype in a rubber mount of an axle link with the aim of avoiding the disadvantages of standard sensors using ball joints. In this mechatronic system, the direction of the magnetic field of a permanent magnetic ring placed on the inside of the outer bearing case is measured by anisotropic magnetoresistive (AMR) sensors integrated in the centre of the bearing. The vertical movement of the relevant wheel is measured via the torsion of the rubber mount. The mechanics and the magnetic field were designed in order to get measurements that are not affected by rotational and linear rubber mount distortions. This thesis works summarizes the key points of this project. The reader will be first introduced to advantages and disadvantages of the measuring quantity and the sensor principle used for measuring the positioning of the vehicle concerning the requirements of vehicle height sensors. In addition, an optimized construction of the sensor rubber mount will be described. The main focus of this work is the design of the magnetic field of the required permanent magnet. While considering adequate approaches, the magnetic field of this magnet is formulated from the theory of magnetic fields. The presented magnetic field is an optimisation in terms of the insensitivity of sensoric measurements towards interferic rubber mount distortions, the field force that can be accomplished at the sensor, the linearity of the signal and the producibility of the permanent magnet ring. Further topics that are addressed in this thesis are the discussion of the used sensor electronic including essential software algorithms and the discussion of the experimentally derived characteristics of the prototype of the sensor rubber mount and its components.
Palladino, Luca. "Analyse comparative de différentes lois de commande en vue du contrôle global du chassis". Paris 11, 2006. https://tel.archives-ouvertes.fr/tel-00273022.
Texto completoVehicles equipped with electronics systems are today commonly manufactured. The use and the commercialisation of these systems come from the necessity of the car manufacturers to give to their clients a product capable to have good driving performance together with good safety and comfort. To answer to this customer requirement, it is therefore necessary to put these systems in the new cars. In this thesis different control strategies are proposed to control the lateral dynamics of the vehicle: controllers with good performances for the yaw and roll dynamics are proposed. The proposed actuators are front steering, rear steering, brake pressure repartition and active suspensions. The thesis is divided in two parts. In the first one control laws are proposed using only one of the previous actuators to control the lateral dynamics. In the second part some strategies with two or more actuators are considered. Our control laws are obliged to guarantee good driving performances and robustness while considering the evolution of the vehicle’s dynamics. Therefore we have decided to use typical robust control methodologies like H-infinity/LPV ones completed with order reduction methods. The results obtained allow concluding that the chosen methodology is well adapted to our problem. With these results we can also give some indication about the control architecture to guarantee a good compromise between driving performances and industrialisation criteria in the case of control with two or more actuators
Akhmetov, Yerlan. "Contrôle Global de Châssis appliqué à la sécurité active des véhicules de distribution". Phd thesis, INSA de Lyon, 2011. http://tel.archives-ouvertes.fr/tel-00711046.
Texto completoBouchet, Jean-Claude. "Histoire de la chasse à la grande faune (ours, loups, rapaces, lynx, bouquetins) dans les Pyrénées françaises du XVIème au XXème siècle". Pau, 1988. http://www.theses.fr/1988PAUU1005.
Texto completoCalverley, David. "Who controls the hunt? Ontario's Game Act, the Canadian government and the Ojibwa, 1800-1940". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape9/PQDD_0025/NQ48091.pdf.
Texto completoKu, Kuan-Jung y 辜冠榮. "Integrated Chassis Control for Electric-Bus". Thesis, 2016. http://ndltd.ncl.edu.tw/handle/87964286810409730454.
Texto completo國立臺灣科技大學
機械工程系
104
Electric Bus is usually re-assembled by conventional engine bus. In addition to environmental damage, there is not a lot of studies on four-wheel steering and drive control. This study will do the integrated chassis control of the electric bus, consider four-wheel steering ,drive control and braking system, to establish a reasonable mathematical model of the electric bus. The study include the comparison between the electric bus model and TruckSim® software model and optimal control on electric bus, in order to improve the performance , motion control and stability of electric bus.
Jung, Fu-Tsai y 鍾福財. "Chassis Design and Control of a Special-Purpose Service Robot". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/49559287271083855648.
Texto completo國立雲林科技大學
電機工程系碩士班
90
The aim of this thesis is the implementation of a special-purpose service robot which has the ability to move among rough terrain. For path tracking, controllers are installed such that the robot can trace a prescribed path. Meanwhile, wireless transmission modules such as the RS-232 and the GSM are installed in order to control the mobile robot remotely. For outdoor self-localization, GPS module is also used.
Skonieczny, Krzysztof. "Centre-of-gravity control for a Mars Rover chassis with multiple degrees of freedom". 2006. http://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=450289&T=F.
Texto completoAzevedo, João Afonso Magalhães de. "LiDAR: reconfigurable hardware based data acquisition". Master's thesis, 2019. http://hdl.handle.net/1822/72172.
Texto completoThere is an expected increase in the demand for Advanced Driver-Assistance Systems (ADAS) over the next decade, incited by regulatory and consumer interest in safety applications that protect drivers and reduce accidents [1]. Even though ADAS applications are still beginning, both the OEMs and their suppliers are realizing that they could become one of the essential characteristics differentiating the various automotive brands, consequently, one of their most important revenue sources. Furthermore, the technologies used in ADAS could be used in the future to create fully autonomous vehicles, which are now becoming a major focus of research and development. There are three main sensor solutions used in ADAS. Firstly, there are optical sensors and camera based-solutions. These are the most versatile and cost-efficient solutions. However, they are easily affected by poor weather and other environmental hazards. Furthermore, they require complex software algorithms to recognize objects [1]. The second solution incorporates short and long range Radars for determining the distance, speed, and direction of objects. These sensors work better than the others in adverse weather conditions. Nonetheless there is typically a compromise between the measurement range and angle [1]. The last type of solution involves using LiDAR systems, which use laser pulses to scan the surroundings and generate a complete and precise three-dimensional image of the environment. The LiDAR is less sensitive to light and weather conditions than optical systems and provides the location of the surrounding objects directly. Due to the ever-growing use of ADAS, there is a need to develop a more advanced LiDAR sensor. To answer that need and to overcome some of the limitations of the current LiDAR sensors, the Chassis Systems Control of the Bosch Group is developing an automotive LiDAR, and the current Master’s thesis is integrated in the project. In this Master’s thesis, an Acquisition System for Bosch’s LiDAR sensor was developed. For measuring the Time-of-Flight of the laser pulses of the LiDAR, to do so multiple TDC Peripherals were developed in an FPGA platform. The measurement precision of the developed Acquisition System varies between 232.17 ps and 188.66 ps, with an average precision of 207.47 ps.
É expectável que nas próximas décadas exista um aumento na procura das ADAS, potenciado pelos interesses dos reguladores e dos consumidores em aplicações que protejam o condutor e reduzam o número de acidentes. Tanto os OEMs, como os seus fornecedores aperceberam-se que, apesar das ADAS ainda estarem numa fase inicial, podem-se tornar uma característica diferenciadora entre as diversas marcas de automóveis, e por isso, uma das suas principais fontes de rendimento. Além disso, as tecnologias usadas nas ADAS poderão vir a ser utilizadas para criar veículos autónomos, os quais se estão a revelar como um dos principais focos da pesquisa e desenvolvimento. Existem três principais soluções de sensores usadas nas ADAS. Primeiro, existem as soluções baseadas em sensores óticos, que são as soluções mais versáteis e económicas. No entanto, este tipo de soluções é facilmente afetado pelo mau tempo e outros fatores ambientais. Para além do facto de necessitarem o uso de algoritmos complexos para reconhecerem objectos. A segunda solução incorpora o uso de RADARs de longo e curto alcance, com o objetivo de determinar a distância, velocidade e direção dos objetos. Estes sensores são pouco afetados por condições meteorológicas adversas. Porém, existe um compromisso entre o alcance e o ângulo de medição do sensor. A última solução envolve o uso de sistemas de LiDAR. Estes sistemas usam pulsos de laser para examinar meio-envolvente, de modo a gerar uma imagem tridimensional completa do mesmo. O LiDAR é menos sensível à luz e às condições meteorológicas e consegue fornecer diretamente a localização dos objetos à sua volta. Devido à crescente utilização das ADAS, existe a necessidade de desenvolver sensores LiDAR mais avançados. Para suprir essa necessidade e para ultrapassar algumas das limitações dos sensores atuais, a divisão Chassis Systems Control, do grupo Bosch, está atualmente a desenvolver uma solução de um sensor LiDAR para a indústria automóvel, projeto onde se insere esta dissertação. Nesta dissertação foi desenvolvido um Sistema de Aquisição para o sensor LiDAR. Este sistema mede o TOF dos pulsos de laser usado pelo LiDAR. Para isso, vários periféricos de TDC foram desenvolvidos numa FPGA. A precisão de medição do sistema varia entre os 232.17 ps e os 188.66 ps, com um valor médio de 207.47 ps.
This work is supported by European Structural and Investment Funds in the FEDER component, through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) [Project nº 037902; Funding Reference: POCI-01-0247-FEDER-037902].
ROUČKA, František. "Využití traktorů s pásovým podvozkem v podniku zemědělské prvovýroby". Master's thesis, 2018. http://www.nusl.cz/ntk/nusl-376045.
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