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Automatic On-Line Calibration and Calibration Monitoring of Cameras and Lidars
Moravec, Jaroslav ; Šikudová, Elena (advisor) ; Obdržálek, Štěpán (referee)
Title: Automatic On-Line Calibration and Calibration Monitoring of Cameras and Lidars Author: Jaroslav Moravec Department: Department of Software and Computer Science Education Supervisor: doc. RNDr. Elena Šikudová, Ph.D., Department of Software and Computer Science Education Abstract: Cameras and LiDARs are important devices in the automotive indus- try as their combination provides useful information (3D coordinates of a point, its colour and intensity) for perception, localization, mapping and prediction. Successful data fusion and interpretation requires accurate calibration of intrin- sic parameters of the sensors and their 6D relative pose. In this thesis, we present a target-less calibration method on three different calibration tasks. The solu- tion is based on a robust likelihood function constructed over the reprojection error of LiDAR edges relative to image edges. When the calibration slowly wears off, our online recalibration procedure can jointly follow the extrinsic calibration drift with an average error of 0.13◦ in rotation and 4 cm in translation. Based on this recalibration tool, we are also able to monitor the calibration and detect an abrupt decalibration in a couple of seconds. And we also present a fully automatic calibration routine that estimates both the extrinsic and intrinsic...
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Ionotropic glutamate receptors and excitotoxicity
Skřenková, Kristýna ; Vyklický, Ladislav (advisor) ; Moravec, Jan (referee)
Glutamate is the major excitatory neurotransmitter in the mammalian central nervous system and its excitatory role is mediated trough activation of glutamatergic ionotropic receptors which are responsible for synaptic transmission and play an important role in learning and memory formation. However, excessive exposure to glutamate can result in excitotoxicity which may lead to cell death. The following text is focused on one group of glutamate receptors - NMDA receptors. The study of the receptors is in the centre of current neurobiology research because there is a series of experimental and clinical evidences that they directly participate in the development of serious diseases such as Alzheimer's disease, Parkinson's disease, Huntington's disease and may cause neuronal damage in trauma, hypoxia and embolia. The aim of this bachelor thesis is to give a brief overview of current knowledge about the structure and function of NMDA receptors and mechanisms of their activation which leads to excitotoxicity and related neuroprotection.
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Cholinergic regulation of ion transport in the large intestine
Hock, Miroslav ; Pácha, Jiří (advisor) ; Moravec, Jan (referee) ; Kolínská, Jiřina (referee)
anglicky Acetylcholine is one of the most important mediators of enteric nervous system involved in the regulation of ion transport in the large intestine. Although, recently, plenty of new evidences of various expression of ion transport proteins in distal and proximal colon was published, there still lacks an electrophysiological study comparing these parts of colon considering all that new findings. The aim of this study was thus to compare cholinergic regulation of ion transport in distal and proximal colon. We measured responses of distal and proximal colon in Ussing chambers by voltage-clamp method. The colonic epithelium was clamped to 0 mV and responses were recorded as changes of short-circuit current (SCC). Instead of acetylcholine we used its stable analogue carbachol. Data were processed and analyzed using a VBA code I wrote for this purpose for MS Excel 2007. We confirmed that carbachol acts directly on epithelial cells via muscarinic acetylcholine receptors in both, distal and proximal colon. These responses to carbachol were not influenced by inhibitors of Cl- channels situated in apical membrane (CFTRinh-172 and niflumic acid). Inhibition of basolateral influx of Cl- by serosal Ba2+ and furosemid reduced responses to carbachol in both, distal and proximal colon. Inhibitors of K+...
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Simultaneous confidence intervals dual to stepwise methods of multiple comparison
Moravec, Jan ; Komárek, Arnošt (advisor) ; Hlávka, Zdeněk (referee)
The central theme of this thesis is the construction of simultaneous confidence regions (SCR) corresponding to stepwise multiple comparison procedures (MCP). The first chapter is devoted to the theory of multiple comparisons, including the class of closed testing procedures which contains every MCP that strongly con- trols the familywise error rate. The second chapter is concerned with the gene- ral principle of construction of SCR corresponding to closed testing procedures. These general results are used in the third and the forth chapter for deriving the SCR corresponding to a subclass of closed testing procedures which are based on weighted Bonferroni tests. The SCR corresponding to the Holm, the Holm(W), the fixed-sequence and the fallback MCP are derived explicitly. The theoretical results are numerically illustrated on a bioequivalence study. In the fifth chapter we briefly discuss the SCR corresponding to the Hommel, the Hochberg and the step-down Dunnett MCP.
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Systematics, Phylogeny and Biogeography of the gecko genus Hemidactylus (Reptilia, Gekkonidae) in Arabia and the Near East.
Šmíd, Jiří ; Moravec, Jiří (advisor) ; Kotlík, Petr (referee) ; Rehák, Ivan (referee)
(in English) Until relatively recently, the gecko genus Hemidactylus was considered to contain only several hard-to-distinguish species in the eastern Mediterranean and the Arabian Peninsula. This was mostly given by the apparent morphological uniformity of the geckos in combination with their often synanthropic lifestyle, which facilitated the dispersal of some of the species over large ranges. However, our understanding of the diversity of the genus was about to change with the onset of molecular phylogenetic methods that became extensively available and routinely applied to tackle the questions of systematics and phylogeny of all kinds of organisms. This thesis focuses on resolving the phylogeny, systematics, and biogeography of the Arabian Hemidactylus. Using an unprecedented sampling of over 500 samples of more than 40 Hemidactylus species from the eastern Mediterranean, Arabian Peninsula, Socotra, North and East Africa and Iran and sequencing up to six genes (two mitochondrial - 12S rRNA, cyt b; four nuclear - cmos, mc1r, rag1, rag2) I reconstructed the time-calibrated phylogeny of the arid clade of Hemidactylus, inferred its complex biogeographical history in the region, and detected seven potentially new species. The results of the biogeographic analyses indicate that the current...
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Role of Potassium Channels in the Regulation of Vascular Smooth Muscle Tone
Bencze, Michal ; Zicha, Josef (advisor) ; Moravec, Jan (referee)
In smooth muscle cells, potassium channels play an important role in the regulation of the membrane potential of smooth muscle cells, which is closely related to vascular tone. Four different types of K+ channels have been described in vascular smooth muscle cells. Voltagegated K+ channels (KV), which can be open by depolarization. Calcium-activated potassium channels (KCa), from the same gene family, are voltage dependent, and can be activated also by elevated concentration of intracellular Ca2+. Inward rectifying channels (KIR) display negative slope conductance. These channels amplify potassium flow and function as an extracellular K+ sensor. ATP-sensitive K+ channels (KATP) channels provide a link between cell metabolism and membrane potential. Function of K+ channels is also important in endothelium, which produces many vasodilatators and vasoconstrictors. Abnormal expression profile of K+ channels is part of vascular cell membrane remodeling.
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The reality of the Soviet Union from the perspective of First Republic intellectuals
Moravec, Jakub ; Doubek, Vratislav (advisor) ; Pehr, Michal (referee)
My dissertation focuses on few selected First Republic travelogues and its authors who in their works reflected their own subjective relationship towards the Soviet Union in the first half of the 20th century. By the gradual assessment of the research questions that I define by my complex approach at the end of my dissertation I reach the conclusion that I outline in the introduction. The goal of my methodological research is to evaluate the ability of recognition and reflexion of selected intellectuals and their perception of reality of the Soviet regime in the span of two decades by analytical and comparative methods divided into six chapters. The thesis focuses on such topics as a theory of non-democratic regimes, ideas, contemporary history and literary history. The travelogue reports of choice are going to provide a picture of contemporary Soviet society that was idealized by some intellectuals who, unlike others, could not have seen through the illusion that the Soviet Union had created. Key words: Czechoslovakia, Soviet Union, authoritarian, totalitarian, Marxism, Leninism, Stalinism, Communism, Bolshevism, reality, illusion, travelogues, reports
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Agglomeration of animal feed mixtures
Moravec, Jan ; Lacina,, Lubor (referee) ; Svěrák, Tomáš (advisor)
The theoretical part of this work focuses on the description of mechanical properties of compound feed produced in cooperation with Mendel University in Brno. These properties are mainly flow properties, which are crucial for the technological processes of these mixtures. The first part of this work also contains a general information about commonly used shear devices. Jenike's Shear Cell and Rheometer FT4 from company Freeman Technology are described in more detail. Because of the complexity of the behavior of these materials, their properties are mostly found the experimental way, which is the main topic of the practical part of this work. In this section you can find a description of measurements performed on Jenike's Shear Cell and on the Rheometer FT4. Moreover measurements of strength and length of granules were undertaken. Further the analysis of powder feed mixtures on sieves is described. Materials analyzed were compound feeds for chickens. Mutually they differed in the content of mealworms. Pellets were made from the mixtures and were then also subjected to measurement.
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The Madness of Adaptation: Analysis of Film Adaptations of Alan Bennett's The Madness of George III and The History Boys
Moravec, Jaromír ; Pilný, Ondřej (advisor) ; Wallace, Clare (referee)
This bachelor thesis focuses on adaptation processes present in the transfer of Alan Bennett's plays The Madness of George III and The History Boys from stage to film. The former was considered a mediocre play but its film adaptation can be found on the British Film Institute's list of the country's greatest films while the latter is a critically acclaimed play but its adaptation received mixed reviews and is generally seen as inferior to the stage version. This thesis is to determine why did the two adaptation processes bear such different results despite the same creative team being responsible for both of them. Both processes are first analysed separately, with the analysis of the changes made to The Madness of George III is primarily focused on separate characters and aspects of the story while the changes present in the film version of The History Boys are primarily examined chronologically as the play's first and second half were adapted differently for the screen. After the analysis, both processes are compared. The analysed changes made to The Madness of King George contain a largely condensed and efficient opening, the King, who is cemented as an active protagonist, Capt. Greville, a minor character used to highlight a theme of cold efficiency being favoured in court over empathy, the...
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Automatic On-Line Calibration and Calibration Monitoring of Cameras and Lidars
Moravec, Jaroslav ; Šikudová, Elena (advisor) ; Obdržálek, Štěpán (referee)
Title: Automatic On-Line Calibration and Calibration Monitoring of Cameras and Lidars Author: Jaroslav Moravec Department: Department of Software and Computer Science Education Supervisor: doc. RNDr. Elena Šikudová, Ph.D., Department of Software and Computer Science Education Abstract: Cameras and LiDARs are important devices in the automotive indus- try as their combination provides useful information (3D coordinates of a point, its colour and intensity) for perception, localization, mapping and prediction. Successful data fusion and interpretation requires accurate calibration of intrin- sic parameters of the sensors and their 6D relative pose. In this thesis, we present a target-less calibration method on three different calibration tasks. The solu- tion is based on a robust likelihood function constructed over the reprojection error of LiDAR edges relative to image edges. When the calibration slowly wears off, our online recalibration procedure can jointly follow the extrinsic calibration drift with an average error of 0.13◦ in rotation and 4 cm in translation. Based on this recalibration tool, we are also able to monitor the calibration and detect an abrupt decalibration in a couple of seconds. And we also present a fully automatic calibration routine that estimates both the extrinsic and intrinsic...
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