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Control theory in robotics
Bartoňová, Ludmila ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the local control of a snake robot. The model control system is derived from kinematic equations and local controllability is investigated by means of Lie brackets. Then we describe some elementary motions along flow of the controlling vector fields and show the meaning of a periodic input. Another control model is formed by an approximation of the first system. Afterwards, both systems are compared by means of sub-Riemannian metric and thus the qualitative analysis is made.
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The Students themselves - Student Center Poříčí
Bartoňová, Lucie ; Sochor, Jan (referee) ; Ponešová, Barbora (advisor)
Designed student housing and dining services is based on the concept of books, composing on the parcel a few blocks (one for a canteen and gallery, four for living). The houses are accesible through galleries between them. The divergence of views on student housing also requires a variety of room layouts. Accommodation is based on a cellular system made of one, two or three rooms that have single, double or triple bedroom.
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Nonholonomic mechanisms geometry
Bartoňová, Ludmila ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
Tato diplomová práce se zabývá popisem kinematického modelu řízení neholonomního mechanismu, konkrétně robotického hada. Model je zkoumán prostředky diferenciální geometrie. Dále je odvozena jeho nilpotentní aproximace. Lokální říditelnost je zjištěna pomocí dimenze Lieovy algebry generované řídícími vektorovými poli a jejich Lieovými závorkami. V závěru jsou navrženy dva jednoduché řídící algoritmy, jeden pro globální a druhý pro lokální řízení, a poté následuje srovnání jednotlivých modelů.
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Michael Cunningham's Reading of Mrs Dalloway
Bartoňová, Lucie ; Grmelová, Anna (advisor) ; Chalupský, Petr (referee)
This thesis focuses on Michael Cunningham's novel The Hours in the context of postmodernism. As The Hours is a postmodernist interpretation of Mrs Dalloway, the thesis also discusses Virginia Woolfs modernist approach in order to compare it with Cunningham's postmodernist position. I have adopted the methods of close reading and analysis in both Mrs Dalloway and The Hours. To substantiate my assertions I have consulted a number of secondary sources that form the basis of the theoretical part. The aim of the thesis is to provide a sufficient theoretical background to a detailed analysis of the two novels in question and support it by a number of adequate examples contained in the novels. The thesis consists of four chapters, each divided into several sections that focus on specific aspects of modernism and postmodernism. The first chapter "Major principles of modernism" deals with the basic features and principles of modernism, with a special focus on the genre of the novel. The second chapter "Virginia Woolf's Mrs Dalloway' focuses on Mrs Dalloway in the light of modernism and draws an outline of the techniques used and themes contained in the novel. The third chapter "Major strategies of postmodernism" tries to demonstrate the links between modernism and postmodernism to further explore major features and...
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Nonholonomic mechanisms geometry
Bartoňová, Ludmila ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
Tato diplomová práce se zabývá popisem kinematického modelu řízení neholonomního mechanismu, konkrétně robotického hada. Model je zkoumán prostředky diferenciální geometrie. Dále je odvozena jeho nilpotentní aproximace. Lokální říditelnost je zjištěna pomocí dimenze Lieovy algebry generované řídícími vektorovými poli a jejich Lieovými závorkami. V závěru jsou navrženy dva jednoduché řídící algoritmy, jeden pro globální a druhý pro lokální řízení, a poté následuje srovnání jednotlivých modelů.
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Vliv solární radiance na strukturu xylému jehlic smrku ztepilého
Bartoňová, Lenka
In this thesis is evaluated the xylem structure of Norway spruce needles depending on solar radiation and altitude. Same-age spruce stand has been selected on the area of Hruby Jesenik at different altitudes on the southern and northern exposure. Sun needle samples were taken on each stand. The analysis of xylem structure was done. The number of tracheids, tracheid diameter, tracheid area and xylem area were evaluated. It was found that more than 50% dependence of xylem parameters on altitude and solar radiation, where exposure significantly affects the xylem structure only at altitudes above 1 200 m. The prediction maps show that the highest values of predicted xylem parameter values are found between 800 m and 1200 m about sea level.
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Control theory in robotics
Bartoňová, Ludmila ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the local control of a snake robot. The model control system is derived from kinematic equations and local controllability is investigated by means of Lie brackets. Then we describe some elementary motions along flow of the controlling vector fields and show the meaning of a periodic input. Another control model is formed by an approximation of the first system. Afterwards, both systems are compared by means of sub-Riemannian metric and thus the qualitative analysis is made.
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Michael Cunningham's Reading of Mrs Dalloway
Bartoňová, Lucie ; Chalupský, Petr (referee) ; Grmelová, Anna (advisor)
This thesis focuses on Michael Cunningham's novel The Hours in the context of postmodernism. As The Hours is a postmodernist interpretation of Mrs Dalloway, the thesis also discusses Virginia Woolfs modernist approach in order to compare it with Cunningham's postmodernist position. I have adopted the methods of close reading and analysis in both Mrs Dalloway and The Hours. To substantiate my assertions I have consulted a number of secondary sources that form the basis of the theoretical part. The aim of the thesis is to provide a sufficient theoretical background to a detailed analysis of the two novels in question and support it by a number of adequate examples contained in the novels. The thesis consists of four chapters, each divided into several sections that focus on specific aspects of modernism and postmodernism. The first chapter "Major principles of modernism" deals with the basic features and principles of modernism, with a special focus on the genre of the novel. The second chapter "Virginia Woolf's Mrs Dalloway' focuses on Mrs Dalloway in the light of modernism and draws an outline of the techniques used and themes contained in the novel. The third chapter "Major strategies of postmodernism" tries to demonstrate the links between modernism and postmodernism to further explore major features and...
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