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Outdoor Robot
Tomášek, Ondřej ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work deals with navigation of the mobile outdoor robots. It is divided in two parts. In the first part, the mobile robots and their control problem is examined. The technical means for navigation and obstacles avoidance are described and the mathematical means for sensor data fusion and optimal position estimation of the robot are outlined. In the second part the hardware of the robot is described and furthermore it deals with description of the practically realized algorithms for obstacles avoidance and robot navigation.
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Porovnání populací okouna říčního (Perca fluviatilis L.) z intenzivní akvakultury - vliv původu ryb na chování a kritickou rychlost plavání.
TOMÁŠEK, Ondřej
European perch is one of potential fish for breeding in conditions of intensive aquaculture. This species of fish is in relatively high demand, especially in the Alpine region, because of its very tasty meat. The relatively high price of fillets is attractive for producers. The difficulties in perch farming in conditions of European intensive aquaculture may alleviate the further domestication process of this species or its selective breeding. These pitfalls are negatively correlated with fish welfare. In this thesis, we examined morphometric (morphometry, fin damage, somatic index), behavioural (activity, aggressivity, boldness and critical swimming speed) and physiological (cortisol, glucose, enzyme activity, potassium) parameters in four populations of perch imported from different European intensive farms (France - two farms, Hungary, Denmark) engaged in their producing. Experiments performed in this thesis showed that individuals from the Danish population has the highest activity of the studied populations, including the critical swimming speed (4.24 ? 0.15 BL.sec-1). The population from Denmark also found the highest percentage (8.9 %) of bold exploratory behaviour, which subsequently increased aggressive behaviour within this population. The number of attacks on other individuals from the flock reached the highest measured values in this experiment (2.33 ? 2.31 attacks). Furthermore, experiments showed that individuals from the Danish population showed a higher tolerance for adverse environmental problems compared to other populations from Hungary or France. These differences, which have been observed in the Danish population, can be interpreted as a proactive stress mechanism that is characteristic of fast pace syndrome (fast POLS). High perivisceral fat index was found in fish from the Hungary. The morphometric characteristics of all populations were significantly different. Genomic characteristics could address this approach in the near future, in particular to streamline domestication processes and support the selective breeding of perch suitable for European intensive aquaculture.
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Critical swimming speed in intensively cultured European perch (\kur{Perca fluviatilis} L.): Influence of fish size, production system and repeated testing
TOMÁŠEK, Ondřej
Critical swimming speed and swimming performance in relation with different factors were tested this thesis in groups of European perch (Perca fluviatilis) with focus to utilize these results in intensive aquaculture. Thesis is consisted of four different experiments performed in swimming tunnel. In the first experiment were tested, if there are any differences in day distances of measuring between three groups of fish. Each group were measured three times. First group was measured in time (t) 0, 24 and 48 h, second group was measured in time (t) 0, 48 and 96 h. Finally, third group was measured in time (t) 0, 96 and 192 h. Second experiment was set to compare critical swimming speed in three weight categories of a fish. Weight categories of 100g, 200g and 250g were tested. In the third experiment were tested pond reared fish and aquaculture (RAS) reared fish. Results were compared together, if there are any differences. Last experiment was set to find out if there is any relationship between level of critical swimming speed and somatic indexes or fillet and caraccas yield. No one of experiments performed confirm expectations of results. In the first experiment was found that there no effect of repeated swimming tests on critical swimming speed as well as no effect of different recovery period (from previous test). In comparison of different weight categories were measured highest levels of critical swimming speed in 100g group without decreasing trend in for bigger size categories (200 and 250 g). Pond and intensively reared fish had same level in critical swimming speed. Moreover, fourth experiment did not confirm influence level of critical swimming speed to somatic indexes or fillet yield. Results of presented thesis can contribute on better technical design of rearing units for this gastronomically and economically interesting species in intensive aquaculture, mainly in RAS systems.
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Outdoor Robot
Tomášek, Ondřej ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work deals with navigation of the mobile outdoor robots. It is divided in two parts. In the first part, the mobile robots and their control problem is examined. The technical means for navigation and obstacles avoidance are described and the mathematical means for sensor data fusion and optimal position estimation of the robot are outlined. In the second part the hardware of the robot is described and furthermore it deals with description of the practically realized algorithms for obstacles avoidance and robot navigation.
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