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Control software for autonomous mobile robot
Vojta, Jakub ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
Bachelor thesis focuses on software development for mobile autonomous robot with a microcontroller control unit. It provides an overview to sensors for mobile ground robots on a level necessary for control software programmer. It further analyzes microcontrollers and their architecture and programming. At the end of the thesis is theoretical description of deployed navigational software and communication protocol between control unit and computer.
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Operational safety of mobile robots in indoor environment
Vojta, Jakub ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
During cooperation with the Bender Robotics company a need for operational safety assessment of an autonomous mobile robot (AMR) emerged. Operational safety evaluation is a step towards mass production of the studied robot. Market entry of a product requires a string of various actions and safety assessment is one of them. For risk identification and severity rating were used legal requirements, best practice given by standards, FMEA method, experiment and RIPRAN method. Threats, possible scenarios and risks analysis is systematically discussed through all areas of operation of the robot, from design and construction to control software. All the steps are described in logical order. Starting with information research, going on with series of analysis and ending with suggestions for increased operational safety of autonomous mobile robots.
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Development and testing of capillary columns based on ion exchanger
Vojta, Jiří ; Coufal, Pavel (advisor) ; Bosáková, Zuzana (referee)
In this work, capillary monolithic columns based on styrene, divinylbenzene and methacrylic acid were prepared by free radical polymerization inside fused sillica capillaries of 320 µm inner diameter. The columns were prepared by very simple process from polymerization mixtures with variable amount of methacrylic acid. Effect of electrostatic interactions between methacrylic acid, as weak cation-exchanger, and analytes on their retention was showed. Based on chromatographic measurements, effect of amount of methacrylic acid in polymerization mixtures on the morphological properties of monoliths and on the retention of small organic amines and benzene was discussed.
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Vegetation diversity of abandoned settlements
Poslová, Kateřina ; Vojta, Jaroslav (advisor) ; Kačmar, Martin (referee)
In my bachelor thesis I am concerned with influence of abandoned settlement and historical land use on vegetation. I am interested in settlements of different age and type - from ancient settlements, medieval castles and villages to villages that were abandoned in modern times. I am also concerned in diversity, composition and development of plant communities and with influence on soils. I am also interested in the question of persistence of anthropogenic influence on landscape. Settlement and land use largely influence landscape. They alter diversity of vegetation, quality of soil and relief of landscape. These changes can be lasting or maybe irreversible. Nutrients are acumulated and pH is risen in abandoned settlements. Nitrophilous and ruderal species are also much more frequent than in ancient forests around. Human can enrich diversity of vegetation in landscape by his influence. Mutual comparison of influence between similar types of settlements in landscapes with different climate and sub-soil may be another direction in future research. Key words: abandoned settlements, medieval castles, villages, diversity, vegetation, secondary forest, historical land use, nutrients, pH
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Use of liquid chromatography in pharmaceutical analysis and preparation of monolithic stationary phases for thin-layer chromatography
Vojta, Jiří ; Coufal, Pavel (advisor) ; Tůma, Petr (referee) ; Jelínek, Ivan (referee)
(EN) In the first part of this work, analytical methods for determination of impurities of active pharmaceutical ingredients (API) in combined pharmaceutical dosage forms were developed and validated. Development of the methods covered both the optimization of sample preparation procedure and chromatographic conditions. The methods were validated according to International Conference on Harmonization guideline and both of them were confirmed to be able to analyze stability samples. Impurities in paracetamol, codeine phosphate hemihydrate and pitophenone hydrochloride in the presence of fourth API fenpiverinium bromide were separated by using ion-pair reversed phase chromatography with gradient elution. Symmetry C18, 250 x 4,6 mm, 5 µm heated to 35 řC was used as a separation column. A diode array detector was used. The detection wavelengths were set as follows: 220 nm for paracetamol impurity K, 245 nm for paracetamol and its other impurities and 285 nm for codeine, pitophenone and their impurities. Impurities in valsartan, amlodipine besylate and hydrochlorothiazide were separated by reversed phase UHPLC method with gradient elution. Chromatographic column Zorbax Eclipse C8 RRHD, 100 x 3,0 mm, 1,8 µm heated to 30 řC and spectrophotometric detection were used. The detection wavelengths were set as...
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