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Navigation of mobile robots
Rozman, Jaroslav ; Matoušek,, Václav (referee) ; Šolc, František (referee) ; Zbořil, František (advisor)
Mobile robotics has been very discussed and wide spread topic recently. This due to the development in the computer technology that allows us to create better and more sophisticated robots. The goal of this effort is to create robots that will be able to autonomously move in the chosen environment. To achieve this goal, it is necessary for the robot to create the map of its environment, where the motion planning will occur. Nowadays, the probabilistic algorithms based on the SLAM algorithm are considered standard in the mapping in these times. This Phd. thesis deals with the proposal of the motion planning of the robot with stereocamera placed on the pan-and-tilt unit. The motion planning is designed with regard to the use of algorithms, which will look for the significant features in the pair of the images. With the use of the triangulation the map, or a model will be created. The benefits of this work can be divided into three parts. In the first one the way of marking the free area, where the robot will plan its motion, is described. The second part describes the motion planning of the robot in this free area. It takes into account the properties of the SLAM algorithm and it tries to plan the exploration in order to create the most precise map. The motion of the pan-and-tilt unit is described in the third part. It takes advantage of the fact that the robot can observe places that are in the different directions than the robot moves. This allows us to observe much bigger space without losing the information about the precision of the movements.
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From Radioart to Musical Theatre
Jiřička, Lukáš ; KLÍMA, Miloslav (advisor) ; NOVOTNÝ, Pavel (referee)
This dissertation From Radioart to Musical Theatre aims at showing connections between seemingly different fields ? mainly sound-drama radioart, which in German is called Hörspiel, and musical theatre. In my dissertation, I try to define the characteristics as well as structural principles of text, space, sound, voice, acting, music and body in these transdisciplinary forms and genres, which have never retained any kind of purity in the traditional sense.In the analytical and introductory historical part of my dissertation, various seemingly different areas were introduced and discussed. These areas were musical or sound theatre in its general as well as specific form and its interrelation with sound installations, performance, radioart in form of Hörspiel, musical composition and sound art. In the following chapters, I used examples of several pivotal personalities from the German speaking area skilled in musical composition as well as directing and dramatics to present for instance the influence of musical structure on composition and other performing activities or the relationship of dramatic or literary model to its scenographic adaptation. The whole issue of relationships of disparate art forms is being showed on the examples of several artists ? directing composers who create these links thanks to their activity in various fields, as they intertwine musical and performing worlds on the level of structure, motifs and dramatics. The creators of such heterogeneous artworks using the strategy of the so-called negative dramatics are inherently split personalities - Heiner Goebbels, Helmut Oehring, Olga Neuwirth and Andreas Ammer. Goebbels as well as Oehring, Neuwirth and Ammer are able to make use of their experience with musical composition and/or work for the radio in the creation of musical performances in the way that they let particular composition techniques and staging be freely influenced by the knowledge of other media. Besides the above mentioned group of artists, I mention also other significant authors from the 20th and 21st century, who dealt with radioart, musical composition, collage and montage, performance and musical theatre - Bertolt Brecht, Dziga Vertov, Emil František Burian, Walter Ruttmann, John Cage, Karlheinz Stockhausen, Dieter Schnebel, Georg Katzer, Friedrich Schenker, FM Einheit či Laurie Anderson and Georges Aperghis. Without the influence of the last fifty year-history of radioart, musical theatre would certainly not be such an important form of alternative theatre and performing art as such. Especially nowadays, when thanks to the emancipation and stressing of sound at the expense of acting a new stage language is being created within musical theatre, and the form itself transforms into yet little analysed field of the so-called postspectacular or mechanical theatre without actors.
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On Motivation of Moravian and Silesian Anoikonyms Derivate from the Appellative kámen
Šimečková, Marta
This paper deals with motivation of Moravian and Silesian minor place names containing the basic noun kámen ‚stone‘, e. g. Kameňák (the suffix -ák was attached to the respective noun to create this anoikonym), Kamenice (with the suffix -ice), Kamenička (with the suffix -ička). There are numerous motivations, the most frequent is the motivation of soil quality and of location (especially in prepositional anoikonyms, for example Mezi kamencem, Na kamenici). Other motivations are rare: motivation of a particular stone as significant part of the landscape, motivation of building material or stone mining. The frequency of these motivations is different from the frequency of motivations in underived anoikonyms (or anoikonyms containing plural form of the fundamental word Kameny; in this type of anoikonyms, motivation by a particular stone in the site is more frequent). The motivation is hard to determine in some cases, the interpretation can be impeded by bachelor's etymology therefore it is necessary to cooperate with old maps.
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Activities of nonprofit organizations focused on education
Nedvědová, Michaela ; Tomšíková, Kateřina (advisor)
The goal of this final bachelor s work is to map the position of public libraries (as significant representatives of non-profit organisation) and their activities in adult education.
The theoretical part deals with the need of lifelong learning in contemporary society, introduces documents that belong to the base of work domain of public libraries and the concepts of public libraries for the next period.
It zooms in on the current activities of libraries in adult education, options for different activities in libraries in adult education in contemporary society.
The practical part focuses on Municipal Library of Prague and its educational activities for adults. I was allowed to do my practise work there, participate in some events and conduct a survey, that became basis for an educational program for adults.
Sources:
Beneš, Milan. Andragogika. 2., aktualiz. a rozš. vyd. Praha: Grada, 2014. 176 s. Pedagogika. ISBN 978-80-247-4824-5.
Burke, Peter. Společnost a vědění. Od Gutenberga k Diderotovi. 1. české vyd. Praha: Karolinum, 2007. 304 s. Limes. ISBN 978-80-246-1319-2.
Jarvis, Peter. Adult education and lifelong learning: theory and practice. 3rd ed. London: Routledge Falmer, 2004. xvii, 382 s. ISBN 0-415-31492-5.
Knihovny současnosti 2011: sborník z 19. konference, konané ve dnech 13. - 15. září 2011 v Českých Budějovicích. 1. vyd. Ostrava: Sdružení knihoven ČR, 2011. 154 s. ISBN 978-80-86249-62-9.
Nakonečný, Milan. Motivace chování. 3., přepracované vydání. V Praze: Triton, 2014. 599 stran. ISBN 978-80-7387-830-6.
Rabušicová, Milada, ed. a Rabušic, Ladislav, ed. Učíme se po celý život?: o vzdělávání dospělých v České republice. 1. vyd. Brno: Masarykova univerzita, 2008. 339 s. ISBN 978-80-210-4779-2.
Šerák, Michal. Zájmové vzdělávání dospělých. Vyd. 1. Praha: Portál, 2009. 207 s. ISBN 978-80-7367-551-6.
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Use of Festuca arundinacea for decorative lawns
Doskočil, Jan ; Svobodová, Miluše (advisor) ; Hrevušová, Zuzana (referee)
Use of Festuca arundinacea for decorative lawns
Summary
Festuca arundinacea is briefly bentgrass with broader and coarser leaves. Hardly perennial grass, native to Europe, is well known for its high resistance of dry weather, low intensity of maintenance and resistance of high use. These qualities gains thanks to its well-developed and deep root system, which is capable to gain water and nutrients from deeper parts of soil. Its use is in places with high use, like a race-course, edges of roads or vineyards alleyway. Today, in time of global warming, its usage becomes more important for park purposes and low-input turfs, where is its higher resistance against biotic and abiotic stresses, mainly against drought, utilized. Festuca arundinacea complement well with Poa pratensis in turf.
Goal of this work was to evaluate turfs with Festuca arundinacea and chosen grass species under different mowing frequency. According to hypothesis frequency shouldn´t affect turf coverage. Coverage should be same with different mixture composition with Festuca arundinacea.
The experiment was performed on experimental land of Czech university of Life Sciences Prague, Suchdol in 2015. Mixtures of Festuca arundinacea with Festuca rubra, Poa pratensis and Lolium perenne were seeded together with monocultures of these species in 2012. Mixture composition was 50/50 except mixture of Fesruca arundinacea and Poa pratensis, where the mixture was 75/25. There were conducted 63 plots, in 3 repetitions and in 3 different frequencies of mowing (by 14, 30 and 45 days). Each plot was 6 m2 big. The results were evaluated by analysis of variance ANOVA (P is smaller than 0.05) in program Statgraphics, version XV.
Influence of mixture composition to level of growth was significant. The highest level of growth has monoculture of Festuca arundinacea (10,6 cm). The lowest level of growth has monoculture of Lolium perenne (5,4 cm). Monoculture of Festuca arundinacea had the highest intensity of grow (0,07 cm/day) at 14-day frequency of moving. Lolium perenne has the lowest intensity of grow (0,02 cm/day). At 30-day frequency of mowing mixture of Festuca arundinacea with Poa pratensis has the highest intensity of grow (0,24 cm/day). The lowest intensity of grow has Lolium perenne (0,01 cm/day). The highest intensity of grow was at 45-day mowing frequency. The highest intensity of grow has mixture of Festuca arundinacea with Festuca rubra (0,75 cm/day). The lowest intensity of grow has monoculture of Lolium perenne (0,06 cm/day). Influence of mixture composition to coverage was statistically significant. The highest coverage has mixture of Festuca arundinace with Festuca rubra (81,3 %). The lowest coverage has monoculture of Lolium perenne (58,6%). Influence of frequency to level of growth was statistically significant. The highest level of growth has 45-day frequency of mowing (6 cm) and the lowest level of growth has 14-day frequency of mowing (3,8 cm). Influence of frequency to coverage was statistically significant. The highest coverage 14-day frequency of moving (76,5 %) and the lowest has 45-day frequency of growing (66,7 %).
The knowledge gained will be used for further compilation grass mixtures for park lawns. It turned out that it is better to prefer seeding mixtures with Festuca arundinacea than monocultures. To achieve high coverage and optimal intensity of growth with Festuca arundinacea was recommended to follow 30-day frequency of mowing.
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Small sacral buildings in the area Macha region
Sobotková, Lenka ; Zilvar, Josef (advisor) ; Tomáš, Tomáš (referee)
Abstract
The thesis maps and identifies a small religious monuments in the countryside and smaller settlements in the cadastral area municipalities Association Macha, which is located in the southwestern part of the Liberec region and its southern edge, which is Kokorin, extends into the Central Region. These small structures of sacred significance were set up at intersections of roads, trade routes, near Wells, but as expressions of gratitude and remembrance to joyful, significant and tragic event. Each of these small sacred building affects perception of a person's environment, enriching area villages and landscapes, along with accompanying greenery which acted as a refuge on the road, landmark or feature lightning form a common artistic and traditional value. His mission lost partially or completely inappropriate transfer.
The main benefit and purpose of this work is to determine the current state of these monuments in the area, and create a detailed catalog, serving as a source of information for tourism, regional development, such as integration into existing and also into emerging hiking, biking and nature trails, but also as the basis for a partial analysis in the evaluation of the landscape, the creation of the zoning plan, the draft plan during land consolidation or the needs of a particular community.
The catalog is compiled on the basis of professional and regional literature, detailed field survey, including cadastral territory of the municipalities that are part of the voluntary association of municipalities Macha maps and testimonies of some residents is compiled catalog of small sacred buildings. Buildings are photographically documented and described both in terms of the status quo, and in terms of landscape significance here is the location of the building indicating the GPS coordinates and plotting the current actual map of the selected area.
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Causes, impacts and solutions erosion in the region
Nocarová, Martina ; Janků, Jaroslava (advisor) ; Karel, Karel (referee)
Target of this thesis is to assess erosion risks in the region Podkrkonoší. The region Podkrkonoší, especially district Trutnov, is exposed to serious problems of erosion. Significant erosion affected areas in district Trutnov are cadastral areas Kocbeře, Dubenec and Rtyně v Podkrkonoší. Erosion processes are appearing repeatedly on same locations, which cause to massive entrainment of quality topsoil.
Thesis is focused on cadastral area Rtyně v Podkrkonoší. This area is the most affected by erosion processes. This thesis describes specific locations repeatedly affected by erosion processes. The most affected areas are: Žabárna, U Trhovky, U Horní zastávky, Pod Bohdašínem, K Bohdašínu, Nad Pekárnou and K Vodojemu. The thesis is monitoring, which types of plants are grown in these areas and in what months erosion processes occur the most often, which kind of anti-erosion precautions are used and how are these precautions effective. The thesis tries to find out, if the erosion processes are repeating due growing of plants in the wide lines (65 cm). The work researches specific land blocks according to their endangerment. Each land block is classified to a category of endangerment according DZES 5 (severely threatened by erosion, slight threatened by erosion and land block which are not threatened by erosion), according to the maximum permissible value of cover-management factor (Cp - severely threateden, threatened, slight threatened and not threatened). Calculation of average soil loss by using methods USLE (equation of Wischmeier and Smith) was used for all of land blocks, which were affected by erosion processes. The result is that in all cases the permissible soil loss (4 t.ha-1.rok-1) was exceeded.
In this thesis, anti-erosion precautions were proposed, for example, for locality Žabárna, due to high frequency of erosion processes and therefore high financial losses for land owners, municipality and local residents.
Target of this thesis is to ascertain, if the legislative protection of soil in The Czech Republic is adequate.
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A Comparison of Bird Abundance in Different Types of Rural Settlements along the Czech-Austrian Border
Třeská, Klára ; Zasadil, Petr (advisor) ; Hodačová, Lenka (referee)
Abstract
Along with the changes in the management of human, which took place from the mid-20th century, bird populations changed the balances. The aim of my thesis is to determine the differences in the abundance and distribution of selected species of synanthropic birds. These concern of the following species: House sparrow (Passer domesticus), Tree sparrow (Passer montanus), Collared dove (Sreptopelia decaocto), Common linnet (Carduelis cannabina), White wagtail (Motacilla alba), Common chaffinch (Fringilla coelebs), Black redstart (Phoenicurus ochruros), European goldfinch (Carduelis carduelis), Common starling (Sturnus vulgaris), European greenfinch (Carduelis chloris) and European serin (Serinus serinus). Using the simplified method of mapping (Bibby et al. 1992), the bird census took place in spring 2015 in 20 villages on the Czech-Austrian border. Counting squares were set in each village for different types of environment: the center of the village, edge of village and agricultural area including farm building with livestock.
The results confirm the dependence of house sparrow to agricultural areas with breeding livestock in the Czech Republic. Abundance, density and frequency was evaluate for each species separately. Effect of biotope and state were significant effects only for House sparrow population. Factors of poultry and built up area were significant for White wagtail bird. Effect of state was significant for bird species Collared dove. There were no effects for Tree sparrows populations.
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Project of family farm as closed economic unit
Jakubčík, Václav ; Pazderů, Kateřina (advisor) ; Zdeněk, Zdeněk (referee)
The diploma thesis deals with the family farm, which deals with fast growing trees cultivation. Business plan for my firm is the operation of the cogeneration unit and ensuring its self-sufficiency. The intention is that the family farm should produce more than half the biomass for cogeneration units.
Diploma thesis works with providing services in processing of logging residues, removing seeding trees and transportation. All this in order to obtain sufficient quantities of the commodity for the operation of boiler plants with cogeneration unit. Further outputs are addressed including the use of waste heat. Necessary support in planning the boiler room is the SWOT analysis. Conclusion of SWOT analysis clearly support the business plan for hte operation of a family farm.
Another key factor, that motivates me to expand current boiler room is a continuously rising electricity price. I suppose part of the generated electric power will be used for wood drying, the rest of the energy power is supposed to be sold to CEZ. Revenue from electricity sales should improve my Cash-Flow.
An important source of energy is a waste hot water that will be used for heating lumber drying, rabbit slaughterhouses of Rabbit firm. The rest of hot water waste will be used for heating workshops and residential buildings around.
The main incentive for founding a family farm is request to have enough fuel for the cogeneration unit also in case of external source shortage. The target is to ensure fluent economic operation of whole technological equipment.
My target is an overall economic assessment of the project for extracting of biomass from various sources. After an overall assessment we got conclusion, that the project can be profitable especially due to own production. Services provided by my farm creates significant additional value.
For family farm founding motivates me also unemployment of several family members.
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