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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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Multimedia Data Processing in Heterogeneous Distributed Environment
Kajan, Rudolf ; Ferko,, Andrej (referee) ; Míkovec, Zdeněk (referee) ; Herout, Adam (advisor)
Pervasive computing sa zameriava odstránenie zložitostí pri interakcii s výpočtovou technikou a zvýšenie efektivity pri jej každodennom používaní. Ale i po viac ako 15 rokoch od sformulovania hlavných cieľov Pervasive computingu existujú aspekty interakcie ktoré stále nie sú súčasťou užívateľskej skúsenosti s dnešnou technológiou. Bezproblémová integrácia s prostredím vedúca k technologickej neviditeľnosti, alebo interakcia naprieč rôznymi zariadeniami predstavujú stále veľkú výzvu. Hlavným cieľom tejto práce je prispieť k tomu, aby sa ciele Pervasive computingu priblížili k realizovaniu tým, že predstavíme spôsob intuitívneho zdieľania informácií medzi osobným a verejne umiestneným zariadením. Predstavili sme tri interakčné techniky, ktoré podporujú intuitívnu výmenu obsahu medzi osobným zariadením a zdieľaným displejom. Tieto techniky sú založené na prenose videa, rozšírenej realite a analýze pohľadových dát. Okrem interakčných techník sme tiež predstavili mechanizmus pre získavanie, prenos a rekonštrukciu aplikačného stavu na cieľovom zariadení.
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Antimicrobial activity of cobalt bis(dicarbollide) aminoderivatives
Kvasničková, E. ; Masák, J. ; Šícha, Václav
We carried out experiments focused on the determination of the antimicrobial acitivity of selected representatives of cobalt bis{dicarbollide) aminoderivates. lt was proved, that studied yeast strain C. parapsilosis DBM 2165 is not sensitive to the cobalt bis{dicarbollide) or its aminoderivatives. Gram-negative bacteria P. aeruginosa B-59188 is weakly susceptive to cobalt bis(dicarbollide), but no significant inhibition of growth by cobalt bis(dicarbollide) aminoderivatives was observed. The highest effect on inhibition of microbial growth was confirmed in the case of gram-positive bacteria 5. aureus. This observation demonstrates the real possibility of using these substances in the treatment of infection caused by gram-positive bacterial strains.
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Characteristics of the working behavior of Czechs and Ukrainians
BYKOVA, Sofia
The aim of this work is to create a transparent and comparable characteristics of the work behavior phenomenon within the cultures of those states - what is common and what is different between them, or maybe incompatible .It is supposed to have some analysis of possible conflicts and their connection with the mentality. The primary reason of this aim choosing is the specialty I study. My work contains information that could be interesting and useful not only for me and my future job, but also for managers and other employees. Overview of examined issues contains specific points, such as the fundamentals of economic psychology and behavioral economics (symbiosis of psychological and economic opinion on motivation and rationality of individuals), theories of motivation and reaction to different occurrence, characteristic of the term "mentality", general points about the human impact of the world economy. For realizing the goals of my work the following hypotheses have been proposed - Czech and Ukrainian mentality have significant differences, though these cultures are close. - Ukrainian and Czech employees are able to work effectively in a team and find a "common language" in the workplace. The difference in mentality does not obstruct on it. - Employers could be interested in the Ukrainian employees taking into account their high concernment and motivation. All three of the hypotheses were confirmed by observed data and comparison of mentality characteristics. Czechs are often tolerant to other cultures, moreover Ukrainian culture is not much different and does not create difficulties in the working relationship. Based on the fact that the chosen company has no conflicts associated with work behavior and differences in mentality, it's hard to define my contribution to this organization work.
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The development of the crime on credits in the South Bohemia before 2014
BUŠKOVÁ, Tereza
The aim of this study is to analyze the development of committing a credit fraud offence under § 211 of the Act. no. 40/2009 Coll., the Penal Code (particularly the development of this crime and the development of the amount of the damage) and consequent comparing the selected macroeconomic indicators development in the period 2005-2014 in the region of South Bohemia. In this work secondary data analysis methods were used. Statistical data obtained from the South Bohemian branch of the Czech Statistical Office and statistical data from Crime Police of the Czech Republic was used as the source. The data evaluating the amount of detected cases of this crime committed by the offenders in the Region South Bohemia, according to the region where the fraud was commited, was analyzed. The analyzed file was 5,713 offenses and 4,219 offenders. The defined set was divided into seven parts (districts), according to the local jurisdiction of the territorial departments of the Czech Police. The observed data was compared with selected macroeconomic indicators. From the results it can be concluded that the highest rate of loan fraud offence (calculated per 1,000 inhabitants) is in the district Stra-konice. Conversely, the lowest crime in the same period is in the district Jindřichův Hradec. This work also re-vealed that the development of macroeconomic indicators has no effect on the development of this crime. In conclusion, it is recommended to promote economic education at primary and secondary schools, thus improving the financial literacy of the population. Furthermore, we can recommend the consistent use of, the Central Credit Register, which is already available, as well as supporting of changes in the legislation, so that the providers have an obligation to investigate the credit applicants more and make the offenders of this crime discouraged by higher penalties imposed for credit fraud.
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Distribution of CD46 and β1 integrin molecules with respect to different membrane structures of the sperm head
Šebková, Nataša ; Frolíková, Michaela ; Děd, Lukáš ; Dvořáková-Hortová, Kateřina
CD46 protein plays an important role during fertilization and its role is associated with acrosome stability. CD46 is probably involved in signalling pathways triggering the acrosome reaction (AR). It also associates through membrane integrins with specific MAP kinases involved in the AR. Our aim was to monitor the dynamics of relocation of CD46 and β1 integrin during sperm maturation and its preparation for the fertilization. The dependence of this localization changes on the dynamic of actin cytoskeleton was studied. Our results show the changes in the localization of these proteins associated with the AR and their co-localization was observed using proximity ligation assay. After the AR CD46 and β1 integrin spreads across the sperm head, entering the post-acrosomal compartment, and permeates the borders of different domains. It was shown previously that actin dynamics is necessary for acrosome reaction-associated translocation of Izumo1 protein that is required for sperm-egg fusion. Therefore Latrunculin A was used during sperm incubation. The co-incubation of capacitated sperm with Latrunculin A leads to a decrease of the percentages of sperm, which express relocation pattern after induced AR. 3D models and visualizations of potential membrane processes responsible for the relocation of proteins from the acrosomal area to the other compartments of the sperm head were prepared. Our results deliver new information that proteins CD46 and β1 integrin undergo dynamic relocation towards the sites of sperm-egg fusion during the AR in vitro. The inhibitor of actin dynamics abrogates significantly the AR-associated changes in proteins localization. We speculate that this relocation is of importance for the successful sperm-egg interaction, adhesion and subsequent gamete fusion.
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Dynamics of mouse sperm capacitation and acrosome reaction
Dvořáková-Hortová, Kateřina ; Frolíková, Michaela ; Děd, Lukáš ; Šebková, Nataša
Capacitation followed by the acrosome reaction (AR), is a very complex event of molecular changes, including acrosome matrix rearrangement and actin polymerization, which mammalian sperm must undergo in the female reproductive tract in order to obtain the ability to penetrate and fertilize the egg. CD46 and β1-integrin belong to specific proteins, which are predicted to interact during molecular reorganization of capacitating sperm. The IZUMO1 as the primary fusion protein of the mammalian sperm is also involved in this dynamic network. We investigated the relationship between the Izumo, CD46 and β1 integrin relocation in the sperm head during the capacitation and AR in vitro. We have already successfully monitored by immunofluorescent labelling the dynamics of proteins CD46 and β1-integrin. The changes in the localization of these proteins associated with the AR and their mutual co-localization was observed. The original β1-integrin location in the freshly released epididymal sperm is in the acrosome and it relocates during the AR further through the sperm head compartments into the equatorial segment and over the whole sperm head. Its density over the equatorial segment is decreasing with the extended time of the AR. Also its presence in the perforatorium of the mouse sperm head is very prominent. The pattern for protein CD46 is extremely similar if not identical in both aspects such as compartment localization and time progress during capacitation and AR in vitro. The molecular interaction of CD46 and β1-integrin was investigated using the Proximity Ligation Assay and Super resolution microscopy STED. The data were statistically analysed. The newly obtained results from CD46 and β1-integrin relocation are in correlation with IZUMO1 dynamics and giving a substantial knowledge on the studied protein network rearrangement during capacitation and AR in mouse spermatozoa.
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Effect of a graduate of field of study Special Education - tutorship in practice of providers of social care
SALABOVÁ, Jana
Theoretical part of the thesis is divided into 4 main chapters. First one deals with the helping professions generally, their definitions and definition of the Special education - Tutorship branch of study per se.It also briefly touches the subject of readiness of the future graduates to deal effectivelly with the challenges of a career in the field of social services. Chapter number two is called Special education and it defines the subject of special education itself, it's purpose and inner structure. Third chapter focuses on social services. It brings up it's definition and types and forms of social services.It also contains the examples of the institutions which fall into this category and it's providers. Chapter number four, which happens to be the last one in the theoretical part of the thesis, covers the role and purpose of graduates of the special education - tutorship studies. It brings up the definition of a social worker, necessary prerequisites as well as beneficial personality traits and feautures. In a subchapter of chapter four is a short description of a pedagogue tutor. Definition who he actually is, who are proper candidates for this position, what are desired personality traits we look for in tutors and the actual content and purpose of their work in institutions providing social services. The end of chapter four is dedicated to a position of a social worker. His activities, the position and definition of a personal assistant and again personality traits needed for a successful career in this field. The objective of the practical part of the thesis is to describe working of Special education - tutorship studies graduates in practice. Particularly their experiences "from the field", how do they evaluate the level of skill of fresh graduates during their first encounters with the reality, how satisfied are they with their choice of a career so far and what was their motivation to pursue such career. Practical part of the thesis includes qualitative research. To meet the above objectives, data collection technique had been chosen using a structured interview with the respondents, who were graduates of Special education tutorship studies. You can tell by the results of this thesis that graduates in the field of social services apply mostly to lower positions as a social service workers, even though they are qualified to perform as a social workers. The age of clients with whom the respondents work ranges from childhood to senior. The motivation that led those questioned respondents to the decision to choose the area of social services varies. Some reported that they were influenced by the actual practical experience during their studies at the university, when both the work itself and their enthusiasm for the target group played role. Others expressed they had previous experience working with people with disabilities or they just wanted to acquire new experiences. Also, involvement of a family member and their previous education was a motivation. Job satisfaction is evident from observed data, and it also contributes to work done accurately and responsibly. Personal benefits for the respondents according to findings are usually their usefulness at work, new experiences they are getting and last but not least advances of their clients. As the biggest advantage the respondents usually mention variability of their work, target group and the clients in itself and the fact, that their work is highly satisfying and they basically work in a very pleasant team of individuals. On the other hand, not exactly satisfying financial reward and challenging working hours are mentioned as disadvantages. Special education - tutorship studies - the branch they've studied, is by the majority of respondents considered to be beneficial for them and they especially highlight practical impact of practice they completed during their studies and which included visits to various relevant institutions.
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Dance as a means of integration adults with intellectual disability
KRAUMANNOVÁ, Eva
The goal of the bachelor thesis called Dance as a means of integration adults with intellectual disability was to create, implement and evaluate a dance course focused on the development of social competences in adults with intellectual disability. The thesis deals with adults with intellectual disability and with a leisure activity focused on dancing. There is some space for the development of social competences in adults´ leisure time. In response to the current situation of leisure activities proposition for adults with intellectual disability. I found it beneficial to found a dance group of adults with intellectual disability, and at the same time a group of individuals intact in places unfamiliar to them. Based on an activity which may be implemented amusingly it is possible to develop an individual´s personality as well as his or her social competences, which become a presumption of a successful integration, universally. The bachelor thesis consists of four chapters.The first chapter defines the term ´intellectual disability´. Further on the attention is paid to the characteristics of the target group, i.e. adults suffering from a slight and medium mental retardation. Further on, the disability´s impact onto the human psyche as well as social area is described. In the second chapter the term ´dance´is defined and then the description of its usefulness within the leisure, artistic and therapeutic areas is given. In the third chapter the presumptions for a successful integration are described. In the conclusion of the theoretical part there is an interconnection made between the target group and the activity for developing social competences. The theoretical part of the bachelor thesis is continued with a practical part, the fourth chapter. It is a programme of a six-month course which I have set together based on the analysis of expert literature and my experience gained during the leadership of dance lessons and working with adults with intellectual disability. The programme will include work methods and an evaluation of partial activities. The six-month course was held in the school year of 2015/2016 and 6 intellectually disabled adults took part in it. Students of the University of South Bohemia joined the course. Partial goals were set for individual dance lessons and the activities were set so that they would develop social competences in participants non-violently and in the greatest extent possible. The course was implemented in the IN Civic Association facilities. To evaluate the activity and find out the progress within the area of the participants´ social competences, several development fields have been set. Several chosen social competences were divided into evaluation scales. The participants were evaluated at the beginning of the course and then again, six months later. The evaluation method chosen was my own observation. I focused on the evaluation of my own working, on group evaluation and the evaluation of each individual. Evaluation was also done on the part of each course participant, too. Dance lessons and activities connected have proven to be a suitable means for developing social competences in intellectually disabled adults. In five participants the values have risen in 5 10 out of 17 competences observed. A recourse occured in a participant who was going through a difficult life situation during the last two months of the course. Values have risen dramatically and in all participants in the area of group cooperation. Five participants made a progress in establishing and keeping eye contact and in starting a conversation. One participant has made a progress in the area of group performance, another one has made a progress in the area of independence and another one started to call the other participants by their names, as opposed to the beginning of the course. In general, the members of the group became more self-confident.
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