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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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Generic Reverse Compilation to Recognize Specific Behavior
Ďurfina, Lukáš ; Šaloun, Petr (referee) ; Zahradnický,, Tomáš (referee) ; Kolář, Dušan (advisor)
Práce je zaměřena na rozpoznávání specifického chování pomocí generického zpětného překladu. Generický zpětný překlad je proces, který transformuje spustitelné soubory z různých architektur a formátů objektových souborů na stejný jazyk na vysoké úrovni. Tento proces se vztahuje k nástroji Lissom Decompiler. Pro účely rozpoznání chování práce zavádí Language for Decompilation -- LfD. LfD představuje jednoduchý imperativní jazyk, který je vhodný pro srovnávaní. Konkrétní chování je dáno známým spustitelným souborem (např. malware) a rozpoznání se provádí jako najítí poměru podobnosti s jiným neznámým spustitelným souborem. Tento poměr podobnosti je vypočítán nástrojem LfDComparator, který zpracovává dva vstupy v LfD a rozhoduje o jejich podobnosti.
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Security of Biometric Systems
Lodrová, Dana ; Busch, Christoph (referee) ; Provazník, Ivo (referee) ; Drahanský, Martin (advisor)
Hlavním přínosem této práce jsou dva nové přístupy pro zvýšení bezpečnosti biometrických systémů založených na rozpoznávání podle otisků prstů. První přístup je z oblasti testování živosti a znemožňuje použití různých typů falešných otisků prstů a jiných metod oklamání senzoru v průběhu procesu snímání otisků. Tento patentovaný přístup je založen na změně barvy a šířky papilárních linií vlivem přitlačení prstu na skleněný podklad. Výsledná jednotka pro testování živosti může být integrována do optických senzorů. Druhý přístup je z oblasti standardizace a zvyšuje bezpečnost a interoperabilitu procesů extrakce markantů a porovnání. Pro tyto účely jsem vytvořila metodologii, která stanovuje míry sémantické shody pro extraktory markantů otisků prstů. Markanty nalezené testovanými extraktory jsou porovnávány oproti Ground-Truth markantům získaným pomocí shlukování dat poskytnutých daktyloskopickými experty. Tato navrhovaná metodologie je zahrnuta v navrhovaném dodatku k normě ISO/IEC 29109-2 (Amd. 2 WD4).
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Optimization of network flow monitoring
Žádník, Martin ; Lhotka,, Ladislav (referee) ; Matoušek, Radomil (referee) ; Sekanina, Lukáš (advisor)
The thesis deals with optimization of network flow monitoring. Flow-based network traffic processing, that is, processing packets based on some state information associated to the flows which the packets belong to, is a key enabler for a variety of network services and applications. The number of simultaneous flows increases with the growing number of new services and applications. It has become a challenge to keep a state per each flow in a network device processing high speed traffic. A flow table, a structure with flow states, must be stored in a memory hierarchy. The memory closest to the processing is known as a flow cache. Flow cache management plays an important role in terms of its effective utilization, which affects the performance of the whole system. This thesis focuses on an automated design of cache replacement policy optimized to a deployment on particular networks. A genetic algorithm is proposed to automate this process. The genetic algorithm generates and evaluates evolved replacement policies by a simulation on obtained traffic traces. The proposed algorithm is evaluated by designing replacement policies for two variations of the cache management problem. The first variation is an evolution of the replacement policy with an overall low number of state evictions from the flow cache. The second variation represents an evolution of the replacement policy with a low number of evictions belonging to large flows only. Optimized replacement policies for both variations are found while experimenting with various encoding of the replacement policy and genetic operators. The newly evolved replacement policies achieve better results than other tested policies. The evolved replacement policy lowers the overall amount of evictions by ten percent in comparison with the best compared policy. The evolved replacement policy focusing on large flows lowers the amount of their evictions two times. Moreover, no eviction occurs for most of the large flows (over 90%). The evolved replacement policy offers better resilience against flooding the flow cache with large amount of short flows which are typical side effects of scanning or distributed denial of service activities. An extension of the replacement policy is also proposed. The extension complements the replacement policy with an additional information extracted from packet headers. The results show further decrease in the number of evictions when the extension is used.
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The Introduction of Contact Ecotoxicity Tests for the Assessment of Terrestrial Ecosystems
Modlitbová, Pavlína ; Kráčmar, Stanislav (referee) ; Beklová, Miroslava (referee) ; Demnerová, Kateřina (referee) ; Vávrová, Milada (advisor)
This dissertation thesis is focus on using toxicity tests with testing organism - terrestrial isopod Porcellio scaber. This organism is use for toxicity assessment of selected anorganic compunds which could contaminate terrestrial ecosystem. This organism was selected for several reasons - sophisticated test methodology; well known biology of these animals and their ecological relevance. Besides classical endpoints such as mortality, change in mass of test specimens and the effect of the presence and concentration of contaminants onto food consumption; we monitored changes in the morphometric characteristics at the level of tissues and cells, the cytotoxicity and possibly bioaccumulation in various parts of the body of the organism. Selected test substance in this thesis were nanoparticles and inorganic salts. Wherein for chosen gold nanoparticles was carried out a complete study presents several levels of organization of living matter (organism, tissue, cell). For selected salts compound, this study was carried out on the behavior of organisms and classical endpoints.
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The Pump with a Diffuser with Stochastic Blades (Runner and Diffuser)
Dobšáková, Lenka ; Melichar, Jan (referee) ; Veselý, Jindřich (referee) ; Haluza, Miloslav (advisor)
This doctoral thesis studies the non-uniform blade cascade for centrifugal pumps. Influence of non-uniform blade cascade is investigated on the impeller and diffuser. A non-uniform blading impeller of pumps in this doctoral thesis was examined in terms of influence on efficiency characteristic. The idea of using non-uniform blading is to obtain a flat efficiency characteristic. Then the centrifugal pump could be used on larger scale of power with achieving a sufficiently high efficiency. The work is based on experimental measurements and numerical simulations of non-uniform hydraulic pump components. Non-uniform impeller and the diffuser were newly designed for this research. A new measuring track of small submersible pumps was needed to design and build for measurements. Different pump combinations with conventional hydraulics on one working point and hydraulics with non-uniform were measured. All measurements were evaluated and characteristics of efficiency, head and power were obtained for each measured combination. Some of pump combinations (which were measured in experiment) were numerically simulated by program Ansys Fluent. Data needed to evaluate the characteristic of efficiency and specific energy were collected from each numerical simulation. A theoretical consideration concerns the influence of non-uniform blade cascade applied on diffuser. The suggestion how to decrease hydraulic losses in canals was done. The theoretical consideration how to make a flat efficiency characteristic was made.
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Právní a zdravotně sociální aspekty činnosti OSPOD jako ustanovených opatrovníků v zámu nezletilých dětí
BORSKÁ, Jana
The Czech Republic as a signatory of the Convention on the Rights of the Child has vested the practice of state administration in the field of care for minor children to municipalities with extended powers, where the protection of the rights and legitimate interests of minor children is safeguarded by state authorities of social and legal protection of children (ASLPC hereinafter). These authorities are incorporated to the extent laid down by the Act on Social and Legal Protection of Children (Act No 359/1999 Coll., as amended). The position and roles of ASLPC and their competence and jurisdiction are also regulated by the same act. The position of workers of these authorities and its legal embodiment is equally important. Regarding professionality, there are high demands on these workers. In the Czech Republic, significant changes in legislature have been made over the past three years. These amendments have led to the strengthening of the rights of minor children and to the establishing of new tools for their protection. In connection with the adoption of new substantive regulation of family law, which is now exhaustively dealt with by the Act No 89/2012 Coll., the Civil Code, new procedural rules have been established regarding protection of rights of minor children. Such procedural legislation includes (apart from the long-existent Act No. 99/1963, the Code of Civil Procedure) the Act No 292/2013 Coll., on Special Civil Proceedings. The decision-making regarding minor children has been vested mainly by the state into the competence of courts. The courts appoint the locally relevant ASLPC as a guardian who then represents the interests of minor children. The purpose, interwoven with and derived from the first one, was to explore the opinions of selected social workers of ASLPC and of district court judges regarding the defined problems occurring during the work of ASLPCs and courts while protecting the interests of minor children. These particularly include: the use of the tool of precautionary measure; problems of different territorial jurisdiction of courts and ASLPCs; processing of complaints regarding bias in various phases of the proceedings; professional training of workers of ASLPC It is evident from the proposals of both judges and ASLPC workers that it is necessary to unify territorial jurisdiction. The courts are suggesting the priority criterion of the address where the child mainly resides. ASLPC workers suggest the official permanent residence as the prime criterion. Bias causes problems in all phases of proceedings. It is obvious that courts take differing approaches towards the solution of this problem (some courts solve the problem of bias complaints filed by the parties while other courts do not) and for ASLPC workers it is difficult to assess how to act when such complaint is raised against them. The training of ASLPC workers - workers are obliged to educate themselves and their employer is obliged to finance such training. Not all ASLPCs are able to provide training in the required extent - due to financial reasons (the average costs of education of one employee pose from 9,169 to 13,400 CZK annually and they cover approximately 6 days of training). The heavy work-load caused by insufficient numbers of ASLPC employees prevents them from completing such compulsory training. As part of the examination of the "participation of a collision guardian in court proceedings" it has been found out that irregular participation of the worker in the proceedings (absence from participation in appeals proceedings); incomplete reports (directed to courts) from surveys in families. Based on comprehensive examination of the problems of territorial jurisdiction, it was recommended that requests are independently recorded and financial compensation is provided for ASLPCs who are requested to represent minors in front of courts, to draft proposals for precautionary measures.
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Are There Any Digital Curators in Czech Libraries?
Římanová, Radka ; Melichar, Marek
The development of digital repositories reveals the need for new Czech terminologies for library positions. One such job title or specialization is “digital curator”, a term which refers to a specialist responsible for digital collections. Competencies for digital curators include technical, organizational, communication, and marketing skills as well as some level of expertise in computer science as well as in information and library science. A survey of several administrators of Czech digital libraries asks how to best professionally label this group of library staff with respect to the actual activities they perform in their jobs - digital curators, administrators of digital libraries, or digital librarians? Job titles have a strong impact on higher education curricula, on the management of libraries, and also on the coordinated system of remuneration of employees at libraries, academic, and research institutions.
Fulltext: idr-1041_3 -  PDF; idr-1041_4 - PDF
Slides: idr-1041_1 - PDF; idr-1041_2 - PDF
Video: idr-1041_5 -  MP4
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Historical development of nephrology nursing practice and the need of standards in this field
KESZIOVÁ, Andrea
Nursing care in nephrology brings certain specifics both for the patient and for the nursing staff concerned. For each member of a nephrology multidisciplinary team that participates in identification and meeting bio-psycho-social and spiritual needs of dialysed patients, the quality nursing care provision and the patients´ safety assuring should be the rule. To assure quality care provision in a health care facility, it is necessary to define the professional level of quality, i.e. to introduce processual nursing standards at the national level for all dialysis centers. The objective of this thesis was to make a survey of historical milestones in the development of nephrology nursing in the Czech Republic (in the former Czechoslovakia), from its beginning to present days. In individual parts of the theoretical section various contexts of nursing issues (historical, legal, social, relational, educational) and their interaction are described. The thesis also is focused on detection the importance of aspects influencing the quality of provided nursing care in nephrology and realization of analysis the use and compliance with the existing local nursing standards in individual dialysis centers in the Czech Republic. Another objectives of this thesis were detection of satisfaction rate with existing national standards for nephrology nursing care and to make up a proposal of a national processual standard of nursing care provided to adult dialysed patients. To obtain data the mixed methods research was used. The practical part offers, through conclusions of the quantitative research, explanations of many facts by confirmation or refutation of hypotheses arisen from the qualitative research. The nursing research was conducted through a questionnaire survey in dialysis centers in the Czech Republic. The respondents were head nurses - nursing care managers working in these units. Interviews with representatives of the biggest professional organization of nurses {--} the Czech Nurses Association were also carried out as another research procedure. The survey outcomes have clearly demonstrated the need to introduce national processual standards of nursing care in nephrology practice. Description of the present state is the first step for its improvement. The way out from the current situation is the development of general national processual standards for individual areas of care for nephrology patients and subsequent introduction of them into clinical practice in all dialysis centers in the Czech Republic. One of the components of the thesis is a proposal of the national processual standard of nursing care for a dialysed patient with acute or permanent central venous catheter (CVC). This standard could serve as a model for the development of other national standards of nursing care in nephrology.
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Faktory ovlivňující poptávku po osobních automobilech v ČR
ČURILLOVÁ, Michaela
The bachelor thesis investigates factors which influence the demand for passenger cars in the Czech Republic. The theoretical part of this work is focused on basic terms and determinants which are important for the demand. Further it describes particular statistical methods, which are used for the analysis. The practical part contains the introduction to the automotive industry and the description of specific attributes of the demand for passenger cars. This part analyses factors which may have an effect on the demand for passenger cars in the Czech Republic. The main factors and the dependence are explained by applying econometric methods. Analyzing reveals these important factors: number of registrations of passenger cars, consumer prices of new and used passenger cars, consumer prices of fuel, population and income.The conclusion contains the summary of impacts on the specific demand.
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