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Object recognition based autonomous control of an unmanned aerial vehicle
Klouda, Jan ; Marcoň, Petr (referee) ; Janoušek, Jiří (advisor)
This thesis deals with the control of an autonomous drone based on image recognition. The goal is to create a program in the Python programming language that determines the position of an object in the field of view of the camera. The autonomous drone then performs a predefined operation. The work is divided into theoretical and practical part. The theoretical part describes the methods of image processing and evaluation of objects, the resulting methods of communication between the control station and the drone. The practical part describes the implementation of autonomous control of the aircraft based on the detection of objects in the image. The last part deals with the evaluation of successful detection objects and the control accuracy of the created solution.
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A new approach to the electroanalysis of primary bile acids and related steroids
Klouda, Jan ; Schwarzová, Karolina (advisor) ; Skopalová, Jana (referee) ; Vyskočil, Vlastimil (referee)
In this doctoral thesis, a novel method for the determination of primary bile acids cholic acid and chenodeoxycholic acid is presented. Bile acids play various vital roles in the mammalian body. Moreover, their determination is extremely helpful in liver and biliary disease diagnosis and management. These saturated organic compounds lack strong chromophores and fluorophores in their structure, and thus are usually hard to detect in spectroscopy. For this reason, either instrumentally advanced but expensive methods, such as mass spectrometry, or less reliable enzymatic methods are commonly employed in bile acids quantitation. Hence, the demand for simple and reliable methods for their determination is strong. Bile acids are also known to be virtually inert for direct electrochemical oxidation. Herein, a simple method for their chemical activation for electrochemical oxidation on bare electrode materials was developed, optimized and applied to cholic acid and chenodeoxycholic acid determination. The activation is based on a dehydration reaction of a primary bile acid with 0.1 mol L-1 HClO4 in acetonitrile (water content 0.55%) that introduces double bond(s) into the originally fully saturated steroid core. This naturally increases the electron density in the structure, and thus allows electrochemical...
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Design of an integrated self-sufficient residential house
Klouda, Jan ; Jaššo, Kamil (referee) ; Libich, Jiří (advisor)
The thesis deals with the design of an integrated island system for control and power supply of a residential house. The aim of the thesis is to develop a design for this self-contained islanded power supply, and to evaluate the proposed system from different perspectives. The thesis is divided into two parts. The first part is made by researching the possible solutions of a self-sufficient power supply for a residential house. This research contains mostly available technologies in the Czech Republic, and deals only with the domestic market. In the first part, different relevant methods of electricity generation, processing and storage are described. Then, the different technologies are described in detail and compared in order to achieve the highest possible economic, environmental and social compatibility. In the second part, the different technologies are implemented on the defined house to create a design for a self-sufficient house. This design includes several simulations and the selection of the most appropriate technologies. The resulting design is also compared with an already built self-sufficient house.
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Preoperative planning of the reconstructive surgery of the forefoot
Klouda, Jan ; Hromádka, Rastislav (advisor) ; Naňka, Ondřej (referee) ; Teyssler, Petr (referee)
Univerzita Karlova v Praze 1. lékařská fakulta Postgraduální doktorský program v biomedicíně Studijní obor: Experimentální chirurgie Disertační práce MUDr. Jan Klouda: Preoperative planning of the reconstructive surgery of the forefoot Abstract The presented thesis describes a study aimed at the change of articular surface position in the region of first metatarsophalangeal joint after operative reconstruction due to hallux valgus deformity, done by performing Lapidus arthrodesis. The study evaluates a cohort of patients, who underwent surgery in Department of Orthopaedics, First Faculty of Medicine, Charles University in Prague at Motol University Hospital from 2010 to 2015. The results and clinical implications of the aforementioned retrospective study were published in 2018. The observers evaluated several defined angles on preoperative and postoperative radiographs of the forefoot. The angles were thoroughly selected with regard to the exact representation of first metatarsophalangeal joint articular surface position in relation to the axes of first metatarsal and the whole forefoot. The executed measurements allowed us to assess the overall effectivity of the performed surgery in deformity correction, as well as to describe possible pitfalls and disadvantages resulting from the change of structural...
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Deep Neural Network For Autonomous Uav Navigation
Klouda, Jan
The project deals with autonomous drone control. A neural network is used to create autonomouscontrol for object recognition. This recognition is performed with a ground station,where the computer evaluates the position of the drone and autonomously controls the flight of thedrone through the detection of objects.
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Image Processing For Uav Autonomous Navigation
Klouda, Jan
The project deals with image recognition, which is provided by a camera and microcomputer. The program is written in Python and based on a comparison with the predefined Haar cascade, recognizes the object on the poly-camera's visual field and borders it. From the position and size of this object, the microcomputer sends commands to the flight controller and the drone is controlled through the camera.
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Object recognition based autonomous control of an unmanned aerial vehicle
Klouda, Jan ; Marcoň, Petr (referee) ; Janoušek, Jiří (advisor)
This thesis deals with the control of an autonomous drone based on image recognition. The goal is to create a program in the Python programming language that determines the position of an object in the field of view of the camera. The autonomous drone then performs a predefined operation. The work is divided into theoretical and practical part. The theoretical part describes the methods of image processing and evaluation of objects, the resulting methods of communication between the control station and the drone. The practical part describes the implementation of autonomous control of the aircraft based on the detection of objects in the image. The last part deals with the evaluation of successful detection objects and the control accuracy of the created solution.
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A new approach to the electroanalysis of primary bile acids and related steroids
Klouda, Jan
In this doctoral thesis, a novel method for the determination of primary bile acids cholic acid and chenodeoxycholic acid is presented. Bile acids play various vital roles in the mammalian body. Moreover, their determination is extremely helpful in liver and biliary disease diagnosis and management. These saturated organic compounds lack strong chromophores and fluorophores in their structure, and thus are usually hard to detect in spectroscopy. For this reason, either instrumentally advanced but expensive methods, such as mass spectrometry, or less reliable enzymatic methods are commonly employed in bile acids quantitation. Hence, the demand for simple and reliable methods for their determination is strong. Bile acids are also known to be virtually inert for direct electrochemical oxidation. Herein, a simple method for their chemical activation for electrochemical oxidation on bare electrode materials was developed, optimized and applied to cholic acid and chenodeoxycholic acid determination. The activation is based on a dehydration reaction of a primary bile acid with 0.1 mol L-1 HClO4 in acetonitrile (water content 0.55%) that introduces double bond(s) into the originally fully saturated steroid core. This naturally increases the electron density in the structure, and thus allows electrochemical...
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A new approach to the electroanalysis of primary bile acids and related steroids
Klouda, Jan
In this doctoral thesis, a novel method for the determination of primary bile acids cholic acid and chenodeoxycholic acid is presented. Bile acids play various vital roles in the mammalian body. Moreover, their determination is extremely helpful in liver and biliary disease diagnosis and management. These saturated organic compounds lack strong chromophores and fluorophores in their structure, and thus are usually hard to detect in spectroscopy. For this reason, either instrumentally advanced but expensive methods, such as mass spectrometry, or less reliable enzymatic methods are commonly employed in bile acids quantitation. Hence, the demand for simple and reliable methods for their determination is strong. Bile acids are also known to be virtually inert for direct electrochemical oxidation. Herein, a simple method for their chemical activation for electrochemical oxidation on bare electrode materials was developed, optimized and applied to cholic acid and chenodeoxycholic acid determination. The activation is based on a dehydration reaction of a primary bile acid with 0.1 mol L-1 HClO4 in acetonitrile (water content 0.55%) that introduces double bond(s) into the originally fully saturated steroid core. This naturally increases the electron density in the structure, and thus allows electrochemical...
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