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Robotic Arm Exploiting RC Components and Servos
Bobčík, Petr ; Kapinus, Michal (referee) ; Zemčík, Pavel (advisor)
Cílem této práce bylo postavit vlastní robotické rameno, s využitím RC komponent, serv a dodat k němu i vlastní uživatelské rozhraní, které umožní jeho řízení. Součástí řešení bylo také opatřit robotické rameno potřebnou senzoriku, která by umožnila jistou míru autonomnosti. Pro mé řešení jsem se rozhodl upravil již existující design robotického ramene, s pěti stupni volnosti, založeném na krokových motorech. Přidal jsem senzory, jako je akcelerometr, enkodér, měřič proudu, laserové měření vzdálenosti a kameru. Na základě těchto senzorů je robotické rameno schopné detekovat náraz, pozici odpojených motorů, uchopení předmětu uchopovacím mechanizmem nebo měřit vzdálenost předmětu v prostoru za účelem inverzní kinematiky. Vytvořil jsem také jednoduché uživatelské rozhraní, které umožňuje tři typy ovládání, jako je ovládání jednotlivých kloubů samostatně, autonomně s využitím kamery nebo ručním napozicováním.
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Health insurance and settlemento of nursing and rehabilitative care provided in institutions of social services
VOBORNÍKOVÁ, Gabriela
The topic of my diploma thesis is Health insurance and reimbursement for nursing services and rehabilitation care provided in social services facilities. I chose this topic not only because social services and related fields are currently very topical but also because I wanted to find out what changed whit regard to social services facilities with the arrival of the possibility of funding nursing and rehabilitation care. I wanted to explore opinions of people who work in this field and encounter such issues on a daily basis. Since the possibility of reimbursement for nursing and rehabilitation care has been in the Czech Republic for a relatively short period of time, I assumed that the collection of data would bring new insight into the matter. The theoretical part of my thesis deals with social services and subjects that establish and provide social services. Furthermore, I also discuss the main aims of social services. Next chapter deals with the funding of social services and the factors that help improve the quality of social services. This is followed by the description of nursing and rehabilitation care in residential care facilities. This part focuses closely on the new legal regulation and the types of residential care facilities and also analyses the term competence for the performance of health profession. The practical part of the thesis contains the results of my research work. It describes the methodology (in order to achieve the goal established and to confirm, or reject the hypotheses, I did a questionnaire-based survey and performed the secondary analysis of data). The group studied included all facilities that met the following condition: they had to be residential social services facilities located in the South Bohemian Region. The aim of my work was to find out whether the change in the legal regulation helped improve the funding of nursing and rehabilitation care in residential care facilities. It follows from my research that the possibility of reimbursing for rehabilitation and nursing care from public health insurance means more resources for a social services facility. Furthermore, the obligation to charge a particular health insurer a fee for health care implies more administrative work for the facility. I conclusion, the hypotheses suggested were confirmed and the goal of the work was achieved. My diploma thesis can serve as a full-range source of information for the facilities providing social services. It can also become a useful study material for other students.
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