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Concurrent mapping and localization based on potential fields
Věchet, Stanislav ; Krejsa, Jiří
Presented paper deals with Concurrent Mapping and Localization as a method to build the local map for the autonomous mobile robot. Building accurate local map is necessary for the successful navigation through the crowded environment densely populated with dynamic obstacles. The occupancy grid mapping algorithm was used due to the high uncertainty in the measurements of dynamic obstacles. As the occupancy grid algorithm is of probabilistic nature the implementation is straightforward and is also capable to generate the results in real-time.
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Analysis of the real estate market in Hradec Králové region
Vašata, Zdeněk ; Hartman, Ladislav (advisor) ; Trýznová, Jana (referee)
The aim of this thesis is analysis of real estate market with focus to small investor with interest in appartments in Hradec Králové region. The first part is theoretical, oriented to general information about real estate market and useful economical knowledge for investing into real estate. Practical part is focused to Hradec Králové region. The best localities are find out with financial and general (e.g. geographical, demografical and infrastructure aspects) research of the region. In these recommended areas are made model analysis and potentional evaluations for the purpose of small investor in this region.
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Sustainable tourism development of Vysocina Region
Veselá, Markéta ; Macháček, Jaroslav (advisor) ; Vondráková, Zuzana (referee)
The diploma thesis deals with the topic of sustainable tourism development at the regional level. This phenomenon is elaborated on the example of Vysocina Region. To evaluate sustainability of its development, the potential of this touristic destination is researched regarding various areas, including key products. These are subjected to comparisons with recommendations of significant tourism organization for the purpose of assessing the sustainability of tourism. The diploma thesis also includes a comparison with other Czech regions experience as a touristic destination. Vysocina Region has favourable initial conditions for its sustainable development, especially regarding supply of key products, which include both environmentally friendly goods and cultural attractiveness contributing to the personal development of individuals and promoting intercultural tolerance. The main issue appears to be the spatial imbalance of its development in the region, caused mainly by the concentration of tourist activities to certain areas and low local initiative in the less attractive areas. The diploma thesis proposes a number of solutions, such as utilization of geocaching and products of gastroturism, supporting the foundation of local destination management organisations, promoting cycling tourism and the foundation of highly visited tourist destinations.
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Decision making of Prague moviegoers
Macháček, Ivan ; Hanzlík, Jan (advisor) ; Zelený, Martin (referee)
The aim of this work is to analyze attitudes of Prague film viewers towards watching films at the cinema and at home and to find out on what factors do they base their decision to watch a particular film. The means to achieve this goal are research of existing literature related to this subject and my own research through a questionnaire survey on a sample population of Prague with a corresponding demographic composition. The most crucial conclusions from this investigation are related to the frequency of watching movies in the cinema and at home, attitudes towards the origin and localization of movies, attitudes towards various genres, factors influencing the choice of a film and comparing the results of various demographic groups (by gender, age and education) within these topics.
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Modelling, parameter estimation, optimisation and control of transport and reaction processes in bioreactors.
ŠTUMBAUER, Václav
With the significant potential of microalgae as a major biofuel source of the future, a considerable scientific attention is attracted towards the field of biotechnology and bioprocess engineering. Nevertheless the current photobioreactor (PBR) design methods are still too empirical. With this work I would like to promote the idea of designing a production system, such as a PBR, completely \emph{in silico}, thus allowing for the in silico optimization and optimal control determination. The thesis deals with the PBR modeling and simulation. It addresses two crucial issues in the current state-of-the-art PBR modeling. The first issue relevant to the deficiency of the currently available models - the incorrect or insufficient treatment of either the transport process modeling, the reaction modeling or the coupling between these two models. A correct treatment of both the transport and the reaction phenomena is proposed in the thesis - in the form of a unified modeling framework consisting of three interconnected parts - (i) the state system, (ii) the fluid-dynamic model and (iii) optimal control determination. The proposed model structure allows prediction of the PBR performance with respect to the modelled PBR size, geometry, operating conditions or a particular microalgae strain. The proposed unified modeling approach is applied to the case of the Couette-Taylor photobioreactor (CTBR) where it is used for the optimal control solution. The PBR represents a complex multiscale problem and especially in the case of the production scale systems, the associated computational costs are paramount. This is the second crucial issue addressed in the thesis. With respect to the computational complexity, the fluid dynamics simulation is the most costly part of the PBR simulation. To model the fluid flow with the classical CFD (Computational Fluid Dynamics) methods inside a production scale PBR leads to an enormous grid size. This usually requires a parallel implementation of the solver but in the parallelization of the classical methods lies another relevant issue - that of the amount of data the individual nodes must interchange with each other. The thesis addresses the performance relevant issues by proposing and evaluation alternative approaches to the fluid flow simulation. These approaches are more suitable to the parallel implementation than the classical methods because of their rather local character in comparison to the classical methods - namely the Lattice Boltzmann Method (LBM) for fluid flow, which is the primary focus of the thesis in this regard and alternatively also the discrete random walk based method (DRW). As the outcome of the thesis I have developed and validated a new Lagrangian general modeling approach to the transport and reaction processes in PBR - a framework based on the Lattice Boltzmann method (LBM) and the model of the Photosynthetic Factory (PSF) that models correctly the transport and reaction processes and their coupling. Further I have implemented a software prototype based on the proposed modeling approach and validated this prototype on the case of the Coutte-Taylor PBR. I have also demonstrated that the modeling approach has a significant potential from the computational costs point of view by implementing and validating the software prototype on the parallel architecture of CUDA (Compute Unified Device Architecture). The current parallel implementation is approximately 20 times faster than the unparallized one and decreases thus significantly the iteration cycle of the PBR design process.
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Cultural support in Prague's districts
Mokrá, Jolana ; KAŠPAR, David (advisor) ; PROKOP, Petr (referee)
Diploma thesis ”Cultural support in Prague's districts” focuses on a current situation in municipal strategical management and support of culture in all Prague districts. The introduction emphasises the importance of each level of government in the management and support of culture through comparing specific cultural policies. The research is divided into two parts. First one depicts how culture is being understood on the municipal level and presents an overview of existing instruments for support and planning. The second part is focused on a few municipal districts that handle their culture policy with a particular strategy and consider it to be an irreplaceable part of a local development. The second part also examines what tactics and tools these municipal districts use for a realization of their strategic goals. In conclusion, this thesis proves why the role of the local official government is so important in the developement and implementation of culture.
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Role of Psb28 proteins in the biogenesis of the Photosystem II complex in the cyanobacterium Synechocystis sp. PCC 6803
BEČKOVÁ, Martina
The thesis focuses on the role of Psb28 proteins, namely the Psb28-1 and its homolog Psb28-2, in the biogenesis of the Photosystem II complex (PSII) in the cyanobacterium Synechocystis PCC 6803. The aims of this work were to localize the proteins within the cells, and to determine their function. A fraction of both Psb28 proteins was identified in the monomeric PSII core complexes but most proteins were found in the unassembled protein fraction associated with thylakoid membranes. Psb28-1 was mostly detected as a dimer while Psb28-2 as a monomer. Psb28-1 also differed from Psb28-2 by its higher affinity to the PSII core complex lacking CP43 antenna. Characterization of Psb28-less mutants suggested regulatory function of the proteins in PSII biogenesis in connection with chlorophyll biosynthetic pathway. Analysis of preparations isolated using FLAG-tagged versions of Psb28 proteins showed their association with Photosystem II - Photosystem I supercomplexes, especially under increased irradiance, and supported a role of Photosystem I in the PSII biogenesis.
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Documentation of the nature reserve Miletinska bazantnice (Czech Republic)
Stejskalová, Klára ; Skalický, Milan (advisor) ; Martinková, Jaroslava (referee)
The aim of this study is to document the floristic species diversity through research in the natural reserve Miletinska bazantnice. Documentation was carried out on the territory concerned during the growing season of 2015. There was a determination of vascular species. The research was mainly focused on endangered and protected species.
The whole area is part of sites of European importance under the Habitats Directive Natura 2000 Miletinska bazantnice was declared a nature reserve in 1954 with an area of 75, 43 hectares and is part of a small-scale specially protected area. Typical features of the area are remnants of natural Podzvicinsko geobiocenosis and therefore the reason for its protection.
Further it describes the history, characteristics of the territory and the natural conditions that are typical for the locality. These include soil science, climate, hydrological, geomorphological, geological and phytogeographical. On the territory of the nature reserve are recorded two memorial trees. It´s oaks (Quercus robur) called Zizkovy duby.
At present territories were found in protected and endangered species and classified under the Red and black list of vascular plants of the Czech Republic (Grulich, 2012) and Decree of the Ministry of Environment of the Czech Republic no. 395/1992 Coll. Into the category of rare taxa that require additional attention include species such as Carex otrubae, Cerastium lucorum, Daphne mezereum, Galium boreale, Listera ovata and Primula veris. The only species Platanthera bifolia is ranked in the category of endangered under both the Red and black list of vascular plants in the Czech Republic and under Decree.
In the field survey, attention was also paid to invasive species, sorted by Catalogue of alien plants of the Czech Republic (Pyšek et al., 2012) and categorized archeophytes (Arctium tomentosum, Cirsium arvense, Convolvulus arvensis, Chelidonium majus)
and neophytes (Arrhenatherum elatius, Impatiens parviflora) and described their risks (Mlíkovský and Stýblo, 2006)
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Financial Analysis of a Municipality's Economic Performance
Hurtová, Monika ; Tomšík, Karel (advisor) ; Pavel, Pavel (referee)
The aim of the thesis is to evaluate the management of the city Rotava. Fulfilling this objective will be realized by a comprehensive analysis of operations for the period 2010-2015. In the theoretical part, there are basic concepts defined related to local government units (municipalities), municipal budget and financial analysis methods. These theoretical bases are necessary for the development of the practical part, consisting of a detailed analysis of the financial management of Rotava. Based on the analysis and findings, recommendations to improve the financial situation of the city will be submitted.
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Influence of meadow management on the migration behavior of selected species of butterflies
Bubová, Terezie ; Langrová, Iva (advisor) ; Farkač, Jan (referee)
Migrations are the key process and one of the basic biological features, which allow survival of endangered species in fragmented landscape. In the last decades, agriculture intensification, industry and urbanization caused that number of natural butterfly habitats has significantly decreased. The localities originally suitable for butterflies are currnetly converted to farmland or building plots. This PhD thesis aimed to find a compromise solution of meadow management, which should allow a commercial use and concurrently do not jeopardize the continued existence of endangered or threatened species. The main idea of this study was in the intentional emigration causing in the middle of flight period, which should lead into resettlement of the population to another (potentially more suitable) locality. Possibility of aimed manipulation with butterfly emigrations would be considered as a major breakthrough in their protection.
The investigated species Phengaris nausithous (Bergsträsser, 1779) and Phengaris teleius (Bergsträsser, 1779) are both considered to be flagship species for protection of European butterflies at open meadows. This study is based on research, which was carried out in 2013-2015 at 17 patch in localities Dolní Labe, Czech Republic. In above mentioned years, one selected meadow was mowed in the middle of flight season and the emigrations were then monitored using mark-release-recapture method. Results of population and migration characteristics were calculated in MARK 8.1 software. Subsequently, the effect of mowing on emigration (comparison of emigrations from the meadow before and after mowing) was evaluated using Statistica 13.
The hypotheses of this study were based on the assumption, that the loss of resources after well-timed mowing should increase the activity of adult butterflies. During the monitoring, number of emigrations was increased only in flight season 2015. Unfortunately, the statistical evaluation did not show significant effect of mowing on migrations. On the other hand, the hypothesis dealing with colonization of nearest meadows was confirmed.
Effect of intentional emigration caused by management interventions was unfortunately not proved. However, we found out, that even though the population at one mowed meadow decreased clearly, the metapopulation size at the locality remained more or less stable.
At investigated (mowed) meadow, there was observed a sharp decline of P. nausithous abundance. On the other hand, P. teleius population was only slightly reduced. It is therefore conceivable, that P. teleius are not as susceptible to innapropriate term of mowing. The results obtained in our research conclusively displayed no possible positive effect of mowing in the middle of flight season and a necessity of suitable management maintenance at localities inhabited by Phengaris butterflies.
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