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Comparison of Nonlinear Observers for Underactuated Mechanical Systems
Anderle, Milan ; Čelikovský, Sergej
This paper provides the comparison of nonlinear observers for underactuated mechanical systems with aplication to Acrobot walking. Namely, it aims to compare a reduced observer for the Acrobot angular velocities based on the respective angles measurements with a observer for the Acrobot angular velocity and angle based on the other angular velocity and angle measurement and then to combine this observers with the earlier developed full state feedback controllers. For the Acrobot it is not possible to measure the angle between its stance leg and the surface directly because this angle is underactuated. One possibility of measuring this angle is using laser beam sensor and then computation the stance angle from that distance. Main disadvantage of this approach is the high price of the laser beam sensor. The other observer is based on angular velocity of stance leg measurement using the digital gyroscope.
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The status of women on the labour market in Czech Republic
Skopalíková, Anna ; Chytil, Zdeněk (advisor) ; Čermáková, Klára (referee)
The bachelor thesis addresses discrimination of women on the labour market in Czech Republic. Its aim is to verify hypothesises about the existence of lower mean wages of women and about the existence of discrimination of women on the labour market in Czech Republic. Oaxaca wage differential decomposition which is introduced in the theoretical part of the thesis confirmed the existence of wage differentials between the wages of men and women on the Czech labour market, in selected regions and in selected occupational fields. This confirms the hypothesis about lower mean wages of women. Oaxaca wage differentials decomposition also confirms that the wage gap can be explained in most cases up to 18 %. The second hypothesis is confirmed only partially. The discrimination of women probably exists on the labour market but it is not possible to confirm the size of it. The unexplained component of the wage gap (based on the Oaxaca decomposition) includes besides other things the discrimination coefficient. The size of this coefficient is not possible to determine. The secondary aim of the bachelor thesis is to determine the impact of individual variables on the observed wage gaps. Factors which most often influence the wage gaps are education and age.
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Woman education after surgery for malignant of female geniatale
ELLINGEROVÁ, Zdeňka
The theme of my bachelor´s thesis is Education of women after surgery for malignant disease of the genitals. In the thesis I write about care and selfcare of women after gynecological surgery. I find out in whitch part of selfcare are women educated. The thesis is divided into chapters to clarify all technical terms. The first chapter is about anatomy of female genitals and examinig methods in gynecology. In the next chapter I write about classification of malignant disease of female genitals, I describe their specifics, manifestations, examinig methods and possible treatment. Some of gynecological malignant disease are operable, so I describe surgical approaches too. Further are described oncology centers, thein equipment and how many are there in the Czech republic. The next chapter is about a role of midwife in care of women after surgery for malignant disease of the genitals, and of course a psychological approach with oncology patients, becouse oncology disease is a very dificult life situation. And it is midwife´s mission to help these women. All of midwifes should know this psychological approach. The last chapter is about nursing, nursing process in care of oncological patients and about education. I describe an education about care of surgical wound and protect of infection, diet and emptying, pain and its relief, movement and sexual life after a surgery. The objectiv of my thesis was to find out chat women knouw about selfcare, if they understand the informations. I used qualitative method structured interview, in the research part of thesis. The interview I did with 8 patients of gynekology department in a Hospital České Budějovice a.s. the structured interview have 13 questions. The patients are different ages, have different level of education and different surgery approaches. I set 3 research questions: Want the women to know more information about their health condition? Are the informations of midwifes undestandable or very professional? Observe the women recommendations of midwifes? Eight interviews show that the rate of the submitted informations is sufficient, women know how to take care of yourself. And they know, if they need anything can ask a midwife. On the second did not answer all women equally. Two of the women said, they did not understand all of the midwifes said. They wanted less technical terms. Six of the women understood all. The third question answered all women equally. They observed the recommendations of midwifes. The research shows women are satisfied with nursing care after surgery. The level of informations is enough to care of yourself. They are satisfied with midwifes´care on the gynaecological department. All af women are educated about specifics of their type of surgery, care of surgery wound, hygiene, protect of infection, diet, emptying, sexual life after release from hospital. I think this tehsis can be used as an educational material for midwifes or students of midwife.
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Clustering and regression analysis of micro panel data
Sobíšek, Lukáš ; Pecáková, Iva (advisor) ; Komárek, Arnošt (referee) ; Brabec, Marek (referee)
The main purpose of panel studies is to analyze changes in values of studied variables over time. In micro panel research, a large number of elements are periodically observed within the relatively short time period of just a few years. Moreover, the number of repeated measurements is small. This dissertation deals with contemporary approaches to the regression and the clustering analysis of micro panel data. One of the approaches to the micro panel analysis is to use multivariate statistical models originally designed for crosssectional data and modify them in order to take into account the within-subject correlation. The thesis summarizes available tools for the regression analysis of micro panel data. The known and currently used linear mixed effects models for a normally distributed dependent variable are recapitulated. Besides that, new approaches for analysis of a response variable with other than normal distribution are presented. These approaches include the generalized marginal linear model, the generalized linear mixed effects model and the Bayesian modelling approach. In addition to describing the aforementioned models, the paper also includes a brief overview of their implementation in the R software. The difficulty with the regression models adjusted for micro panel data is the ambiguity of their parameters estimation. This thesis proposes a way to improve the estimations through the cluster analysis. For this reason, the thesis also contains a description of methods of the cluster analysis of micro panel data. Because supply of the methods is limited, the main goal of this paper is to devise its own two-step approach for clustering micro panel data. In the first step, the panel data are transformed into a static form using a set of proposed characteristics of dynamics. These characteristics represent different features of time course of the observed variables. In the second step, the elements are clustered by conventional spatial clustering techniques (agglomerative clustering and the C-means partitioning). The clustering is based on a dissimilarity matrix of the values of clustering variables calculated in the first step. Another goal of this paper is to find out whether the suggested procedure leads to an improvement in quality of the regression models for this type of data. By means of a simulation study, the procedure drafted herein is compared to the procedure applied in the kml package of the R software, as well as to the clustering characteristics proposed by Urso (2004). The simulation study demonstrated better results of the proposed combination of clustering variables as compared to the other combinations currently used. A corresponding script written in the R-language represents another benefit of this paper. It is available on the attached CD and it can be used for analyses of readers own micro panel data.
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IT requirements management of insurance company
Dvorský, Petr ; Bruckner, Tomáš (advisor) ; Jungmannová, Barbora (referee)
The first part of thesis deals with theoretical knowledge, thus defining the concepts of recommendations from the field of requirements management. The second part focuses on the identification, analysis and subsequend design solutions to problems arising from working with the requirements. Methods for identifying problems are carried out workshop, participant observation and interviews with employees from the IT sector of the insurance company. The outputs of this work are proposals for improving requirements management, some of them are successfully applied in Kooperativa. The first draft, which was applied to create a process library. Further, of four different types of prioritization was selected and applied method that is defined by ITIL. Other outputs are design of new user interface of requirements software and starting to design a Change Advisory Board, which is compared to ITIL enhanced with additional features. Further was established Business Consultant Department, which has task of efficiently collecting client requirements and the supporting documents were created for this department.
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Forms of advertising on social networks and consumer protection
Žďárský, Jiří ; Vavrečka, Jan (advisor) ; Štěpánek, Petr (referee)
The theme of this thesis are forms of advertising on social networks and consumer protection. The main informational source is above all research of specialized literature, articles, online or other sources in connection with author's own observations and analysis of the respective legislation and ultimately the comparison with author's gained professional experience. The result of this work is a comprehensive overview and introduction to the law of social networks and advertising, demonstration of the importance and significance of this topic and finally evaluation of the effectiveness of legislation that protects consumers in the environment of social networks.
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The role of tubulin transport between the nucleus and the cytoplasm
Bokvaj, Pavel ; Schwarzerová, Kateřina (advisor) ; Zažímalová, Eva (referee)
Tubulin is the basic building block of microtubules which ensure intracellular transport, morphological changes, the connection of proteins of metabolic pathways, the segregation of chromosomes during mitosis and many other essential processes in plant cells. The localization of tubulin regarding nucleus is strictly controlled and during the interphase, tubulin is usually not present in the nucleus. As we previously showed, one of the exceptions of the presence of tubulin in the nucleus is the cold stress condition. Also, we discovered several plant-specific nuclear export sequences (NES) in tubulin molecules: one in α-tubulin and two in β-tubulin. In this work I found that double mutation of both functional β-tubulin NESes cause slight accumulation of the protein in the nuclei. However, the phenotype of the transgenic plants expressing β-tubulin with mutations is probably not affected by the presence of the mutated protein. The effect of the expression of the mutated β-tubulins was observed in Nicotiana tabacum BY-2 cells as well. The expression of β-tubulin carrying a single NES3 mutation or double mutation of both NESes bring changes of the division activity of the cells, while the NES2 mutation does not have any effect. Furthermore, it was discovered that the 0řC cold tr eatment does not cause...
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ELECTRON BEAM REMELTING OF PLASMA SPRAYED ALUMINA COATINGS
Matějíček, Jiří ; Veverka, J. ; Čížek, J. ; Kouřil, J.
Plasma sprayed alumina coatings find numerous applications in various fields, where they enhance the properties of the base material. Examples include thermal barriers, wear resistance, electrical insulation, and diffusion and corrosion barriers. A typical structure of plasma sprayed coatings, containing a multitude of voids and imperfectly bonded interfaces, gives them unique properties - particularly low thermal conductivity, high strain tolerance, etc. However, for certain applications such as permeation barriers or wear resistance, these voids may be detrimental.\nThis paper reports on the first experiments with remelting of plasma sprayed alumina coatings by electron beam technology, with the purpose of densifying the coatings and thereby eliminating the voids. Throughout the study, several parameters of the e-beam device were varied - beam current, traverse velocity and number of passes. The treated coatings were observed by light and electron microscopy and the thickness, structure and surface morphology of the remelted layer were determined and correlated with the process parameters. Based on the first series of experiments, the e-beam settings leading to dense and smooth remelted layer of sufficient thickness were obtained. In this layer, a change of phase composition and a marked increase in hardness were observed.\n
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Folk culture in memories of people born in 20s and 30s of 20th century
Horová, Kateřina ; STAVĚLOVÁ, Daniela (advisor) ; FRIČOVÁ, Marie (referee)
This thesis is focused on memories of people born in 20s and 30s of 20th century about traditional folk culture. It is focused on observing original traditions and celebrating traditional festivities and what sense had these traditions for them and how they ment it. First part of this thesis is focused on narratives life stories. Second part is about memories of traditional customs and habits and how was changing their way of celebrating during prewar period, war and in time of socialism. Last part is dedicated to dancing. Storytellers spoke about dancing opportunities, their own dance experience and dance perofrmances in the theatre.
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Sorption and Stabilization of Metals/Mettalloids by Innovative Synthesized Sorbent Amochar.
Ouředníček, P. ; Trakal, L. ; Komárek, M. ; Pohořelý, Michael
Remediation of contaminated soil which is based on stabilization and immobilization of potential\nhazardous substance by sorption materials has been studied intensively nowadays. Biochar – activated organic carbon belongs to this group of stabilizing agents which can adsorb wide range of contaminants, including metals/metalloids. Surface area of the biochars is quite large in general and functional groups (e.g. COO–) can form chelates or alkaline elements on the surface, which is represented by cation exchange capacity. Altogether with the high pH values (7.00 – 10.00), biochars are quite effective sorbents and can adsorb metals/metalloids from the solution (ground water), especially in acidic soils (in the environments affected by intensive mining activities). Sorption\neffectiveness can be increased (especially for As (V) or Cr (VI) sorption) by modification of biochar by various types of secondary oxides. Innovative sorbent AMOchar (AMO + biochar) has been synthesized currently. The product was prepared by adding of biochar to the reaction solution during amorphous manganese oxide (AMO) synthesis. The AMOchar was formed mainly by Mn-oxalates which had coated surface of the pristine biochar. AMOchar composite was able to remove significantly higher amounts of various metal(loid)s from the solution despite the rather high pH of the material. Sorption effectiveness was high not only in case of Pb (II) sorption (almost 99%), and Cd(II) (51.2%), but also a very high amount of As(V), 91.4%. Additionally, both AMOchar composite was able to reduce Mn leaching. This can avoid potential post-contamination caused by the dissolution of less stable Mn-oxalates as observed in the pure AMO.
Fulltext: content.csg -  PDF
Plný tet: SKMBT_22316111113040 - PDF
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