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Robotic manipulator based on CGA
Stodola, Marek ; Salač,, Tomáš (referee) ; Hrdina, Jaroslav (advisor)
Conformal geometric algebra is defined in the thesis. Representations of geometric objects and possibilities of their geometric transformations are presented. Conformal geometric algebra is applied to the calculation of forward kinematics of a robotic manipulator UR10 from Universal Robots. It is also applied to determine the position of the machine based on the location and rotation of two cameras. Then it is used in an inverse task, where based on records from the two cameras, dimensions of the UR10 manipulator and possibilities of its movement, the mutual position of these cameras is determined. And consequently the possibilities of their location in space. Finally, the derived procedures are implemented in a custom program created in the CluCalc environment, using which a sample example verifying the correctness of these procedures is calculated.
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Three-dimensional kinematics of eye movements
Stodola, Marek ; Velan, Petr (referee) ; Hrdina, Jaroslav (advisor)
The goal of this thesis is to describe eye movements and general eye position using apparatus of geometric algebra. The introduction covers the theory about the appropriate geometric algebra, followed by the classifications of the eye movements and the terms used to describe these movements. Following this, the calculations that describe eye position derived from a single observed point are listed, for distant and close points. In addition, the possible eye movements in respect to the axis in which an eye can rotate is described, for any general position. All the calculations are based on Donders' law and Listing's law.
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The Problem of Child Mental Health Services Inaccessibility in the Czech Republic
Stodola, Marek ; Angelovská, Olga (advisor) ; Tušková, Eva (referee)
This diploma thesis deals with the issue of inaccessibility of child mental health services in the Czech Republic. Despite the growth of public interest in child mental health the child mental health services face significant structural problems, such as a lack of medical staff, low quality and inaccessibility. On top of that, these problems are getting constantly worse and potentially endanger the entire system of child mental health services with immense negative impact on society. Despite these trends, there is no coherent and systematic policy precisely dealing with the problems in child mental health care in the Czech Republic. The aim of the thesis is to describe particular problems of child mental health services in depth and then explain what caused fact the agenda has not been set yet. Kingdon's Multiple Streams Framework (MSF), together with the concept of public policy actors were applied. The thesis is based on the qualitative research design using the semi-structured expert interviews complemented with the public policy documents study. The thesis focuses on the period beginning with the passing the Strategy of Mental Health Care Reform in 2013 where the first effort to reform mental health care services was established in an explicit and systematic way. However, the agenda focusing...
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The Coordinator of Inclusive Education at Primary School
Stodola, Marek ; Mouralová, Magdalena (advisor) ; Gargulák, Karel (referee)
The following bachelor thesis deals with a topic of the coordinators of inclusive education at primary schools. The coordinator of inclusion is a specialized member of school's staff whose duties are to help the school to cope with the inclusive education successfully. The position of the coordinator assumes that teachers and other school's staff do not know how to deal with educational inclusive elements they are supposed to follow and carry out. The coordinators might help the school to establish a pro-inclusive environment where all the actors know how to educate the children with the special educational needs. The coordinator of inclusion is not legislatively enshrined so the school has to decide whether the position of the coordinator will be established there. The thesis uses the semi-structured interviews with a member of the teaching staff, with a school principal or his/her deputy head, and with the coordinator. The interviews will be analysed using the thematic analysis. I will focus on describing the particular duties of the coordinators, then on the perceptions of the teachers and principals to the coordinators and their mutual interactions. The analysis will be also focused on the potential problems and limitations of the coordinator's job. The results of this thesis show that there...
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Robotic manipulator based on CGA
Stodola, Marek ; Salač,, Tomáš (referee) ; Hrdina, Jaroslav (advisor)
Conformal geometric algebra is defined in the thesis. Representations of geometric objects and possibilities of their geometric transformations are presented. Conformal geometric algebra is applied to the calculation of forward kinematics of a robotic manipulator UR10 from Universal Robots. It is also applied to determine the position of the machine based on the location and rotation of two cameras. Then it is used in an inverse task, where based on records from the two cameras, dimensions of the UR10 manipulator and possibilities of its movement, the mutual position of these cameras is determined. And consequently the possibilities of their location in space. Finally, the derived procedures are implemented in a custom program created in the CluCalc environment, using which a sample example verifying the correctness of these procedures is calculated.
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Three-dimensional kinematics of eye movements
Stodola, Marek ; Velan, Petr (referee) ; Hrdina, Jaroslav (advisor)
The goal of this thesis is to describe eye movements and general eye position using apparatus of geometric algebra. The introduction covers the theory about the appropriate geometric algebra, followed by the classifications of the eye movements and the terms used to describe these movements. Following this, the calculations that describe eye position derived from a single observed point are listed, for distant and close points. In addition, the possible eye movements in respect to the axis in which an eye can rotate is described, for any general position. All the calculations are based on Donders' law and Listing's law.
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