Optimization of four-bar mechanism geometry for the predescribed trajectory

Práce se zabývá optimalizací délek ramen čtyřčlenného mechanismu typu RRRR pomocí maticové kinematiky. Srovnává a popisuje metody k tomu dostupné v prostředí MATLAB. Dále je navržen optimalizační algoritmus, využívající funkci fminsearch, pro niž realizuje prvotní odhad algoritmus Monte-Carlo. Pro navržený algoritmus jsou definovány základní požadavky na trajektorii, kterou je možno přesně kopírovat.This thesis deals with the optimization of arm lengths of four-bar RRRR mechanism using matrix kinematics. It compares and describes the methods, which are available in MATLAB software environment for this purpose. Consequently, an optimization algorithm using fmincon function is designed for which Monte-Carlo algorithm performs the first estimates. Elementary requirements for the proposed algorithm are devised in order to accurately duplicate the predescribed trajectory.

Increasing Incidence of Geomyces destructans Fungus in Bats from the Czech Republic and Slovakia

BACKGROUND: White-nose syndrome is a disease of hibernating insectivorous bats associated with the fungus Geomyces destructans. It first appeared in North America in 2006, where over a million bats died since then. In Europe, G. destructans was first identified in France in 2009. Its distribution, infection dynamics, and effects on hibernating bats in Europe are largely unknown. METHODOLOGY/PRINCIPAL FINDINGS: We screened hibernacula in the Czech Republic and Slovakia for the presence of the fungus during the winter seasons of 2008/2009 and 2009/2010. In winter 2009/2010, we found infected bats in 76 out of 98 surveyed sites, in which the majority had been previously negative. A photographic record of over 6000 hibernating bats, taken since 1994, revealed bats with fungal growths since 1995; however, the incidence of such bats increased in Myotis myotis from 2% in 2007 to 14% by 2010. Microscopic, cultivation and molecular genetic evaluations confirmed the identity of the recently sampled fungus as G. destructans, and demonstrated its continuous distribution in the studied area. At the end of the hibernation season we recorded pathologic changes in the skin of the affected bats, from which the fungus was isolated. We registered no mass mortality caused by the fungus, and the recorded population decline in the last two years of the most affected species, M. myotis, is within the population trend prediction interval. CONCLUSIONS/SIGNIFICANCE: G. destructans was found to be widespread in the Czech Republic and Slovakia, with an epizootic incidence in bats during the most recent years. Further development of the situation urgently requires a detailed pan-European monitoring scheme

Localization system for mobile robot B2

Diplomová práce implementuje lokalizační a navigační rutiny na mobilní robot B2, aby bylo dosaženo autonomního pohybu v prostředí popsaném pouze mapou cest. Ke tvorbě SW byl využit framework ROS. Rešeršní část popisuje možné přístupy k lokalizaci a shrnuje ROS knihovny obsahující lokalizační a navigační software. Následující praktická část dokumentuje komunikaci se senzorickými moduly robotu a zpracování senzorických dat z LIDARu, IMU a kamery. Dále je implementována lokalizační knihovna robot_localization na principu Kalmanova filtru a je navrženo nastavení navigačních rutin navigation tak, aby se robot mohl pohybovat ve venkovním prostředí. Výsledky práce byly ověřeny v prostředí městského parku.The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.