Dynamics of Snake Robots

V této bakalářské práci se zabýváme matematickým popisem kinematiky a dynamiky neholonomních mechanických systémů. Následně se zaměříme na konkrétní mechanický systém, kterým je Čtyřnohý čtvercový robot s aktivními vazbami a pasivními kolečky, který se pohybuje na vodorovné rovině. V kinematice tento systém nejprve popíšeme pomocí pojmů distribuce a Lieova závorka. Ukážeme, že vazby jsou neholonomní a že robot je řiditelný. Pak najdeme příslušnou kontrolní matici, kterou poté využijeme k vyjádření pohybových rovnic. K popisu dynamiky požijeme Lagrangeův formalismus.In this thesis, we deal with the mathematical description of the kinematics and the dynamics of mechanical systems. Then we focus on the particular mechanical system which is the Square robot with four legs with active joints and passive wheels, which moves on horizontal plane. The kinematics of the mechanical system is described by the control matrix, then we use it to express the equations of motion. We compute the dynamics the robot by using Lagrange equations. We verify that the mechanical system is nonholonomic constrained and we verify controllability by using Lie bracket and distribution. We find the singular postures of the robot.

Tasting the museum: how the cultural practices of eating out and viewing art converge in Istanbul's museum restaurants

Today's museums, with few exceptions, include cafés and restaurants, which, together with additional ancillary spaces such as design shops, film and performance venues comprise the museum experience. Istanbul's private art museums are closely following this seemingly normative trend. In doing so they attempt to meet their mission statements' claims of social inclusion and audience development. This thesis investigates and problematizes the convergence of two cultural practices that meet in the museum restaurant, namely eating out and viewing art, their conceptual similarities and intersections and their convergence in the museum restaurants of Istanbul's private art museums. A discussion of heterogeneous concepts of consumption, which traces the tensions between group norms and individual agency, of the emergence and incorporation of consumption practices of subcultures provides the basis for an in-depth investigation of eating out and viewing art. But the symbolic economy, the main actors of which are institutions backed by private capital and entrepreneurs in the cultural field, significantly and irreversibly alters the urban fabric. At the same time, processes of urban transformation often remain unquestioned and are presented and celebrated by their beneficiaries, by politicians, media or the complicit art world as the means of resolving a multiplicity of problems of a metropolis such as Istanbul. Istanbul's art museums and their restaurants appeal primarily to those who already have the "right" disposition to appreciate and confidently navigate the intricacies of the culinary and the artistic field. The translation of the private tastes of museum patrons and restaurant owners into specific culinary, curatorial, architectural and atmospheric elements often results in rituals, experiences and spaces, which, while seemingly being available to everybody, construct symbolic and material boundaries for those without said necessary dispositions

Modification of the WT10 aircraft for the fixed landing gear according to the CS-23 requirements

V této diplomové práci se zabýváme návrhem vhodné varianty tlumiče pro daný typ konstrukce hlavního podvozku letounu WT10 Advantic. Následně se zaměříme na konstrukční řešení vybrané varianty hlavního podvozku. Pro nově vybraný hlavní podvozek získáme případy zatížení při přistání, které spočítáme podle stavebního předpisu CS-23. Dále provedeme konstrukční návrh tlumiče a vypočteme plochu kataraktu tlumiče na základě získaných zatížení během přistání. Sestavíme a numericky vyřešíme pohybové rovnice popisující pohyb letounu s novým podvozkem během přistání. Na závěr provedeme pevnostní kontrolu přistávacího zařízení včetně tlumiče.In this thesis, we deal with the design of a shock absorber variant for the type of main landing gear design of the aircraft WT10 Advantic. Then we focus on the design of the selected variant of the main landing gear. Next, we follow regulation CS-23 demands to calculate the load cases for the selected main lending gear. Then we design shock absorber based on the load during landing. We compile the equation of motion of the aircraft, which describes motion of the aircraft during landing, then we compute the equation. Finally, we focus on a stress analysis of the main landing gear and the shock absorber.

Marketing Analysis of the Financial Company Products

Bakalářská práce je zaměřena na marketingovou analýzu produktů vybrané finanční společnosti. Vybrané bankovní instituce jsou Česká spořitelna, a.s., Air Bank a.s., Equa bank, a.s. a ČSOB, a.s. Práce je rozdělena do 6 kapitol, přičemž první kapitola je úvod a šestá kapitola je závěr. V teoretické části je popsán produkt spolu s metodami produktového řízení. V závěru praktické části dávám návrhy na základě zjištěné analýzy. Metody použité v bakalářské práci je metoda BCG a dotazník.The bachelor thesis is focused on the marketing analysis of the selected financial company. The following bank institutions have been selected: Česká spořitelna, a.s.,Air bank a.s., Equa bank, a.s.and ČSOB, a.s. The thesis is divided into the six chapters.The first chapter is the introduction and sixth one concludes it. Second chapter is the characteristics of the selected banks. The third chapter describes product and methods of the research. The theoretical part describes the product itself together with the methods of product managment. At the end of the practical part I propose some possible improvements related to campany strategy based on the questionnaire analysis. The method used in the thesis is BCG matrix.116 - Katedra marketingu a obchoduvelmi dobř

Zur Mikromorphologie, Systematik und Entwicklung der rezenten und fossilen Lößböden

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Evaluating the cytotoxicity of Ge–Sb–Se chalcogenide glass optical fibres on 3T3 mouse fibroblasts

In vivo cancer detection based on the mid-infrared molecular fingerprint of tissue is promising for the fast diagnosis and treatment of suspected cancer patients. Few materials are mid-infrared transmissive, even fewer, which can be converted into functional, low-loss optical fibres for in vivo non-invasive testing. Chalcogenide-based glass optical fibres are, however, one of the few. These glasses are transmissive in the mid-infrared and are currently under development for use in molecular sensing devices. The cytotoxicity of these materials is however unknown. The cytotoxicity of Ge–Sb–Se chalcogenide optical glass fibres on 3T3 mouse fibroblast cells is here investigated. Fibres exposed to four different pre-treatment conditions are used: as-drawn (AD), propylamine-etched (PE), oxidised-and-washed (OW) and oxidised (Ox). To achieve the latter two conditions, fibres are treated with H2O2(aqueous (aq.)) and dried to produce a surface oxide layer; this is either washed off (OW) or left on the glass surface (Ox). Cellular response is investigated via 3 day elution and 14 day direct contact trials. The concentration of the metalloids (Ge, Sb and Se) in each leachate was measured via inductively coupled plasma mass spectrometry. Cell viability is assessed using the neutral red assay and scanning electron microscopy. The concentration of Ge, Sb and Se ions after a 3 day dissolution was as follows. In AD leachates, Ge: 0.40 mg L−1, Sb: 0.17 mg L−1, and Se: 0.06 mg L−1. In PE leachates, Ge: 0.22 mg L−1, Sb: 0.15 mg L−1, and Se: 0.02 mg L−1. In Ox leachates, Ge: 823.8 mg L−1, Sb: 2586.6 mg L−1, and Se: 3750 mg L−1. Direct contact trials show confluent cell layers on AD, PE and OW fibres after 14 days, while no cells are observed on the Ox surfaces. A >50% cell viability is observed in AD, PE and OW eluates after 3 days, when compared with Ox eluates

Observing soil biota in situ

Rhizotrons and minirhizotrons allow repetitive, nondestructive observation of the soil biota. Bias associated with minirhizotron and rhizotron observations, and methods that will help realize the potential of these observational platforms are reviewed. Root density estimates in minirhizotrons are prone to bias due to soil compaction, and poor contact between tube and soil. Density estimates of microarthropods observed in minirhizotrons, are less biased by longer observation periods, low light levels, and good optical resolution. Microarthropods observed in a rhizotron were underrepresented compared with soil cores if they belonged to groups that move little, are transparent, or small. Time-lapse video can be used to sample microarthropod density in rhizotrons. Better visualization of all of the biota can be achieved by using long working length microscope objectives, and stains such as fluorescein diacetate, ethidium bromide and the tetrazolium dye, p-Iodonitrotetrazolium Violet. Repeated observation of the same roots allows the use of demographic methods for calculation of root survivorship, turnover, and productivity.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/30903/1/0000572.pd

Persistent Place-Making in Prehistory: the Creation, Maintenance, and Transformation of an Epipalaeolithic Landscape

Most archaeological projects today integrate, at least to some degree, how past people engaged with their surroundings, including both how they strategized resource use, organized technological production, or scheduled movements within a physical environment, as well as how they constructed cosmologies around or created symbolic connections to places in the landscape. However, there are a multitude of ways in which archaeologists approach the creation, maintenance, and transformation of human-landscape interrelationships. This paper explores some of these approaches for reconstructing the Epipalaeolithic (ca. 23,000–11,500 years BP) landscape of Southwest Asia, using macro- and microscale geoarchaeological approaches to examine how everyday practices leave traces of human-landscape interactions in northern and eastern Jordan. The case studies presented here demonstrate that these Epipalaeolithic groups engaged in complex and far-reaching social landscapes. Examination of the Early and Middle Epipalaeolithic (EP) highlights that the notion of “Neolithization” is somewhat misleading as many of the features we use to define this transition were already well-established patterns of behavior by the Neolithic. Instead, these features and practices were enacted within a hunter-gatherer world and worldview