Visualisation of Path-Finding for Robot

Tato bakalářská práce pojednává o pravděpodobnostních algoritmech pro hledání cesty robota. Obsahuje teoretický popis pravděpodobnostních algoritmů včetně diskuze nad implementačními detaily, přibližuje jejich využití a popisuje jednotlivé algoritmy - PRM, EST, RRT a SRT včetně jejich dalších modifikací. Součástí práce jsou java applety znázorňující vybrané algoritmy a také webové stránky věnované této problematice.This thesis deals with sampling-based algorithms for robot path planning. Theoretical principles of probabilistic path finding and its implementation details are discussed here. The second part focuses on individual algorithms - PRM, EST, RRT and SRT and its modifications. Java applets for visualisation of algorithms and web pages related with sampling-based algorithms are included on the CD.

Local brassinosteroid biosynthesis enables optimal root growth

Brassinosteroid hormones are indispensable for root growth and they control both cell division and cell elongation through the establishment of an increasing signaling gradient along the longitudinal root axis. Because of their limited mobility, the importance of brassinosteroid distribution for achieving the signaling maximum is largely overlooked. Expression pattern analysis of all known brassinosteroid biosynthetic enzymes revealed that not all cells in the Arabidopsis thaliana root possess full biosynthetic machinery and completion of biosynthesis relies on cell-to-cell movement of the hormone precursors. We demonstrate that brassinosteroid biosynthesis is largely restricted to the root elongation zone where it overlaps with brassinosteroid signaling maxima. Moreover, optimal root growth requires hormone concentrations, low in the meristem and high in the root elongation zone attributable to an increased biosynthesis. Our finding that spatiotemporal regulation of hormone synthesis results in a local hormone accumulation provides a paradigm for hormone-driven organ growth in the absence of long-distance hormone transport in plants

Preparation of Lupane and 18alfa-Oleanane Triterpenoids for Biological Testing

l5 a a T T t t t a a t a a EI a a T a a Er Er t Er t t a a a n a e a a a e ó. CoNCLtiSIoN IN CZECH I,ANGUAGE 6. CONCLUSION IN CZECIJ LANGUAGE Tato práce se zabývá syntézou nových triterpenoidů, jmenovitě výše oxidovaných 18cr- oleananových derivátu, jejich redukovaných produktů nebo produktůs heteroatomy, např. fluo- rem, dusíkem, sírou nebo fosforem. Velká část práce byla věnována reakcím lupanových a 18cr- oleananových triterpenoidů s Lawessonovým ěinidlem, kterými byly připraveny různésirné deriváty' 1.Byly syntetizovány výšeoxidované l8cr.oleananové deriváty převážně na A-kruhu. K těmto oxidaěním reakcím byly vyuŽity činidla jako MCPBA, Seo, nebo kyselina pe- roxyoctová ve formě persterilu. Pomocí in situ připraveného Ruo,, byla připravena série sekoderivátů. Velká část tétokapitoly byla publikovénav odborné literatuře.2a 2. Z nékteých oxidovaných derivátů (e.g.2,3, 13, 18) byla připravena reakcemi s LiAlHo nebo NaBHo sériel8cr.oleananových alkoholů (e.g. 15, I6a, 1'6b, 19,20,22). 3. Byly zkoušeny reakce některých ketonů (e.g. 3) s fluoračníměinidlem DAST pro přípravu nových fluorovaných derivátů (e,g. 24,25). Stejnéketony byly využity pro pokusné reakce s ethandithiolem pro přípravu dithiolanových derivátů (e.g. 26). Diketon 3 byl taképoužit pro syntézu několika dusíkatých derivátů. Příprava pyrazinu...T =t a a !r a a a t I a a a - - 5. CONCLUSION 5. CONCLUSION This work was focused on the synthesis of new triterpenoids - named highly oxidized derivatives of 18o-oleanane, their reductive products or products with heteroatoms, for example fluorine, nitrogen, suflur or phosphorus. Part of this thesis was focused on reactions of lupane and I 8cr-oleanane triterpenoids with Lawesson's reagent. l. Highly oxidized l8cr-oleanane derivatives were synthesised, in particular on A-ring. Commercially available reagents were used for these oxidations: MCPBA, SeOr or pero- xyacetic acid (as a persteril). A group of seco derivatives was prepared by reactions with in situ prepared RuOo. A great deal of this section has been already published in scienti- fic journal.2a 2. Agroup of 18ct-oleanane alcohols (e.g. L5,16a,16b, 19, 20,22) was prepared from some oxidized derivatives (e.g.2,3, 13, L8) by reactions with LiAlHo or NaBI{.. 3. Reactions of some ketones were carried out (e.g. 3) with fluorinating agent DAST for preparation of new fluorous derivatives (e.g. 24,25). The same ketones reacted with ethanedithiol to afford new dithiolanes (e.g. 26). Diketone 3 was'also used for synhesis of several nitrogen containing derivatives. Preparation of pyrazine 27 and quinoxaline 28 has been already published in scientific...Katedra organické chemieDepartment of Organic ChemistryPřírodovědecká fakultaFaculty of Scienc

Preparation of Lupane and 18alfa-Oleanane Triterpenoids for Biological Testing

T =t a a !r a a a t I a a a - - 5. CONCLUSION 5. CONCLUSION This work was focused on the synthesis of new triterpenoids - named highly oxidized derivatives of 18o-oleanane, their reductive products or products with heteroatoms, for example fluorine, nitrogen, suflur or phosphorus. Part of this thesis was focused on reactions of lupane and I 8cr-oleanane triterpenoids with Lawesson's reagent. l. Highly oxidized l8cr-oleanane derivatives were synthesised, in particular on A-ring. Commercially available reagents were used for these oxidations: MCPBA, SeOr or pero- xyacetic acid (as a persteril). A group of seco derivatives was prepared by reactions with in situ prepared RuOo. A great deal of this section has been already published in scienti- fic journal.2a 2. Agroup of 18ct-oleanane alcohols (e.g. L5,16a,16b, 19, 20,22) was prepared from some oxidized derivatives (e.g.2,3, 13, L8) by reactions with LiAlHo or NaBI{.. 3. Reactions of some ketones were carried out (e.g. 3) with fluorinating agent DAST for preparation of new fluorous derivatives (e.g. 24,25). The same ketones reacted with ethanedithiol to afford new dithiolanes (e.g. 26). Diketone 3 was'also used for synhesis of several nitrogen containing derivatives. Preparation of pyrazine 27 and quinoxaline 28 has been already published in scientific..

Stabilizing Polynomial Approximation of Explicit MPC

A given explicit piecewise affine representation of an MPC feedback law is approximated by a single polynomial, computed using linear programming. This polynomial state feedback control law guarantees closed-loop stability and constraint satisfaction. The polynomial feedback can be implemented in real time even on very simple devices with severe limitations on memory storage.Funding Agencies|Scientific Grant Agency of the Slovak Republic|1/0079/091/0095/11|Slovak Research and Development Agency|W-0029-07LPP-0092-07|</p

Stabilizing Polynomial Approximation of Explicit MPC

A given explicit piecewise affine representation of an MPC feedback law is approximated by a single polynomial, computed using linear programming. This polynomial state feedback control law guarantees closed-loop stability and constraint satisfaction. The polynomial feedback can be implemented in real time even on very simple devices with severe limitations on memory storage.Funding Agencies|Scientific Grant Agency of the Slovak Republic|1/0079/091/0095/11|Slovak Research and Development Agency|W-0029-07LPP-0092-07|</p