Analysis and modeling of sensors and actuators of LEGO Mindstorm

Tato práce se zabývá podrobnou analýzou a modelováním vybraných sensorů a aktuátorů programovatelné robotické stavebnice LEGO Mindstorms NXT 2.0. Aktuátory jsou zastoupeny servomotory a mezi vybrané sensory patří barevný a ultrazvukový sensor, oba dostupné v základní verzi stavebnice, a také sensor gyroskopický od firmy HiTechnic. Obsahem práce je realizace a vyhodnocení experimentů pro jednotlivé prvky a výsledkem jsou grafická znázornění vlastností sensorů, modely v prostředí Simulink reprezentující dané prvky a přehledy parametrů a vlastností jednotlivých sensorů a aktuátorů. Detailní analýza sensorů a servomotorů stavebnice poskytuje přehled o možnostech, ale i omezeních jednotlivých prvků. Tyto znalosti mohou být poté využity pro široké spektrum možných aplikací stavebnice.The focus of this thesis is a detailed analysis and modeling of selected sensors and actuators of programmable robotic kit LEGO Mindstorms NXT 2.0. Actuators are represented by servomotors and the selected sensors include a color and an ultrasonic sensor, both available in the basic version of the kit, and a gyro sensor made by HiTechnic. The thesis describes the realization and evaluation of experiments performed for each element resulting in graphical representations of the sensors’ properties, models in Simulink environment representing the respective elements, and datasheets – overviews of parameters and characteristics of the individual sensors and actuators. The detailed analysis of the sensors and servomotors of the kit provides an overview of the possibilities, but also the limitations of the particular elements. This knowledge can be subsequently used for a wide range of possible applications of the kit.

Development potential of tourism in a selected peripheral area

This master thesis examines the possibilities of tourism development in selected peripheral area. Specifically, it includes areas of Kralovicko, Manětínsko, Žluticko, Jesenicko and Podbořansko. It is an inner periphery, which territory is administratively divided into four different regions. The possibilities of tourism development are discussed on the basis of analysis of localization and realization requirements and on the basis of interviews with actors, who are directly or marginally involved in tourism in the surveyed area. The thesis is complemented by map outputs and tables. The main findings of this thesis are that the surveyed area has suitable localization requirements for the development of tourism on regional or national level. Except of public transport, the realization requirements are also on a good level. However, in some cases would be appropriate additional research. It is clear from the interviews that the surveyed area is facing a number of problems. Due to that, current potential of tourism existing in this area is not sufficiently used. Better promotion of the territory regardless of regional borders, which would require deeper cooperation between individual actors, seems to be a possible solution. Key words: tourism, potential, development, periphery, countrysideDiplomová práce zkoumá možnosti rozvoje cestovního ruchu ve vybraném periferním území. Konkrétně se jedná o oblasti Kralovicka, Manětínska, Žluticka, Jesenicka a Podbořanska. Jedná se o vnitřní periferii, jejíž území je administrativně rozděleno do čtyř různých krajů. Možnosti rozvoje cestovního ruchu jsou diskutovány na základě provedené analýzy lokalizačních a realizačních předpokladů a na základě rozhovorů s aktéry, kteří v oblasti cestovního ruchu přímo nebo okrajově v rámci zkoumaného území působí. Text práce je doplněn o mapové výstupy a tabulky. Hlavními poznatky práce je, že zkoumané území má vhodné lokalizační předpoklady pro rozvoj cestovního ruchu na regionální, případně národní úrovni. Realizační předpoklady jsou dle výzkumu s výjimkou veřejné dopravy také na dobré úrovni. V některých případech by byl ale vhodný doplňující výzkum. Z rozhovorů je patrné, že zkoumané území se potýká s řadou problémů, díky kterým není existující potenciál pro cestovní ruch v současnosti dostatečně využitý. Jako možnost řešení se jeví lepší propagace území bez ohledu na krajské hranice, ke které by byla zapotřebí hlubší spolupráce mezi jednotlivými aktéry. Klíčová slova: cestovní ruch, potenciál, rozvoj, periferie, venkovDepartment of Social Geography and Regional Develop.Katedra sociální geografie a region. rozvojePřírodovědecká fakultaFaculty of Scienc

Inspiration by comics creation. Suspensions textiles and mini attire collection

katedra: KDE; přílohy: 1 CD; rozsah: 26 s., 20 s. obr. příloh.Komiks coby literární žánr informuje čtenáře nejen textem,svoji významnou a nezaměnitelnou roli zde tvoří i grafická podoba, která často převažuje a propůjčuje příběhu nezaměnitelnou atmosféru. Literatura plná barev a různorodých tvarů jistě potěší každého čtenáře. K realizaci projektu byl využit digitální sublimační tisk na textil s dalším použitím v oděvní kolekci.Comics as kind of literatures is informing reader not only by texts, important and unmistakeable part composes graphic form, that often predominates and is imparting unmistakeable feelings to stories. Literature full of colours and various shapes must delight and open fantasy of each of readers. For realization design was used digital sublime print on textile with other application in attire collection

Microstructure, Microhardness, and Wear Properties of Cobalt Alloy Electrodes Coated with TiO2 Nanoparticles

In this paper, the influence of TiO2 nanoparticle coating on cobalt-based electrodes was studied. Different coating treatment times were applied, and the results were compared to the hard-faced layer obtained with unmodified electrodes. The hard facing was done in three layers, the first being a Ni-based interlayer, followed by two layers of corrosion and wear-resistant Co-based Stellite 6 alloy. Pin-on-disc wear testing was applied, along with the metallographic study and hardness measurements of the hard-faced layers. Furthermore, energy-dispersive X-ray spectroscopy (EDS) analysis was conducted. It was found that the microstructural properties, as well as microhardness profiles, are modified in hard-faced layers obtained with modified electrodes. Interdendritic distances are altered, as are the dendrite growth directions. Titanium oxides are formed, which, along with the present complex carbides, increase the wear resistance of the hard-faced layers compared to layers obtained with untreated electrodes

Binary asteroid (31) Euphrosyne: ice-rich and nearly spherical

Aims. Asteroid (31) Euphrosyne is one of the biggest objects in the asteroid main belt and it is also the largest member of its namesake family. The Euphrosyne family occupies a highly inclined region in the outer main belt and contains a remarkably large number of members, which is interpreted as an outcome of a disruptive cratering event. Methods. The goals of this adaptive-optics imaging study are threefold: to characterize the shape of Euphrosyne, to constrain its density, and to search for the large craters that may be associated with the family formation event. Results. We obtained disk-resolved images of Euphrosyne using SPHERE/ZIMPOL at the ESO 8.2 m VLT as part of our large program (ID: 199.C-0074, PI: Vernazza). We reconstructed its 3D shape via the ADAM shape modeling algorithm based on the SPHERE images and the available light curves of this asteroid. We analyzed the dynamics of the satellite with the Genoid meta-heuristic algorithm. Finally, we studied the shape of Euphrosyne using hydrostatic equilibrium models. Conclusions. Our SPHERE observations show that Euphrosyne has a nearly spherical shape with the sphericity index of 0.9888 and its surface lacks large impact craters. Euphrosyne’s diameter is 268 ± 6 km, making it one of the top ten largest main belt asteroids. We detected a satellite of Euphrosyne – S/2019 (31) 1 – that is about 4 km across, on a circular orbit. The mass determined from the orbit of the satellite together with the volume computed from the shape model imply a density of 1665 ± 242 kg m−3, suggesting that Euphrosyne probably contains a large fraction of water ice in its interior. We find that the spherical shape of Euphrosyne is a result of the reaccumulation process following the impact, as in the case of (10) Hygiea. However, our shape analysis reveals that, contrary to Hygiea, the axis ratios of Euphrosyne significantly differ from those suggested by fluid hydrostatic equilibrium following reaccumulation.This work has been supported by the Czech Science Foundation through grant 18-09470S (J. Hanuš, O. Chrenko, P. Ševeček) and by the Charles University Research program No. UNCE/SCI/023. M.B. was supported by the Czech Science Foundation grant 18-04514J. Computational resources were supplied by the Ministry of Education, Youth and Sports of the Czech Republic under the projects CESNET (LM2015042) and IT4Innovations National Supercomputing Centre (LM2015070). P. Vernazza, A. Drouard, M. Ferrais and B. Carry were supported by CNRS/INSU/PNP. M.M. was supported by the National Aeronautics and Space Administration under grant No. 80NSSC18K0849 issued through the Planetary Astronomy Program. The work of TSR was carried out through grant APOSTD/2019/046 by Generalitat Valenciana (Spain). This work was supported by the MINECO (Spanish Ministry of Economy) through grant RTI2018-095076-B-C21 (MINECO/FEDER, UE). The research leading to these results has received funding from the ARC grant for Concerted Research Actions, financed by the Wallonia-Brussels Federation. TRAPPIST is a project funded by the Belgian Fonds (National) de la Recherche Scientifique (F.R.S.-FNRS) under grant FRFC 2.5.594.09.F. TRAPPIST-North is a project funded by the Université de Liège, and performed in collaboration with Cadi Ayyad University of Marrakesh. E. Jehin is a FNRS Senior Research Associate

A basin-free spherical shape as an outcome of a giant impact on asteroid Hygiea

(10) Hygiea is the fourth largest main belt asteroid and the only known asteroid whose surface composition appears similar to that of the dwarf planet (1) Ceres1,2, suggesting a similar origin for these two objects. Hygiea suffered a giant impact more than 2 Gyr ago3 that is at the origin of one of the largest asteroid families. However, Hygeia has never been observed with sufficiently high resolution to resolve the details of its surface or to constrain its size and shape. Here, we report high-angular-resolution imaging observations of Hygiea with the VLT/SPHERE instrument (~20 mas at 600 nm) that reveal a basin-free nearly spherical shape with a volume-equivalent radius of 217 ± 7 km, implying a density of 1,944 ± 250 kg m−3 to 1σ. In addition, we have determined a new rotation period for Hygiea of ~13.8 h, which is half the currently accepted value. Numerical simulations of the family-forming event show that Hygiea’s spherical shape and family can be explained by a collision with a large projectile (diameter ~75–150 km). By comparing Hygiea’s sphericity with that of other Solar System objects, it appears that Hygiea is nearly as spherical as Ceres, opening up the possibility for this object to be reclassified as a dwarf planet.P.V., A.D. and B.C. were supported by CNRS/INSU/PNP. M.Brož was supported by grant 18-04514J of the Czech Science Foundation. J.H. and J.D. were supported by grant 18-09470S of the Czech Science Foundation and by the Charles University Research Programme no. UNCE/SCI/023. This project has received funding from the European Union’s Horizon 2020 research and innovation programmes under grant agreement nos 730890 and 687378. This material reflects only the authors’ views, and the European Commission is not liable for any use that may be made of the information contained herein. TRAPPIST-North is a project funded by the University of Liège, in collaboration with Cadi Ayyad University of Marrakech (Morocco). TRAPPIST-South is a project funded by the Belgian Fonds (National) de la Recherche Scientifique (F.R.S.-FNRS) under grant FRFC 2.5.594.09.F. E.J. and M.G. are F.R.S.-FNRS Senior Research Associates

Plasma polymers as targets for laser-driven proton-boron fusion

Laser-driven proton-boron (pB) fusion has been gaining significant interest for energetic alpha particles production because of its neutron-less nature. This approach requires the use of B- and H-rich materials as targets, and common practice is the use of BN and conventional polymers. In this work, we chose plasma-assisted vapour phase deposition to prepare films of oligoethylenes (plasma polymers) on Boron Nitride BN substrates as an advanced alternative. The r.f. power delivered to the plasma was varied between 0 and 50 W to produce coatings with different crosslink density and hydrogen content, while maintaining the constant thickness of 1 μm. The chemical composition, including the hydrogen concentration, was investigated using XPS and RBS/ERDA, whereas the surface topography was analyzed using SEM and AFM. We triggered the pB nuclear fusion reaction focusing laser pulses from two different systems (i.e., the TARANIS multi-TW laser at the Queen’s University Belfast (United Kingdom) and the PERLA B 10-GW laser system at the HiLASE center in Prague (Czech Republic)) directly onto these targets. We achieved a yield up to 108 and 104 alpha particles/sr using the TARANIS and PERLA B lasers, respectively. Radiative-hydrodynamic and particle-in-cell PIC simulations were performed to understand the laser-target interaction and retrieve the energy spectra of the protons. The nuclear collisional algorithm implemented in the WarpX PIC code was used to identify the region where pB fusion occurs. Taken together, the results suggest a complex relationship between the hydrogen content, target morphology, and structure of the plasma polymer, which play a crucial role in laser absorption, target expansion, proton acceleration and ultimately nuclear fusion reactions in the plasma

The 2018 European heatwave led to stem dehydration but not to consistent growth reductions in forests

Publisher Copyright: © 2022, The Author(s).Heatwaves exert disproportionately strong and sometimes irreversible impacts on forest ecosystems. These impacts remain poorly understood at the tree and species level and across large spatial scales. Here, we investigate the effects of the record-breaking 2018 European heatwave on tree growth and tree water status using a collection of high-temporal resolution dendrometer data from 21 species across 53 sites. Relative to the two preceding years, annual stem growth was not consistently reduced by the 2018 heatwave but stems experienced twice the temporary shrinkage due to depletion of water reserves. Conifer species were less capable of rehydrating overnight than broadleaves across gradients of soil and atmospheric drought, suggesting less resilience toward transient stress. In particular, Norway spruce and Scots pine experienced extensive stem dehydration. Our high-resolution dendrometer network was suitable to disentangle the effects of a severe heatwave on tree growth and desiccation at large-spatial scales in situ, and provided insights on which species may be more vulnerable to climate extremes.Peer reviewe

Jihokorejská kulturní specifika

This dissertation wants to introduce to the reader the culture specifics of South Korea and their influence on communication with Czech who live in Korea. The reader can find here a basic data about South Korea. Next part introduce some elementary differences in thinking between people from western and eastern civilization circles. There are also mentioned problems which are problems in communication. Last part of the work is focused on Czech Buddhist monks in Korean temples. In order to fully understand this part, it comes with a documentary film which looks differently on this issue