High-lift system of the competition model aircraft

Bakalářská práce je zaměřena na sestavení přehledu vztlakové mechanizace, a to jak na náběžných, tak i odtokových hranách, používané na modelech letadel a bezpilotních prostředcích. Stručně vysvětluje jejich princip a funkce. Popisuje postup výpočtu návrhového letového režimu pro soutěžní letoun podle specifikací soutěže Air Cargo Challenge.This Bachelor thesis is focused on compiling a summary of lift mechanization, at both the leading and the trailing edges used on plane models and unmanned means of transport. It briefly explains their principles and functions. It describes the method of calculation of the flight mode design of the competing aircraft according to the specifications of the Air Cargo Challenge competition.

Sanitation installation in historic building

Diplomová práce se zabývá zdravotně technickými instalacemi v historické budově. Teoretická část se po analýze tématu věnuje problematice odvádění odpadních vod z objektu a podzemních podlaží. Dále se jsou zpracovány teoretická řešení zdravotně technických instalací a zpracovány varianty. Vhodnější z variant je nakonec dopracována v podrobnostech prováděcího projektu.This Master’s thesis deals with sanitation installation in historic building. The theoretical part of the topic analysis deals with the issue waste water discharge from the building and ground floor. Furthermore, the theoretical solutions are processed sanitation installation and variants of it. Preferable variant is finalized the details of the implementation of the project.

Trapping of null geodesics in slowly rotating spacetimes

Extremely compact objects containing a region of trapped null geodesics could be of astrophysical relevance due to trapping of neutrinos with consequent impact on cooling processes or trapping of gravitational waves. These objects have previously been studied under the assumption of spherical symmetry. In the present paper, we consider a simple generalization by studying trapping of null geodesics in the framework of the Hartle-Thorne slow-rotation approximation taken to first order in the angular velocity, and considering a uniform-density object with uniform emissivity for the null geodesics. We calculate effective potentials and escape cones for the null geodesics and how they depend on the parameters of the spacetimes, and also calculate the "local" and "global" coefficients of efficiency for the trapping. We demonstrate that due to the rotation the trapping efficiency is different for co-rotating and retrograde null geodesics, and that trapping can occur even for $R>3GM/c^2$, contrary to what happens in the absence of rotation

Human extraintestinal pathogenic Escherichia coli strains differ in prevalence of virulence factors, phylogroups, and bacteriocin determinants

Table S4. Differences in the distribution of virulence factors, E. coli phylogroups, bacteriocin production, and bacteriocin determinants between subgroups of ExPEC strains and fecal strains. (XLSX 14 kb

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and aggressive maneuvers, and the other for stable and smooth flight with a noisy state estimate. The proposed control and estimation pipeline are constructed without using the Euler/Tait-Bryan angle representation of orientation in 3D. Instead, we rely on rotation matrices and a novel heading-based convention to represent the one free rotational degree-of-freedom in 3D of a standard multirotor helicopter. We provide an actively maintained and well-documented open-source implementation, including realistic simulation of UAV, sensors, and localization systems. The proposed system is the product of years of applied research on multi-robot systems, aerial swarms, aerial manipulation, motion planning, and remote sensing. All our results have been supported by real-world system deployment that shaped the system into the form presented here. In addition, the system was utilized during the participation of our team from the CTU in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions, and also in the DARPA SubT challenge. Each time, our team was able to secure top places among the best competitors from all over the world. On each occasion, the challenges has motivated the team to improve the system and to gain a great amount of high-quality experience within tight deadlines.Comment: 28 pages, 20 figures, submitted to Journal of Intelligent & Robotic Systems (JINT), for the provided open-source software see http://github.com/ctu-mr

On the kinematic age of brown dwarfs: Radial velocities and space motions of 43 nearby L dwarfs

We present radial velocity measurements of a sample of L0-L8 dwarfs observed with VLT/UVES and Keck/HIRES. We combine these measurements with distance and proper motion from the literature to determine space motions for 43 of our targets. We identify nine candidate members of young moving groups, which have ages of 50-600 Myr according to their space motion. From the total velocity dispersion of the 43 L dwarfs, we calculate a kinematic age of ~5 Gyr for our sample. This age is significantly higher than the ~3 Gyr age known for late M dwarfs in the solar neighbourhood. We find that the distributions of the U and V velocity components of our sample are clearly non-Gaussian, placing the age estimate inferred from the full space motion vector into question. The W-component exhibits a distribution more consistent with a normal distribution, and from W alone we derive an age of ~3 Gyr, which is the same age found for late-M dwarf samples. Our brightness-limited sample is probably contaminated by a number of outliers that predominantly bias the U and V velocity components. The origin of the outliers remain unclear, but we suggest that these brown dwarfs may have gained their high velocities by means of ejection from multiple systems during their formation.Comment: 8 pages, accepted for publication in A&

Dynamical Mass Constraints on Low-Mass Pre-Main-Sequence Stellar Evolutionary Tracks: An Eclipsing Binary in Orion with a 1.0 Msun Primary and an 0.7 Msun Secondary

We report the discovery of a double-lined, spectroscopic, eclipsing binary in the Orion star-forming region. We analyze the system spectroscopically and photometrically to empirically determine precise, distance-independent masses, radii, effective temperatures, and luminosities for both components. The measured masses for the primary and secondary, accurate to ~1%, are 1.01 Msun and 0.73 Msun, respectively; thus the primary is a definitive pre-main-sequence solar analog, and the secondary is the lowest-mass star yet discovered among pre-main-sequence eclipsing binary systems. We use these fundamental measurements to test the predictions of pre-main-sequence stellar evolutionary tracks. None of the models we examined correctly predict the masses of the two components simultaneously, and we implicate differences between the theoretical and empirical effective temperature scales for this failing. All of the models predict the observed slope of the mass-radius relationship reasonably well, though the observations tend to favor models with low convection efficiencies. Indeed, considering our newly determined mass measurements together with other dynamical mass measurements of pre-main-sequence stars in the literature, as well as measurements of Li abundances in these stars, we show that the data strongly favor evolutionary models with inefficient convection in the stellar interior, even though such models cannot reproduce the properties of the present-day Sun.Comment: Accepted by Ap

New H2 collision-induced absorption and NH3 opacity and the spectra of the coolest brown dwarfs

We present new cloudy and cloudless model atmospheres for brown dwarfs using recent ab initio calculations of the line list of ammonia (NH3) and of the collision-induced absorption of molecular hydrogen (H2). We compare the new synthetic spectra with models based on an earlier description of the H2 and NH3 opacities. We find a significant improvement in fitting the nearly complete spectral energy distribution of the T7p dwarf Gliese 570D and in near infrared color-magnitude diagrams of field brown dwarfs. We apply these new models to the identification of NH3 absorption in the H band peak of very late T dwarfs and the new Y dwarfs and discuss the observed trend in the NH3-H spectral index. The new NH3 line list also allows a detailed study of the medium resolution spectrum of the T9/T10 dwarf UGPS J072227.51-054031.2 where we identify several specific features caused by NH3.Comment: 37 pages, 13 figures. Accepted for publication in the Astrophysical

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.Comment: 49 pages, 39 figures, accepted for publication to the Journal of Intelligent & Robotic System

Interactions between visual and semantic processing during object recognition revealed by modulatory effects of age of acquisition

The age of acquisition (AoA) of objects and their names is a powerful determinant of processing speed in adulthood, with early-acquired objects being recognized and named faster than late-acquired objects. Previous research using fMRI (Ellis et al., 2006. Traces of vocabulary acquisition in the brain: evidence from covert object naming. NeuroImage 33, 958–968) found that AoA modulated the strength of BOLD responses in both occipital and left anterior temporal cortex during object naming. We used magnetoencephalography (MEG) to explore in more detail the nature of the influence of AoA on activity in those two regions. Covert object naming recruited a network within the left hemisphere that is familiar from previous research, including visual, left occipito-temporal, anterior temporal and inferior frontal regions. Region of interest (ROI) analyses found that occipital cortex generated a rapid evoked response (~ 75–200 ms at 0–40 Hz) that peaked at 95 ms but was not modulated by AoA. That response was followed by a complex of later occipital responses that extended from ~ 300 to 850 ms and were stronger to early- than late-acquired items from ~ 325 to 675 ms at 10–20 Hz in the induced rather than the evoked component. Left anterior temporal cortex showed an evoked response that occurred significantly later than the first occipital response (~ 100–400 ms at 0–10 Hz with a peak at 191 ms) and was stronger to early- than late-acquired items from ~ 100 to 300 ms at 2–12 Hz. A later anterior temporal response from ~ 550 to 1050 ms at 5–20 Hz was not modulated by AoA. The results indicate that the initial analysis of object forms in visual cortex is not influenced by AoA. A fastforward sweep of activation from occipital and left anterior temporal cortex then results in stronger activation of semantic representations for early- than late-acquired objects. Top-down re-activation of occipital cortex by semantic representations is then greater for early than late acquired objects resulting in delayed modulation of the visual response