Autonomous robotic wheelchairs based on visual guidance have been devoted to road edge detection. However, the after-detection process, especially the physical interpretation of what had been detected, needs more investigation. There is a wide gap between the scene model based on image processing algorithms and the physical model of the environment where the robotic wheelchair progresses. The aim of this paper is to investigate the interaction between the scene model and the world model; and also a visual control scheme for robot guidance that minimizes the model error induced by processing raw image data is proposed. This solution is developed based on a fuzzy control system, which uses the knowledge base information and the scene model to control the robot motion. On the other hand, the fuzzy control system is finely tuned by feed-backing the mean square errors between the scene model parameters and the knowledge-base data. Finally, the fuzzy controller uses results of these calculations to home the robot on the planned path. This paper also shows the principle of this system and the simulation results confirming the feasibility of the approach.
The aim of this study is development of biomechanical model of the thorax by the creation of the new factual model of this part of human’s body through the medium of hexahedral grid. The whole model is based on the Finite element method and it has been generated with respect to the real anatomical human data, since the photographs of Visible Human Project have been used for the determination of the spatial arrangement of individual organs. The material properties and contacts have been implemented into the model for the completion of the spatial arrangement and for the completion of the model. The Kroell test has been applied for the validation of the thoracic model. The thoracic injury criteria can be determined from the results of the Kroell test. These injury criteria play considerable role during the accidents. One of these injury criteria is just chest defíection, which has-been investigated during the Kroell test. The validated model will be utilized for the simulation of the vehicle crash situations and for the observation of motion of thoracic organs during the impact. The created model is of great scientific importance since the model is much closer to the biological reality. and Obsahuje seznam literatury
Systolic blood pressure (SBP) changes control the cardiac interbeat intervals (IBI) duration via baroreflex. Conversely, SBP is influenced by IBI via non- baroreflex mechanisms. Both causal pathways (feedback - baroreflex and feedforward - non- baroreflex) form a closed loop of the SBP- IBI interaction. The aim of this study was to assess the age -related changes in the IBI - SBP interaction. We have non -invasively recorded resting beat -to- beat SBP and IBI in 335 healthy subjects of different age, ranging from 11 to 23 years. Using a linear autoregressive bivariate model we obtained gain (Gain SBP,IBI, used traditionally as baroreflex sensitivity) and coherence (CohSBP,IBI) of the SBP-IBI interaction and causal gain and coherence in baroreflex (Gain SBP → IBI , Coh SBP → IBI ) and coherence in non- baroreflex (CohIBI→SBP) directions separately. A non -linear approach was used for causal coupling indices evaluation (C SBP → IBI , C IBI → SBP ) quantifying the amount of information transferred between signals. We performed a correlation to age analysis of a ll measures. CohIBI→SBP and CIBI→SBP were higher than CohSBP→IBI and CSBP→IBI, respectively. Gain SBP,IBI increased and Coh SBP → IBI decreased with age. The coupling indices did not correlate with age. We conclude that the feedforward influence dominated at rest. The increase of Gain SBP,IBI with age was not found in the closed loop model. A decrease of Coh SBP → IBI could be related to a change in the cardiovascular control system complexity during maturation., J. Svačinová, M. Javorka, Z. Nováková, E. Závodná, B. Czippelová, N. Honzíková., and Obsahuje bibliografii
Elevated temperature inhibited the accumulation of chlorophyll and photosynthetic proteins, and the development of photochemical activity, however, carotenoids continued to accumulate. Signal transduction pathway involved in protochlorophyllide oxidoreductase was unaffected by elevated temperature of 38°C. Two-dimensional gel electrophoresis of stroma proteins showed similar patterns in the dark-grown seedlings and seedlings irradiated at elevated temperature, although some low molecular mass proteins accumulated at 38°C. In contrast, seedlings irradiated at 25°C showed complex pattern of proteins. Hence the development of chloroplast and its associated functions during irradiation of etiolated seedlings are inhibited by elevated temperature. and A. K. Singh, G. S. Singhal.
Nowadays we can commonly encounter with revitalizations of an original HPPs which were earlier fitted with Francis turbines. They were often placed to the locations with low head and higher discharge, which means high specific speed (ns > 400). Generally it is quite complex to design Francis turbines for such high specific speed. These very old turbines usually have lower efficiency due to the earlier limited possibilities of hydraulic design. An exchange of a water turbine with another type can be quite expensive and therefore it can be more suitable to change only an old runner for a new one. In this article the design process of high specific speed turbine ns = 430 is described. Optimization was done as the full-automatic cycle and was based on a simplex optimization method as well as on a genetic algorithm. For the parameterization of the runner blade, the BladeGen software was used and CFD (Computational Fluid Dynamics) analysis was run in Ansys CFX v.14 software. The final shape runner blade was reached after computing about 1000 variants, which lasted about 250 computational hours. and Obsahuje seznam literatury
Models were developed to estimate nondestructively chlorophyll (Chl) content per unit of leaf area (Chlarea) and nitrogen content per unit of leaf area (Narea) using readings of two optical meters for five warm-temperate, evergreen, broadleaved tree species (Castanopsis sieboldii, Cinnamomum tenuifolium, Eurya japonica, Machilus thunbergii, and Neolitsea sericea). It was determined whether models should be adjusted seasonally. Readings (were obtained six times during a year period and Chlarea and Narea were determined using destructive methods. Bayesian inference was used to estimate parameters of models that related optical meter readings to Chlarea or Narea for each species. Deviance information criterion values were used to select the best among models, including the models with seasonal adjustment. The selected models were species-specific and predicted Chlarea accurately (R2 = 0.93-0.96). The best model included parameters with seasonal adjustments for one out of five species. Model-based estimates of Narea were not as accurate as those for Chlarea, but they were still adequate (R2 = 0.64-0.82). For all species studied, the best models did not include parameters with seasonal adjustments. The estimation methods used in this study were rapid and nondestructive; thus, they could be used to assess a function of many leaves and/or repeatedly on individual leaves in the field. and D. Mizusaki, K. Umeki, T. Honjo.
Chlorophyll (Chl) a fluorescence transient and 820-nm transmission kinetic were investigated to explore the development of photosynthetic apparatus in grapevine leaves from emergence to full expansion. In this study, all leaves at various developing stages exhibited typical Chl a fluorescence transient. In newly initiating leaves, the maximum quantum yield of primary photochemistry (ϕP0) was slightly lower (<10 %) than that in fully expanded leaves. Nevertheless, the fluorescence rise from O to J step was clearly speeded up in young leaves compared with that in fully expanded leaves. Additionally, a distinct K step appeared in young leaves at high irradiances. With leaf development, the efficiency that a trapped exciton can move an electron into the electron transport chain further than QA - (Ψ0), the quantum yield of electron transport beyond QA (ϕE0), electron transport flux per excited cross section (ET0/CS0), the amount of active photosystem (PS) 2 reaction centres per excited cross section (RC/CS0), and the performance index on cross section basis (PICS) increased gradually and rapidly. Young leaves had strikingly lower amplitude of transmission at 820 nm. A linear relationship between Ψ0 and the transmission at 820 nm (I30/I0) was evident. Based on these data, we suggest that (1) the primary photochemistry of PS2 may be not the limiting step of the photosynthetic capacity during leaf growth under natural irradiance; (2) oxygen evolving complex (OEC) might be not fully connected to PS2 at the beginning of leaf growth; (3) though there are a few functional PS1 and PS2 at the early stages of leaf development, they match perfectly. and C.-D. Jiang ... [et al.].
This study presents data about the effect of parent material on the intensity of processes that lead to the formation of a cambic subsurface horizon. The study was performed in the Voděradské bučiny National Nature Reserve with granite bedrock and in Humpolec with paragneiss bedrock. Representative soil profiles in the southeastern part of Bohemia were characterised on a macroscale level based on macromorphological description, particle size distribution, chemical, physical and soil organic matter properties. On the basis of the values of organic carbon and bulk density, the stock of soil organic matter was calculated in the upper 25 cm of soils. A more detailed characteristic of soil cover employed micromorphological and X-ray diffraction analyses. The results revealed differences in the formation of the cambic horizon on different types of parent material. The main soil forming process responsible for the cambic horizon is more intensive at localities with paragneiss bedrock., Anna Žigová, Martin Šťastný and Radka Kodešová., and Obsahuje bibliografii
The development of the nematode Spinitectus inermis (Zeder, 1800), a parasite of the stomach of eels, Anguilla anguilla (L.) in Europe, was experimentally studied. Mayfly nymphs Caenis macrura, Ecdyonurus dispar, Heptagenia sulphurea, Potamanthus luteus and Seratella ignita from Portugal and the Czech Republic were found to serve as experimental intermediate hosts. After ingestion of the nematode eggs by the mayfly nymphs, the toothed first-stage larvae were released and penetrated into the body cavity of the intermediate host. There they moulted twice (on day 4 and 6 post infection [p.i.] at water temperatures of 20-25°C), attaining the third infective stage. The definitive host, A. anguilla, undoubtedly acquires infection by feeding on mayfly nymphs harbouring infective-stage larvae. In an experimentally infected eel, the fourth-stage larva undergoing the third moult was observed 28 days p.i. at water temperature of 20ºC. The larval stages, including moulting forms, are described and illustrated. The prepatent period of S. inermis is estimated to be about two months.
The 'Debrecen Photoheliographlc Results’ beginnlng with the year 1977 gives various kinds of posltion and area data of sunspots dally for a single moment, includlng all spot groups vlsible at least
on two days.In addition, thls catalogue also indicates tlie magnetlc spot polarities and for each sunspot, wherever reasonable, a special number as a mark of Identification. By these means special features of the spot activity of 1977 have been studied. So, diverse spot distributions and the principal spot motions within the groups, as well as the local solar rotatlon in several regions of spot groups by means of tracers of spot positions have been determlned. The most important characteristlcs found are presented.