Dissertations / Theses on the topic 'KLT'

Here we initiate a systematic study of some of the symmetry properties of unimodular gravity, building on much of the known structure of general relativity, and utilizing the powerful technology developed in that context, such as the spinor helicity formal-ism. In particular, we show, up to five-points and tree-level, that the KLT relations of perturbative gravity hold for trace free or unimodular gravity. This work is in conjunction with a paper written with A. Welman, J. Murugan and G.F.R. Ellis (ARXIV: 1511.08517)

A computationally efficient, lossy, bandwidth compression scheme for hyperspectral imagery is presented. In certain cases, the direct application of the standard KLT algorithm over an entire data set is not practical. The data may be too large for efficient processing by one encoder and so portions of the entire data set may necessarily be sampled by different encoders. The algorithm proposed handles such a limitation by leveraging the standard JPEG 2000 technology. The component decorrelation of the JPEG 2000 (extension 2) is replaced with a two-stage Karhunen-Loeve Transformation (KLT) operation resulting in a reduction in the computational complexity. At the first stage the spectral data is partitioned into sets of adjacent spectral images, which are decorrelated independently of one another. At the second-stage inter-partition correlation is exploited by combining principle component images and performing a second set of KLT operations. It is shown that reconstructed image quality is improved by minimizing partition size at the first stage. The method is evaluated using the criteria of root-mean-square error as well as the performance of a terrain-classification algorithm. A relationship between partition size and minimal inter-partition decorrelation is also proposed and may act as a guide in the tuning of compression settings.

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The continuing demand for high performance and low cost electrocardiogram processing systems have required the elaboration of even more efficient and reliable ECG compression techniques. The objective of this work is to evaluate the performance of an electrocardiogram (ECG) compression algorithm based on independent components analysis (ICA). To each of the ECG signal we processed, using ICA, vectorial subspaces composed of its basis functions were obtained, for the signal can be expressed as a linear combination of them. The ECG signal was subdivided into m fixed length windows, and each of them was projected in the subspace, resulting in a vector w of coefficients for each window. A simple quantization process was performed over the m vectors w, according to defined levels of quantization, each one generating different levels of reconstruction error. It was observed that the storage of the coefficients implies the use of less space in memory in comparison to that one used by the corresponding windows of the electrocardiogram signal. The reconstruction error measure traditionally used, the percent root mean-square difference (PRD), was used into the evaluation of the algorithm. The results had been compared with those obtained using the Karhunen Lo´eve transform (KLT).
A demanda contınua de por sistemas de processamento de eletrocardiogramas de alto desempenho e baixo custo tem exigido a elaboração de técnicas de compressão de ECG cada vez mais eficientes e confiáveis. O objetivo deste trabalho é avaliar o desempenho de um algoritmo baseado em análise de componentes independentes (ICA) para a compressão de eletrocardiogramas (ECGs). Para cada um dos sinais de ECG utilizados foram obtidos, através de ICA, subespaços vetoriais construıdos a partir de suas funções base, pois o sinal pode ser expresso como uma combinação linear destas. O sinal de ECG foi subdividido em m janelas de comprimento fixo, e cada uma delas foi projetada no subespaço, resultando em um vetor w de coeficientes para cada janela. Um processo de quantização simples foi executado para os m vetores w, segundo nıveis de quantização definidos, cada um gerando diferentes nıveis de erro de reconstrução. Foi observado que o armazenamento dos coeficientes implica na utilização de um menor espaço em memória em comparação àquele utilizado pelas janelas correspondentes do sinal de eletrocardiograma. A medida tradicionalmente utilizada de erro de reconstrução, diferença média quadrática percentual (PRD), foi empregada para a avaliação do algoritmo. Os resultados foram comparados àqueles obtidos utilizando a transformada de Karhunen Loeve (KLT).

Dans les cristaux de tantalate de potassium et de lithium k#1#-#xli#xtao#3 (klt), les ions lithium se repartissent au hasard et se mettent en position hors-centre suivant l'une des six directions 100 en creant ainsi des moments dipolaires electriques et quadrupolaires elastiques aleatoires. L'interaction entre ces moments donne lieu, a basse temperature, une transition de phase vers un etat dont la nature est encore tres controversee (verre dipolaire ou ferroelectrique desordonne ?). Nous avons effectue des mesures de constantes dielectrique et elastique en fonction de la temperature et de la frequence dans des echantillons de klt de differentes concentrations. Un de nos resultats les plus marquants est la forme tres particuliere des diagrammes d'argand ou cole-cole, pour des temperatures superieures a la temperature de transition: ils ont des pentes infinies vers les hautes frequences et finies vers les basses frequences. Nous avons elabore un modele pour expliquer ces diagrammes. Nous sommes partis d'un modele de glauber utilise initialement pour les verres de spins et nous avons introduit un parametre lie au champ de reaction. Nous avons obtenu l'expression de la constante dielectrique en fonction de la distribution spectrale des interactions. La distribution choisie de type beta donne des resultats tres satisfaisants: les diagrammes d'argand sont bien reproduits. Une discussion sur la variation des differents parametres en fonction de la temperature et de la concentration est exposee. Nous esperons que ce travail contribuera a la comprehension de ces materiaux ainsi que d'autres systemes presentant des interactions aleatoires

The Karhunen-Loeve Transform (KLT) is a popular transform used in multiple image processing scenarios. Sometimes, the application of the KLT is not carried out as a single transform over an entire image Rather, the image is divided into smaller spatial regions (segments), each of which is transformed by a smaller dimensional KLT. Such a situation may penalize the transform efficiency. An improvement for the segmented KLT, aiming at mitigating discontinuities arising on the edge of adjacent regions, is proposed in this paper. In the case of moderately varying image regions, discontinuities occur as the consequence of disregarded similarity between transform domains, as the order and sign of eigenvectors in the transform matrices are mismatched. In the proposed method, the KLT is adjusted to guarantee the best achievable similarity via the optimal assignment and sign correspondence for eigenvectors. Experimental results indicate that the proposed transform improves the similarity between transform domains, and reduces RMSE on the edge of adjacent regions. In consequence, images processed by the adjusted KLT present better cohesion and continuity between independently transformed regions.

GPGPU is a collective term for research involving general computation on graphics cards. A modern graphics card typically provides more than ten times the computational power of an ordinary PC processor. This is a result of the high demands for speed and image quality in computer games.

This thesis investigates the possibility of exploiting this computational power for image processing purposes. Three well known methods where implemented on a graphics card: FFT (Fast Fourier Transform), KLT (Kanade Lucas Tomasi point tracking) and the generation of scale pyramids. All algorithms where successfully implemented and they are tree to ten times faster than correspondning optimized CPU implementation.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior
A reconstrução 3D é uma área de pesquisa que consiste em recuperar modelos que representem com precisão e em 3D características de interesse de uma cena, através da extração de informações 3D a partir de imagens 2D. Estas informações podem ser relativas à estrutura de uma determinada cena, posicionamento e trajetória de câmeras, textura, dentre outras. Uma vez de posse de tais informações, podemos utilizá-las para os mais diversos fins, por exemplo, modelagem automática de objetos, sistemas de navegação autônoma de robôs, modelos computacionais de estruturas ou órgãos do corpo humano, posicionamento de elementos virtuais em cenas reais, dentre outros. Uma das formas mais difundidas de se realizar reconstrução 3D é utilizando sequências contíguas de imagens ou vídeos capturados por câmeras convencionais (monoculares). Neste tipo de reconstrução um dos desafios mais importantes é o rastreamento. Rastreamento é a capacidade de conseguir corresponder um conjunto de pontos em uma sequência de imagens, ou seja, dado um ponto A com coordenadas x e y, deve-se ser capaz de identificar o ponto A com coordenadas x e y na imagem seguinte da sequência, e que corresponde exatamente à mesma localidade da estrutura sendo rastreada. Neste contexto, o objetivo desta dissertação de mestrado foi avaliar os algoritmos de rastreamento mais utilizados para este propósito, ressaltando as características individuais de cada um deles e identificando as vantagens e limitações que possuem. Os resultados desta análise podem ser uma ferramenta de auxílio na escolha do algoritmo de rastreamento a ser utilizado quando do desenvolvimento de uma solução de reconstrução 3D, tendo como base o domínio do problema que se deseja atacar. Os três algoritmos analisados foram o SIFT, o KLT e outro Baseado em Similaridade. Foi desenvolvida uma ferramenta de reconstrução 3D baseada em SfM. Esta ferramenta foi utilizada para a coleta de resultados com o rastreamento sendo realizado com SIFT, KLT e Similaridade. Uma etapa importante deste processo foi a definição de um conjunto de métricas para a análise comparativa dos algoritmos. As características individuais de rastreamento de cada um deles trouxeram bons resultados em alguns dos cinco cenários utilizados. Porém, no geral, o rastreador que apresentou os melhores resultados foi o KLT. Uma análise detalhada sobre os resultados desses algoritmos quando empregados para reconstrução 3D é apresentada

In questo elaborato si studiano certe varietà algebriche complesse, dette fibrazioni ellittiche. Nella prima parte della tesi viene presentata la teoria delle varietà ellittiche, in particolare curve, superfici e 3-folds ellittiche. Nella seconda vengono analizzati nel dettaglio due rilevanti esempi di varietà di Calabi-Yau, una in senso classico, l'altra in un senso generalizzato con singolarità klt, fibrate ellitticamente.

INTRODUCTION AND AIM The prevalence of cardiovascular disease (CVD) has increased significantly in the black South African population in recent years. Early in the development of CVD, atherosclerotic plaques form in the vessel wall. When this plaque becomes unstable and ruptures, the coagulation cascade is activated and a blood clot forms. The function of this clot is to stop bleeding. However, it cannot remain in the vasculature indefinitely and has to be lysed again. The ability of the body to lyse clots can be measured with global fibrinolytic potential (GFP) assays and expressed as lysis time. Increased clot lysis time (CLT) has been shown to be significantly associated with various CVD risk factors and CVD events in Caucasian populations while very little information is available for other ethnicities. In this study we investigated plasma GFP and its relation to CVD risk factors in a large black African population. We also determined the effect of three polymorphisms in the promoter area of the plasminogen activator inhibitor-1 (PAI-1) gene on PAI-1act (activity) levels (a main determinant of CLT) and CLT, together with gene-environment interactions and the effect of urbanisation on these interactions. PARTICIPANTS AND METHODS Apparently healthy men and women between the ages of 35 and 65 years were recruited to take part in the South African arm of the Prospective Urban and Rural Epidemiology (PURE) study. Approximately 1000 rural and 1000 urban black African individuals participated. Data and samples were collected during a 12-week collection period in 2005 for cross-sectional analysis. RESULTS Increased PAI-1act levels, body mass index (BMI), glycosylated haemoglobin (HbA1c), triglycerides, fibrinogen concentration, C-reactive protein, female sex, positive HIV-status and the metabolic syndrome were all associated with prolonged CLTs, while increased habitual alcohol consumption was associated with shorter iv CLTs. Urban-rural differences for CLT existed in women only. This is likely due to the larger extent of rural-urban differences in other CVD risk factors observed in women compared to what was observed in men. Of the CVD risk factors measured, PAI-1 explained the largest proportion of the variance in CLT (27%). Owing to the important role PAI-1act plays in CLT, we investigated three polymorphisms in the PAI-1 gene promoter area (the 4G/5G polymorphism, the novel SNP C428T and SNP G429A (previously identified)), and the influence of these polymorphisms on PAI-1act levels and CLT. The frequency of the 5G allele was high (0.85) in comparison with previously reported literature. PAI-1act increased significantly across genotypes in the urban (5G/5G: 3.84 U/ml; 4G/5G: 4.85 U/ml; 4G/4G: 5.96 U/ml p=0.009) but not the rural subgroup, while CLT did not differ. We found significant interactions between the 4G/5G polymorphism and BMI, waist circumference and triglycerides in determining PAI-1act, and between the 4G/5G polymorphism and fibrinogen and fibrinogen gamma prime in determining CLT. Direct relationships with PAI-1act or CLT were not found for the C428T and G429A polymorphisms; they did, however, influence associations of other environmental factors with PAI-1act and CLT. Several of these interactions differed significantly between rural and urban subgroups, particularly in individuals harbouring the mutant alleles. CONCLUSION CLT associated with many of the same CVD risk factors described in the literature for Caucasian populations, but also with other risk factors. Rural-urban differences in CLT are dependent on the association of CLT with other CVD risk factors in the rural-urban setting. Genetic polymorphisms of the PAI-1 gene did not directly influence CLT, despite influencing PAI-1act. The main contributor to PAI-1act variance, however, was (central) obesity. The effect of the 4G/5G polymorphism on PAI-1act, as well as gene–environment interactions for the C428T and G429A genotypes in determining PAI-1act and CLT, were significantly influenced by urbanisation.
Thesis (PhD (Nutrition))--North-West University, Potchefstroom Campus, 2013.

Although formative assessment is fundamental to educational theory and practices, it is a widely misunderstood term for most educators. This qualitative study defines formative assessment as short-cycle assessments in which teachers adapt their instruction to meet the learners‟ immediate needs. This study focused on the transformation of teachers‟ practices and their perspectives of the critical pedagogical principles necessary to enact The Keeping Learning on Track Program® (KLT™) in their classrooms and in teacher learning communities. The participants in this study included 21 formally trained KLT teachers at the St. Johnsbury School. Over a one year period, I observed in classrooms, attended all KLT teacher learning community (TLC) sessions, collected field notes, attended KLT trainings and presentations, and conducted individual and focus group interviews. The primary area of transformation included: the regulation of learning, beliefs and attitudes, accountability, shared leadership, systemic supports, motivation, classroom culture, and teacher practices.

The thesis deals with automatic control the font size by the distance from the reader. It includes theoretical acquaintance with the face detection and subsequent tracking of the detected area during the scene. Furthermore, there is a comparison of the tracking algorithms. Then the calculation of distance is decribed. It is based on the user’s calibration and based on the outcome occurs the font size is automatically corrected. There is also a description of a separate application Automatical controller of the text size, with the recommended settings of the program.

With the development of posibilities of image processing, stereoscopy, prices of web cameras and power of computers an opportunity to multiply an experience with working with 3D programs showed. From the picture from webcamera an estimation of a pose of user's head can be made. According to this pose a view on 3D scene can be changed. Then, when user moves his head, he will have a feeling as if monitor was a window through which one can see the scene behind. With the system which is the result of this project it will be possible to easily and cheaply add this kind of behaviour to any 3D application.

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abstract
O desenvolvimento de t?cnicas autom?ticas para a identifica??o da presen?a de namat?ides em imagens capturadas atrav?s de c?meras acopladas em microsc?pios para an?lise e obten??o de m?todos de controle destes microorganismos, acarretar? em um enorme impacto financeiro considerando os preju?zos causados por esta praga ? agricultura. O objetivo deste trabalho, consiste no desenvolvimento de um sistema inteligente com base nas t?cnicas de processamento digital de imagens e redes neurais artificiais para detectar a presen?a de nemat?ides em imagens digitais capturadas via microsc?pio com c?mera acoplada. Os elementos b?sicos do sistema inteligente consiste de um m?dulo de pr?-processamento da imagem seguido pela auto-segmenta??o e, por fim, de um m?dulo de identifica??o de namet?ides. T?cnicas como transformada KLT, auto-contraste, morfologia matem?tica, redes neurais artificiais, dentre outras, s?o objeto de estudo deste trabalho. O uso de imagens reais foi requisito fundamental para avalia??o e valida??o das t?cnicas trabalhadas. No decorrer deste trabalho s?o descritas as etapas de aquisi??o, pr?-processamento, segmenta??o e extra??o de caracter?sticas das imagens bem como apresenta-se as redes neurais artificiais utilizadas e o sistema desenvolvido encerrando-se com os experimentos e conclus?es observadas

In this thesis, an investigation was performed to find ways of differencing between firesand vehicles at waste stations in hope of removing vehicles as a source of error duringearly fire detection. The existing system makes use of a heat camera, which rotates in 48different angles (also known as zones) in a fixed position. If the heat is above a certainvalue within a zone the system sounds the fire alarm.The rotation of the camera results in an unwanted displacement between two successiveframes within the same zone. By use of image registration, this displacement wasremoved. After the registration of an image, segmentation was performed where coldobjects are eliminated as an error source. Lastly, an analysis was performed upon thewarm objects.At the end, it was proven that the image registration had been a successful improvementof the existing system. It was also shown that vehicles can, to some extent, beeliminated as an error source.
I denna uppsats görs en undersökning av sätt att urskilja mellan bränder och fordon vid avfallsbunkrar, i hopp om att ta bortfordon som felkälla under tidig branddetektion. Dagens system använder sig av en värmekamera som roterar i 48 vinklar(även kallade zoner) från en fix position och larmar då det blir för varmt i någon zon.Roteringen av kameran medför en icke önskvärd förskjutning mellan två efterföljande bilder inom samma zon. Processenbildregistrering används för att eliminera denna förskjutning. Efter registreringen utförs en segmentering där kalla objekt tasbort som felkälla. När detta är utfört görs en analys av de varma objekten med en mängd mätningar.I slutet bevisas att registreringen har fungerat mycket väl, likaså att det går till viss del att eliminera fordon som felkällaunder tidig brandetektion.

We begin by studying field-theory amplitude relations such as the Kleiss-Kuijf, Bern-Carrasco-Johansson, Kawai-Lewellen-Tye and the double copy construction, which are important ingredients in this thesis. Going beyond the field-theory limit we study how the gauge-sector of the heterotic string relates to type I amplitudes through the single valued projection of multiple zeta values. At low energy and for a U(1) gauge group (a single brane) the type I amplitudes are generated by the Born-Infeld action, whereas the corresponding heterotic amplitudes vanish in this limit. As a simple exercise we study Yang-Mills theory deformed by a $F^4$ operator, which is the first correction induced by the Born-Infeld action. This exercise is then generalized by considering the four- and six-point amplitudes in Tseytlin's proposal for a non-Abelian Born-Infeld action. Comparing these amplitudes with those found in type I and heterotic string theory we attempt to gain more insight about the non-Abelian Born-Infeld action.

The thesis deals with the issue of tracking feature points earned from videosequences of hand helded camera. The work is focused on the case of moving camera and static background, and events that are associated with this case and can occur. There is studied the movement of the camera, which is given its direction and speed. The aim of this work is the election and the subsequent implementation of three fundamentally different methods suitable for tracking feature points in case of moving camera and their comparison according to set criteria. On the basis of comparison will be under pre-defined conditions chosen algorithm that is best able to deal with tracing these points.

Autonomous navigation for ground vehicles has many challenges. Autonomous systems must be able to self-localise, avoid obstacles and determine navigable surfaces. This thesis studies several aspects of autonomous navigation with a particular emphasis on vision, motivated by it being a primary component for navigation in many high-level biological organisms.  The key problem of self-localisation or pose estimation can be solved through analysis of the changes in appearance of rigid objects observed from different view points. We therefore describe a system for structure and motion estimation for real-time navigation and obstacle avoidance. With the explicit assumption of a calibrated camera, we have studied several schemes for increasing accuracy and speed of the estimation.The basis of most structure and motion pose estimation algorithms is a good point tracker. However point tracking is computationally expensive and can occupy a large portion of the CPU resources. In thisthesis we show how a point tracker can be implemented efficiently on the graphics processor, which results in faster tracking of points and the CPU being available to carry out additional processing tasks.In addition we propose a novel view interpolation approach, that can be used effectively for pose estimation given previously seen views. In this way, a vehicle will be able to estimate its location by interpolating previously seen data.Navigation and obstacle avoidance may be carried out efficiently using structure and motion, but only whitin a limited range from the camera. In order to increase this effective range, additional information needs to be incorporated, more specifically the location of objects in the image. For this, we propose a real-time object recognition method, which uses P-channel matching, which may be used for improving navigation accuracy at distances where structure estimation is unreliable.
Diplecs

Subject of this thesis is design of the steam generator for modular reactor. The dissertation consist of the theoretical part, where are described heat-exchangers and steam generators used in nuclear power plants. Second part contains theoretical calculations in the first approach (thermal, hydraulic and strenght calculation). In the next part are particular variants of steam generator selected. For the final variant are necessary calculations (introduced above) and drawings of selected parts are done. In the final statement is technical solution evaluated, and the parameters of the steam generator are compared with actually used steam generators.

Hemos estado en confinamiento por varios meses debido a la difícil situación de una pandemia provocada por la enfermedad de Covid-19. A causa de ello, millones de personas alrededor del mundo han perdido la vida, sus trabajos, sus familiares y sus amigos. Una situación bastante dolorosa y difícil para todos. Muchas personas a lo largo de los meses en cuarentena fueron adquiriendo productos para protegerse de este terrible virus, pero a proveedores de dudosa procedencia, así como el arduo trabajo de buscar a quién comprar estos artículos sin tener la confianza ni el respaldo. Debido a esta situación nace “Qhali Kay Kit” un kit completo, de confianza, práctico y con envase eco amigable, que se compone de dos kits : kit control de covid y kit de prevención de covid, el cual busca prevenir y controlar esta enfermedad. Para este fin, se contará con artículos de calidad, de confianza, seguro y sobretodo garantía para nuestro cliente. En el presente trabajo de investigación se presentará información cualitativa como la explicación detallada de nuestro modelo de negocio, objetivos y estrategias, plan de RRHH, plan de Marketing, plan de Responsabilidad Social, entre otros. Asimismo, se presentará información cuantitativa relacionada con nuestro plan Financiero, el cual es esencial para nuestro proyecto, ya que nos ayuda a conocer qué tan rentable será la introducción de este nuevo producto. De este modo, podemos concluir que “Qhali Kay Kit” es un negocio rentable que empezará a generar utilidades a partir del primer año y se logrará recuperar la inversión en el segundo año, y cuando la pandemia cese poder brindar kits de salud para diversas enfermedades que hoy en día se presentan como la gripe, la tos, malestar estomacal, entre otros.
We have been in confinement for several months due to the difficult situation of a pandemic, caused by Covid-19. Because of it, millions of people around the world have lost their lives, their jobs, their family and their friends. This is a very painful and difficult situation for everyone. Many people throughout the months in quarantine were acquiring products to protect themselves from this terrible virus, but from suppliers of dubious origin, as well as the hard work of looking for who to buy these items, without having the confidence or the support. Due to this situation, “Qhali Kay Kit” was born, a complete, trustworthy, practical kit with an eco-friendly packaging, which consists of two kits: a covid control kit and a covid prevention kit that seeks to prevent and control this disease. For this purpose, we will have good articles, trustworthy, with security and above all guarantee for our client This research will present qualitative information such as the detailed explanation of our business model, objectives and strategies, HR plan, Marketing plan, Social Responsibility plan, among others. It will also present quantitative information related to our Financial Plan, which is essential for our project since we know how profitable will be the introduction of this new product In this way, we can conclude that "Qhali Kay Kit" is a profitable business that will begin to generate profits from the first year and the investment will be recovered in the second year, and when the pandemic ceases to be able to provide health kits for various diseases that today are presented as the flu, cough, stomach problems, and others.
Trabajo de investigación

Die Stixel-Welt ist eine neuartige und vielseitig einsetzbare Zwischenrepräsentation zur effizienten Beschreibung dreidimensionaler Szenen. Heutige stereobasierte Sehsysteme ermöglichen die Bestimmung einer Tiefenmessung für nahezu jeden Bildpunkt in Echtzeit. Das erlaubt zum einen die Anwendung neuer leistungsfähiger Algorithmen, doch gleichzeitig steigt die zu verarbeitende Datenmenge und der dadurch notwendig werdende Aufwand massiv an. Gerade im Hinblick auf die limitierte Rechenleistung jener Systeme, wie sie in der videobasierten Fahrerassistenz zum Einsatz kommen, ist dies eine große Herausforderung. Um dieses Problem zu lösen, bietet die Stixel-Welt eine generische Abstraktion der Rohdaten des Sensors. Jeder Stixel repräsentiert individuell einen Teil eines Objektes im Raum und segmentiert so die Umgebung in Freiraum und Objekte. Die Arbeit stellt die notwendigen Verfahren vor, um die Stixel-Welt mittels dynamischer Programmierung in einem einzigen globalen Optimierungsschritt in Echtzeit zu extrahieren. Dieser Prozess wird durch eine Vielzahl unterschiedlicher Annahmen über unsere von Menschenhand geschaffene Umgebung gestützt. Darauf aufbauend wird ein Kalmanfilter-basiertes Verfahren zur präzisen Bewegungsschätzung anderer Objekte vorgestellt. Die Arbeit stellt umfangreiche Bewertungen der zu erwartenden Leistungsfähigkeit aller vorgestellten Verfahren an. Dafür kommen sowohl vergleichende Ansätze als auch diverse Referenzsensoren, wie beispielsweise LIDAR, RADAR oder hochpräzise Inertialmesssysteme, zur Anwendung. Die Stixel-Welt ist eine extrem kompakte Abstraktion der dreidimensionalen Umgebung und bietet gleichzeitig einfachsten Zugriff auf alle essentiellen Informationen der Szene. Infolge dieser Arbeit war es möglich, die Effizienz vieler auf der Stixel-Welt aufbauender Algorithmen deutlich zu verbessern.
The Stixel World is a novel and versatile medium-level representation to efficiently bridge the gap between pixel-based processing and high-level vision. Modern stereo matching schemes allow to obtain a depth measurement for almost every pixel of an image in real-time, thus allowing the application of new and powerful algorithms. However, it also results in a large amount of measurement data that has to be processed and evaluated. With respect to vision-based driver assistance, these algorithms are executed on highly integrated low-power processing units that leave no room for algorithms with an intense calculation effort. At the same time, the growing number of independently executed vision tasks asks for new concepts to manage the resulting system complexity. These challenges are tackled by introducing a pre-processing step to extract all required information in advance. Each Stixel approximates a part of an object along with its distance and height. The Stixel World is computed in a single unified optimization scheme. Strong use is made of physically motivated a priori knowledge about our man-made three-dimensional environment. Relying on dynamic programming guarantees to extract the globally optimal segmentation for the entire scenario. Kalman filtering techniques are used to precisely estimate the motion state of all tracked objects. Particular emphasis is put on a thorough performance evaluation. Different comparative strategies are followed which include LIDAR, RADAR, and IMU reference sensors, manually created ground truth data, and real-world tests. Altogether, the Stixel World is ideally suited to serve as the basic building block for today''s increasingly complex vision systems. It is an extremely compact abstraction of the actual world giving access to the most essential information about the current scenario. Thanks to this thesis, the efficiency of subsequently executed vision algorithms and applications has improved significantly.

This work deals with the orientation of the camera in real-time with a single camera. Offline methods are described and used as a reference for comparison of a real-time metods. Metods work in real-time Monocular SLAM and PTAM methods are there described and compared. Further, paper shows hints of advanced methods whereas future work is possible.

This research presents new preconditioners for linear systems. We proceed fromthe most general case to the very specific problem area of sparse optimal control.In the first most general approach, we assume only that the coefficient matrix isnonsingular. We target highly indefinite, nonsymmetric problems that cause difficultiesfor preconditioned iterative solvers, and where standard preconditioners, likeincomplete factorizations, often fail. We experiment with nonsymmetric permutationsand scalings aimed at placing large entries on the diagonal in the context of preconditioningfor general sparse matrices. Our numerical experiments indicate that thereliability and performance of preconditioned iterative solvers are greatly enhancedby such preprocessing.Secondly, we present two new preconditioners for KKT systems. KKT systemsarise in areas such as quadratic programming, sparse optimal control, and mixedfinite element formulations. Our preconditioners approximate a constraint preconditionerwith incomplete factorizations for the normal equations. Numerical experimentscompare these two preconditioners with exact constraint preconditioning andthe approach described above of permuting large entries to the diagonal.Finally, we turn to a specific problem area: sparse optimal control. Many optimalcontrol problems are broken into several phases, and within a phase, mostvariables and constraints depend only on nearby variables and constraints. However,free initial and final times and time-independent parameters impact variables andconstraints throughout a phase, resulting in dense factored blocks in the KKT matrix.We drop fill due to these variables to reduce density within each phase. Theresulting preconditioner is tightly banded and nearly block tri-diagonal. Numericalexperiments demonstrate that the preconditioners are effective, with very little fill inthe factorization.

Im Zentrum der Arbeit steht die nichtkönigliche ("private") Grabstatue des Alten Reiches (3. bis 6. Dynastie). Das schließt die Beschäftigung mit der baulichen Struktur und den funktionalen Komponenten von Grabanlagen ein. Außerdem werden Belege des Flachbildes und inschriftliches Material zur Klärung bestimmter Sachverhalte herangezogen. Ziel der Arbeit ist es, anhand der Grabstatue die Funktion eines kulturellen Objektes in der gesellschaftlichen Praxis zu untersuchen, wobei der räumliche Rahmen auf die Residenz und der zeitliche Rahmen auf das Alte Reich beschränkt ist. Anhand der Grabstatue kann nachvollzogen werden, wie ein kulturelles Objekt auf der Basis habitueller Konzepte und Handlungsmuster im Rahmen der funerären Praxis von einer spezifischen sozialen Gruppe (Residenzbewohnerschaft) in einer spezifischen historischen Situation (Etablierung eines Machtzentrums in einem frühen Staatswesen) aktiviert und entwickelt wird. Durch die Einbeziehung weiterer Quellengruppen läßt sich so das Bild der funerären Praxis einer bestimmten Epoche entwerfen. Die Arbeit setzt sich aus fünf aufeinander aufbauenden Teilen zusammen. Die entsprechenden Belege sind in Tabellen zusammengestellt, auf die jeweils verwiesen wird. Teil I setzt die Grundlagen der Arbeit. Die beiden wesentlichen Statuentypen - die Sitzfigur und die Standfigur - werden vorgestellt. Durch die anschließende Diskussion von Aufstellungsort und kultischer Funktion wird die Bedeutung des Objektes "Statue" im funerären Kult beleuchtet. Davon ausgehend können erste Schlüsse zur sozialen Implikation der funerären Praxis gezogen werden. Es wird gezeigt, daß die Statuen mit bestimmten Informationen "indiziert" sind (stehend = Bewegungsfähigkeit; sitzend = Existenz im Grab; ausgestreckte Hand = Fähigkeit zum Opferempfang), die im Rahmen der Kultpraxis aktiviert werden. Durch die gezielte Entwicklung bestimmter Indizes können individuelle soziale Positionen beschrieben und in die kulturelle Kommunikation eingeführt werden (Namens- und Titelbeischrift, naturalistische Gestaltung). Dem in Teil I. für die Belege der 1. bis 3. Dynastie vorgegebenen Prinzip wird in den folgenden Teilen gefolgt, wobei aufgrund des umfangreichen Belegmaterials eine Trennung der Schwerpunkte (Statuentyp, Kontext der Grabanlage, Funktion im Kult) vorgenommen wird. Teil II behandelt die einzelnen Statuentypen, die seit der Mitte der 4. Dynastie dem Korpus der Grabstatuen hinzugefügt werden. Schwerpunkt der Betrachtung ist hier die individuelle Aktivierung der in den Statuen vorhandenen kommunikativen Potenzen (Indizes). Es wird gezeigt, daß die Entwicklung von neuen Statuentypen (Schreiberfigur, Standfigur mit Vorbauschurz, Gruppenfigur, Dienerfigur) mit der Etablierung neuartiger sozialer Positionen an der Residenz verbunden werden kann. Daneben führt die Entwicklung spezifischer Handlungsvorgänge und Konzepte der funerären Praxis zur Etablierung von Sonderformen (Ersatzkopf, Büste, Nacktfigur, Pseudo-Gruppe). Teil III untersucht den archäologischen Kontext der Statuenbelege. Dabei werden die Quellen verschiedener sozialer Gruppierungen der Residenz (Elite vs. dependents) getrennt untersucht, um Gemeinsamkeiten und Differenzen der funerären Praxis innerhalb der Residenz herauszuarbeiten. Wie auch für die in Teil I behandelte Epoche läßt sich eine zeitliche Entwicklung und Veränderung der funerären Praxis erkennen. Abschließend werden Belege für Felsstatuen und verwandte Objekte betrachtet, für die in besonderer Weise gilt, daß Statuentyp und Aufstellungsort eine Einheit bilden. Im Zentrum dieses Abschnittes steht die Aktivierung des Mediums Statue im Rahmen kollektiver Kulthandlungen. In diesem Zusammenhang werden auch die verschiedenen Kultbezüge einer funerären Anlage untersucht, die sich im archäologischen Befund ablesen lassen. In Teil IV werden Belege der Flachbild- und Textdekoration von funerären Anlagen in die Betrachtung einbezogen. Im Mittelpunkt stehen solche Flachbilddarstellungen, in denen die Verwendung von Statuen thematisiert wird. Anhand von Texten und Darstellungen von Kulthandlungen werden außerdem Rekonstruktionen des Opferrituals, des Festrituals und des Bestattungsrituals vorgeschlagen. So wird die funeräre Praxis als ein Komplex real vollzogener Handlungen beschrieben und der Rahmen der Aktivierung ihrer individuellen und kollektiven Aspekte genauer untersucht. In diesem Zusammenhang wird auch auf die Bedeutung verwiesen, die die "Konzeptualisierung" (sprachlich / schriftliche Formulierung und Ausdeutung) von Phänomenen für die Entwicklung der funerären Praxis besitzt. Anhand der Belege sich entwickelnder Konventionen der Darstellung und Formulierung von praktischen Handlungen in Bild und Text (hier als Phänomen der "Verschriftlichung" bezeichnet) wird gezeigt, daß die funeräre Praxis ein dynamischer, ständiger Veränderung unterworfener Prozeß ist. Die Veränderung betrifft sowohl den Bereich der Handlungen - also die vollzogenen Zeremonien - als auch den Bereich der verwendeten Objekte (Statue, Grabanlage, Leiche) und die Konzeptualisierung des Prozesses in einer "funerären Religion". In Teil V werden die wesentlichen Ergebnisse zusammengefaßt. Dabei wird auf die innerkulturelle Konzeptualisierung des Objektes "Grabstatue" eingegangen. Weiterhin werden die Kriterien zusammengestellt, die eine Periodisierung der Entwicklung der funerären Praxis an der Residenz zulassen. Abschließend wird auf die Bedeutung eingegangen, die die funeräre Praxis in der gesellschaftlichen Praxis im pharaonischen Ägypten im 3. Jt. v.u.Z. insgesamt besaß.
The focus of the study is the non-royal ("private") tomb statue of the Old Kingdom (3rd to 6th dynasties). Observations on the actual position of statues within the tomb are included, followed by a discussion of architectural and functional components of a residential funerary complex. Further a certain number of two-dimensional representations and inscriptions are consulted for the discussion of special topics. The aim of the study is to investigate the function of a cultural object within the frame of social practice. By using the tomb statue as an example and by restricting the topic spatially to the residence and temporally to the Old Kingdom, it is possible to detect how - on the basis of habitual concepts and patterns of action - a cultural object has been developed and activated by a specific social group (inhabitants of the residence) in the frame of funerary practice in a specific historical situation (consolidation of the centre of an early state). Using a wider score of sources it is thus possible to sketch the reality of funerary practice of a specific period. This study is divided into five parts. The sources referred to in the different chapters are gathered in sets of tables. Part I sets the main principles of the study. The two most important statue types - the sitting and the striding figure - are introduced. The following discussion of its place in the funerary complex and its function shows the importance of the object "statue" within the funerary cult. Preliminary observations on social implications of funerary practice are formulated. It is shown that statues are marked by some indexical information (striding = possibility of movement; sitting = existence in the tomb; raised hand = possibility of receiving offerings) which will be activated in the course of funerary practice. By developing certain of these indices it became possible to describe individual positions and to introduce them into the cultural communication (inscription of name and titles, naturalistic elements of representation). The principles used in part I for the sources from dyn. 1 to 3 will also be observed in the following parts, dividing due to the amount of material the investigation into a number of subtopics (statue types, context of the funerary complex, function in the cult). In part II statue types added to the corpus of tomb statues during dyn. 4 are investigated. Focal point is the individual activation of the communicative potencies inherent in the statues (indices). It is shown that the development of new statue types (scribe, striding figure with protruding kilt, group figure, servant figure) can be correlated to the establishment of new social positions at the residence. Additionally the development of specific patterns of behaviour and of concepts of funerary practice leads to the creation of peculiar types of statues (reserve head, bust, naked figure, pseudo group). Part III deals with the archaeological context of statues. In order to investigate communities and differences within the funerary practice of the residence, sources of different social groups (elite vs. dependants) are treated separately. As in the period dealt with in part I, it is possible to observe the development and the transformation of the funerary practice in time. Additionally with rock-cut statues and related objects, a group of sources is investigated linking in a specific manner statue type and its position in the funerary complex. Main topic of this part is the activation of the medium "statue" in the course of collective cult action. In this context the different references of religious action in a funerary complex observable in the archaeological record are described. Part IV adds the evidence of inscriptions and two-dimensional depictions. The main focus is on two-dimensional representations showing the employment of statues. Using textual and pictorial evidence, reconstructions of the offering ritual, the festival ritual and the burial ritual are proposed. Funerary practice is described as a complex of actual behaviour. The circumstances of the activation of its individual and collective potencies are detected. The importance of the process of "conceptualisation" (oral / written formulation and explanation) of phenomenons for the development of funerary practice is stressed. Using sources showing the formation of patterns of representation of practical actions in picture and text (called "scriptualization") it is shown that funerary practice is a dynamic, constantly changing process. Those changes refer not only to the realm of actions - i.e. the actual ceremonies - but also to the objects used (statue, funerary monument, deceased body) and to the conceptualisation of the whole process in a "funerary religion". Part V summarises the main conclusions. Additionally it deals with the emic conceptualisation of the object "tomb statue". Further a number of criteria allowing a periodization of funerary practice at the residence are listed. Finally the overall importance of funerary practice within the frame of social practice in pharaonic Egypt during the 3rd millennium B.C.E. is highlighted.

There is a paucity of oral-history works on Kat River. Likewise, although various histories of Kat River/Stockenstrom exist, few have focused on the forced removals of Stockenstrom coloured people in the 1980s, the effects of displacement on them, and their involvement in current land claims issues. This dissertation seeks to redress these lacunae and provide information from "the underside" on the Kat River Rebellion of 1851-1853. In order to accomplish this, between 2011 and 2016 the author interviewed, with their consent, people of Khoikhoi descent in Kat River, recording, transcribing and analysing the interviews. The interviews, which range from conversations with male and female subsistence farmers and lay preachers to activists - such as the late Manie Loots, aka James Stewart - are set in the broader context of a selective Kat River history from 1829 to the present. Vagrancy legislation during the historical period is discussed; showing the link between pauperism, vagrancy, and colonial perceptions of disease such as leprosy, which was often associated with "loose" women. It is argued that the above perceptions, together with fear, led to the targeting of women and lepers during the attack on Fort Armstrong in 1852. Despite attempts to marginalise them, it was found that both colonial women, including rebels, and women in present-day Kat River exercised, and continue to exercise, remarkable agency. This thesis also reassesses the ideological bases of the Kat River Settlement, arguing that they were cultivation and militarism, with the latter exemplified in the Kat River settlers' service in frontier wars. Further, it found that neo-Marxist theories of commoning can shed light on the etiology of the Kat River Rebellion, and that people, whose access to their commons or other rights is restricted or denied, become radicalised. It was also found that, although their dispossession from Kat River took place in the 1980s, the interviewees, who all demonstrated strong ties to the land on which they grew up, still feel the effects of it, their all-consuming aim being the recognition of their land claims and the restoration of their titles.

Dans ce travail, nous avons etudie les roles des proteines kit et kl dans l'ovaire murin pendant la periode ftale (ovogenese) et la periode postnatale (folliculogenese). Dans les ovaires ftaux, nous avons caracterise l'apoptose aux stades e15, e17 et a la naissance, et l'expression des proteines kit/kl et fas/fasl. Nous avons analyse l'importance des systemes kit/kl et fas/fasl en comparant l'apoptose chez les souris mutees kit w - l a c z / + et les souris sauvages, et en cultivant des ovaires ftaux en presence de fasl exogene. Nous avons detecte la presence des proteines kit et kl et fas/fasl aux trois stades ftaux. L'apoptose ovocytaire est liee a l'age (plus d'apoptose a e15) et au genotype (a e15, plus d'apoptose dans les ovaires kit w - l a c z / +. De plus, le systeme fas/fasl est capable d'induire l'apoptose ovocytaire. La deuxieme partie de ce travail a ete basee sur l'etude de la folliculogenese in vivo et in vitro des souris mutees kit w - l a c z / +. Nous avons montre que ces souris mutees ont des niveaux reduits de proteines kit et kl et que la croissance ovocytaire, la proliferation des cellules de granulosa et la formation de l'antrum sont alteres par rapport aux souris sauvages. Dans la troisieme partie de ce travail, nous avons etudie la folliculogenese in vitro en presence ou non de serum. Nous avons analyse l'effet de l'addition de kl et d'un anticorps anti-kit sur l'ovocyte, les cellules de granulosa et de theque. L'addition de kl a des effets mitogeniques en milieu sans serum et stimule la steroidogenese thecale et la maturation cytoplasmique ovocytaire en presence de serum. L'addition de l'anticorps anti-kit perturbe severement la steroidogenese des cellules de granulosa, la formation de l'antrum et la survie ovocytaire. Certains processus de la folliculogenese sont donc fortement dependants des interactions kit/kl.

Background: It has been under discussion in Sweden that the psychiatric inpatients ward is in the need of developing more content and structure. Earlier science shows that implementation of new conversations methods has been appreciated and developing for both nurses and patients. There is also obstacle for nurse`s to prioritize time for conversations with their patients. Aim: The aim was to explore nurse`s experiences of using a manual based CBT in conversations with patients in psychiatric inpatient ward. Method: Research design was interviews with qualitative approach and thematic analysis, inductive approach. Six nurses who worked in a psychiatric inpatients ward were interviewed. Results: The results of the study were summarized in to two main themes; Feelings in work as a nurse and the nurse in the professional role. Six under themes was conducted into the two mentioned main themes. Its presenting feelings connected to these conversations with CBT methodand about the professional working role. It was described useful in the daily work and agood support for the patient recovery, person-centered treatment and difficulties associated to the implementation of the new work. Conclusion: Cbt makes it possible to make in dept-care relationship, strengthens patients' recovery and provides structure for the conversation which also requires support and adaptation for making it useful in the daily work.
Bakgrund: Det har diskuterats i Sverige om att den psykiatrisk heldygnsvården är i behov av utveckling vad gäller innehåll och struktur. Tidigare forskning har visat att införandet av samtalsmetoder har varit uppskattat och utvecklande för både sjuksköterskor och patienter. Det finns också hinder för sjuksköterskor att prioritera tid för samtal med patienter. Syfte: Syftet med denna magisteruppsats var att utforska sjuksköterskors erfarenheter av att använda sig av manualbaserad KBT i samtalet med patienter i psykiatrisk heldygnsvård. Metod: Designen var intervjustudie med kvalitativ ansats och tematisk analys med induktiv approach. Sex sjuksköterskor intervjuades och de var yrkesverksamma på psykiatriska heldygnsvårdsavdelningar. Resultat: Resultatet presenteras i två huvudteman; Känslor i arbetet som sjuksköterska och sjuksköterskan i sin professionella roll. Sex undertemandelades in under de två huvudkategorierna. Det presenteras känslor kopplade till sjuksköterskans arbete med KBT metoden i samtalet likväl som det handlade om den professionella yrkesrollen. Det beskrevs som hjälpsamt för patienters återhämtning, personcentrerat bemötande samt vissa svårigheter kopplat till det nya arbetssättet. Slutsats: KBT möjliggör fördjupad vårdrelation, stärker patienters återhämtning och ger struktur för samtalet. Vilket ocksåbör backas upp med stöd omkring införandet och med viss anpassning för att det skall bli användbart i det dagliga arbetet.

A causa de la pandemia de la Covid-19, las personas nos hemos visto en la necesidad de utilizar artículos que nos protejan del virus: mascarillas, rociadores, desinfectantes, etc; además, adoptar nuevas maneras de comportarnos en sociedad, como el distanciamiento social, evitar tocar superficies contaminadas, entre otros. En ese sentido, ha sido necesario que se produzcan nuevos productos, muchos de ellos de un solo uso, generando mayores desechos para el medio ambiente. Por ello, la solución que nosotros elegimos es ofrecer artículos esenciales de prevención de contagio que puedan ser utilizados por largo tiempo. En este trabajo buscamos demostrar la viabilidad de un kit de productos de protección contra gérmenes y al mismo tiempo evitar generar la mayor cantidad de basura posible. El nombre de nuestra marca es Kit+ (KitPlus) y nuestro compromiso con nuestros clientes es ofrecerles siempre productos de alta calidad. A través de procesos de ideación y evaluación, verificamos todos los aspectos necesarios para poner en marcha esta empresa. Asimismo, determinamos el presupuesto necesario y el plan de inversión que deberemos considerar.
Because of the Covid-19 pandemic, people have found it necessary to use items that protect us from the virus: masks, sprinklers, disinfectants, etc.; and also adopt new ways of behaving in society, such as social distancing, avoiding touching contaminated surfaces, among others. In this sense, it has been necessary to produce new products, many of them for single use, generating greater waste for the environment. Therefore, the solution we choose is to offer essential contagion prevention items that can be used for a long time. In this research work we seek to demonstrate the feasibility of a kit of germ protection products and at the same time avoid generating as much garbage as possible. The name of our brand is Kit + (KitPlus) and our commitment to our customers is to always offer them high quality products. Through ideation and evaluation processes, we verify all the aspects necessary to launch this company. We also determine the necessary budget and investment plan to consider.
Trabajo de investigación

The work deals with the 32-bit microcontroller with AT91SAM7X256 ARM7 core. The overall purpose of the thesis is to use the microcontroller as a data logger in Orpheus robotic system. The main part of the work focuses on detailed description of the designed board, software and development environment. A comparison of different varieties of the microcontroller with this core is included.

Den här rapporten ämnar svara på frågan om och med hur mycket tröskelvärdena av alla inkommande komponenter, tillhörande ett MD-80 Engine change kit, kan höjas med och vilka kostnadsbesparingar en sådan höjning kan medföra. Undersökningen har föranletts av företaget SAS Components vilja att få reda på om en optimering av tröskelvärden kan leda till en minskning av kasserade komponenter hos dem.

This report’s aim is to verify if it is possible, and if so, by how much SAS Component could increase the threshold values of all incoming components belonging to an MD-80 Engine Change Kit. How would this raise in the components threshold lower SAS Component’s expenses?

Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 95-96).
I demonstrate a new approach to building electronics that emphasizes the expressive qualities of diverse materials as well as the skill and creativity of the builder. I believe that a more insightful and skilled process is also capable of producing more intelligible and personal results. Conventionally electronics that are built from a kit-of-parts have been optimized for speed, efficiency and repeatability of assembly. While this approach demonstrates the power of modular systems that have made many of the technologies we rely on possible, it also constrains us to particular styles of building, influencing what we build as well as impacting how we come to think about electronics. In order to promote a different approach I have developed a series of techniques that allow us to build electronics using a variety of craft materials and tools. A collection of electronic samples showcases the results and the potential of these techniques, and a public website documents these techniques in the form of "recipes". Besides containing instructions on how to build electronics these recipes are also detailed accounts of my development process that aim to promote further exploration and material investigation, instead of straightforward replication. After developing this collection of new techniques, documenting and publishing them, I ran two workshops in order to observe how my approach fared in practice. Workshop participants were invited to build their own electronic projects from a new and diverse set of materials and tools. Observing participants' process led me to reflect on their different styles of building and evaluate to what extent a Kit-of-No-Parts approach supports a building style that is more understandable, and allows individuals to work more freely and expressively with the materials and tools involved. Currently our approach to building electronics is shaped by industrial standards and discrete components. The Kit-of-No-Parts counters this approach by introducing the notion of craft and putting emphasis on skilled use of tools, intimate knowledge of materials, with the aim to produce more diverse and intelligible results.
by Hannah Perner-Wilson.
S.M.

Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.
Vita.
Includes bibliographical references (p. 74-76).
by Edwin W. Foo.
M.Eng.

This Master Thesis, inspired by the relevance that home-offices have assumed as a consequence of the COVID-19 pandemic, originated from the architectural, quantitative, and qualitative analysis of lighting within the author’s student accommodation on KTH Main Campus, in Stockholm (Sweden). As a matter of fact, this background study proved that recommended lighting levels (Illuminance, Contrast Ratio, CCT, CRI, M-EDI, and DER values) were not met, making the space unsuitable and unhealthy to both live and work in. Moreover, evaluating individual lighting preferences, it was demonstrated that flexibility, customizability, and adaptability to daylighting and tasks are fundamental requirements for working from home.Considering the temporary nature of students’ leases, the idea of developing an inexpensive and easily assemblable kit of smart products, aimed at improving lighting in dormitories, came quite naturally.To study the implementation of visual comfort and focus on tasks, literature review, market analysis, quantitative measurements, and hands-on experiments were carried on.Thus, with the gained knowledge and experience, the Home-Office Lighting Kit, an array of commercially available sockets, shades, and smart sources, supporting circadian rhythm and individual preferences, was proposed. Along with it, instructions on set-up and scenarios were provided.Although the overall conclusion was that the market needs products with a better balance between price, sturdiness, and reliability, the lighting conditions within the case study space were substantially improved, making other students interested in doing the same.Eventually, interesting cues for the sector’s development were proposed.

Thist thesis deals with smart servomotor control. The aim of thist project is to create own control system, implementig communication protocol with smart servos from Bioloid Comprehensive Kit. Communication. The deal also deals with communication with smart sensoring element.

The goal of this paper is to suggest suitable senzoric subsystem of mobile robot. There are being analyzed robotic kits of different manufacturers. Their advantages and disadvantages in the theoretical way are being explained in this part and also their opportunities of use in the practical way. In the following parts the work is focused on senzoric subsystems of other manufacturers and again are desribed their advantages and disadvantages. On the last part there is shown own concept of senzoric subsystem. HW and SW implementation is described and there are shown testing data of the conception.