La navigation autonome est l'un des plus grands challenges pour un robot autonome. Elle nécessite la capacité à localiser sa position ou celle de l'objectif et à trouver le meilleur chemin connectant les deux en évitant les obstacles. Pour cela, les robots utilisent une carte de l'environnement modélisant sa géométrie ou sa topologie. Cependant la construction d'une telle carte dans des environnements de grande dimension est ardue du fait de la quantité de données à traiter et le problème de la localisation peut devenir insoluble. De plus, un environnement changeant peut conduire à l'obsolescence rapide du modèle. Comme démontré dans cette thèse, l'ajout d'information de nature sémantique dans ces cartes améliore significativement les performances de navigation des robots dans des environnements réels. La labélisation d'image permet de construire des modèles extrêmement compacts qui sont utilisés pour la localisation rapide en utilisant une approche basée comparaison de graphes. Ils sont des outils puissants pour comprendre l'environnement et permettent d'étendre la carte au-delà des limites perceptuelles du robot. L'analyse statistique de ces modèles est utilisée pour construire un embryon de sens commun qui est ensuite utilisé pour détecter des erreurs de labélisation et pour mettre à jour la carte en utilisant des algorithmes conçus pour maintenir une représentation stable en dépits des occlusions créées par les objets dynamiques. Finalement, la sémantique est utilisées pour sélectionner le meilleur chemin vers une position cible en fonction de critères de haut niveau plutôt que métriques, autorisant une navigation intelligente. / Utonomous navigation is one of the most challenging tasks for mobile robots. It requires the ability to localize itself or a target and to find the best path linking both positions avoiding obstacles. Towards this goal, robots build a map of the environment that models its geometry or topology. However building such a map in large scale environments is challenging due to the large amount of data to manage and localization could become intractable. Additionally, an ever changing environment leads to fast obsolescence of the map that becomes useless. As shown in this thesis, introducing semantics in those maps dramatically improves navigation performances of robots in realistic environments. Scene parsing allows to build extremely compact semantic models of the scene that are used for fast relocalization using a graph-matching approach. They are powerful tools to understand scene and they are used to extend the map beyond perceptual limits of the robot through reasoning. Statistical analysis of those models is used to build an embryo of common sens which allows to detect labeling errors and to update the map using algorithms designed to maintain a stable model of the world despite occlusions due to dynamic objects. Finally semantics is used to select the best route to a target position according to high level criteria instead of metrical constraints, allowing intelligent navigation.

My diploma thesis is focused on processes of CS Cargo Company. Theoretical part is concentrated on Logistic, process management, process mapping and lean management. Practical part is based on knowledge contained in theoretical part. Primary goal of the thesis is innovation of current process map and description of processes. Subsequently selected process is necessary to analyze, modify and outline measurement's possibilities of its performance. Sophisticated management system requires precise identification of processes. Especially company's processes are the ones which have significant influence on overall quality of CS Cargo Company's products (services).

My diploma thesis deals with distribution analysis of car thefts in the town of Liberec and will look at the options of situational crime prevention techniques. In my diploma thesis I have used the concept of hot spots which is able to show higher than average concentrations of car thefts in the study area. The database is relatively unique, provided by the regional police department in Liberec and contains the records of more than a thousand reported car thefts in Liberec between the years 2011-2014. The provided data contains GPS coordinates and thanks to them, it was possible, with relatively high accuracy, to identify hot spots of car thefts in Liberec. The identification of hot spots was possible as spatial statistics were used that enabled concrete calculations of kernel density, which made it possible to identify problem locations. In our chosen hot spots we then undertook our fieldwork, whose main goal was to evaluate the options of utilization strategy CPTED, so as to obtain preventive measures in problem locations. The output of this thesis include hot spot maps of car thefts 2011-2014 and also recommendations for preventive measures, which would be advisable to implement in chosen hot spots. Key words: car thefts, crime mapping, CPTED, hot spot, crime prevention, GIS

Este trabalho consiste no estudo sistemático dos fenômenos erosivos em áreas urbanas, tendo como objetivo a avaliação e identificação das causas destes fenômenos no município de Ouro Preto - MG. Como ferramenta principal utilizou-se o mapeamento geotécnico, na escala de detalhe 1:5.000 em uma área de aproximadamente 6 Km2, com o objetivo de fazer uma caracterização geotécnica das feições erosivas existentes na área. Buscou-se também fazer um levantamento de dados geológicos, geomorfológicos e de influência antrópica. Os resultados obtidos através deste mapeamento possibilitaram a elaboração do mapa de susceptibilidade à erosão. Como ferramenta auxiliar utilizou-se a sistemática da Técnica de Compartimentação do Terreno proposta por LOLLO (1995) e o Sistema de Informação Geográfica IDRISI. A compartimentação do terreno baseou-se no estudo das formas de relevo (landforms), que foram divididas a nível de elementos, procurando sempre respeitar os limites naturais do meio físico. O SIG-IDRISI possibilitou a atualização e o tratamento das diversas informações levantadas e analisadas, além da agilidade em se gerar as cartas. Os documentos cartográficos gerados foram: mapa de documentação, modelo digital do terreno, mapa do substrato rochoso, mapa de landforms, carta de declividade e carta de susceptibilidade à erosão. / This work presents a systematic study on the erosion processes in urban areas, with the aim of evaluation and identification of its causes in the municipal district of Ouro Preto - MG. As the main tool, the engineering geological mappping procedures have been used, scale 1:5.000, covering on area of about 6 Km2. These procedures were particulary used for the geothecnical characterization of the erosion features present in the area. lt was intended also to get, as much as possible, all the geological, geomorphological and human interference. The results obtained from the mapping procedures have been used as a base for the erosion susceptibility chart. The sistematic of the terrain landforms division, proposed by LOLLO (1995) and the GIS - IDRISI were used as auxiliary tools. These landforms have been divided in elements, obeing environmental constraints. The use of the GIS - IDRISI, has promoted the updating and manilulation of the several information obtained, besides the agility in generating the charts. The chartographycal documents produced were digital terrain model, documentation map, bedrock map, landforms map, declivity chart, erosion susceptibility chart.

In this thesis we present an automated system that allows users to execute XPATH queries against an XML data source. The system exploits the shared-inlining mapping from XML to Relational data. At the core of the system is an XPATH to SQL transformation algorithm that produces corresponding SQL queries for a subset of XPATH. This approach allows one to utilize standard relational databases to store XML data. Given a DTD, the system creates appropriate relational tables based on the shared-inlining method. The system is capable of transforming an XML data source that conforms to the DTD into relational data. The main component of the system is the XPATH interpreter that parses an XPATH expression for the XML data source and transforms it into an equivalent SQL query. The SQL query is then executed against the relational database and results are packaged into XML and returned as the answer to the XPATH query. The use of the relational database to store and query the XML data is transparent to the user as they interact only with the XPATH interpreter. This methodology provides a novel technique to provide an XML database system implementation. Index Words: XML SQL transformation, XPATH to SQL queries, XSU, Data mapping.

Este trabalho consiste no estudo sistemático dos fenômenos erosivos em áreas urbanas, tendo como objetivo a avaliação e identificação das causas destes fenômenos no município de Ouro Preto - MG. Como ferramenta principal utilizou-se o mapeamento geotécnico, na escala de detalhe 1:5.000 em uma área de aproximadamente 6 Km2, com o objetivo de fazer uma caracterização geotécnica das feições erosivas existentes na área. Buscou-se também fazer um levantamento de dados geológicos, geomorfológicos e de influência antrópica. Os resultados obtidos através deste mapeamento possibilitaram a elaboração do mapa de susceptibilidade à erosão. Como ferramenta auxiliar utilizou-se a sistemática da Técnica de Compartimentação do Terreno proposta por LOLLO (1995) e o Sistema de Informação Geográfica IDRISI. A compartimentação do terreno baseou-se no estudo das formas de relevo (landforms), que foram divididas a nível de elementos, procurando sempre respeitar os limites naturais do meio físico. O SIG-IDRISI possibilitou a atualização e o tratamento das diversas informações levantadas e analisadas, além da agilidade em se gerar as cartas. Os documentos cartográficos gerados foram: mapa de documentação, modelo digital do terreno, mapa do substrato rochoso, mapa de landforms, carta de declividade e carta de susceptibilidade à erosão. / This work presents a systematic study on the erosion processes in urban areas, with the aim of evaluation and identification of its causes in the municipal district of Ouro Preto - MG. As the main tool, the engineering geological mappping procedures have been used, scale 1:5.000, covering on area of about 6 Km2. These procedures were particulary used for the geothecnical characterization of the erosion features present in the area. lt was intended also to get, as much as possible, all the geological, geomorphological and human interference. The results obtained from the mapping procedures have been used as a base for the erosion susceptibility chart. The sistematic of the terrain landforms division, proposed by LOLLO (1995) and the GIS - IDRISI were used as auxiliary tools. These landforms have been divided in elements, obeing environmental constraints. The use of the GIS - IDRISI, has promoted the updating and manilulation of the several information obtained, besides the agility in generating the charts. The chartographycal documents produced were digital terrain model, documentation map, bedrock map, landforms map, declivity chart, erosion susceptibility chart.

In the last decade, there has been an explosive growth in different applications of wireless technology, due to users' increasing expectations for multi-media services. With the current trend, the present systems will not be able to handle the required data traffic. Lattice codes have attracted considerable attention in recent years, because they provide high data rate constellations. In this thesis, the applications of implementing lattice codes in different communication systems are investigated. The thesis is divided into two major parts. Focus of the first part is on constellation shaping and the problem of lattice labeling. The second part is devoted to the lattice decoding problem. In constellation shaping technique, conventional constellations are replaced by lattice codes that satisfy some geometrical properties. However, a simple algorithm, called lattice labeling, is required to map the input data to the lattice code points. In the first part of this thesis, the application of lattice codes for constellation shaping in Orthogonal Frequency Division Multiplexing (OFDM) and Multi-Input Multi-Output (MIMO) broadcast systems are considered. In an OFDM system a lattice code with low Peak to Average Power Ratio (PAPR) is desired. Here, a new lattice code with considerable PAPR reduction for OFDM systems is proposed. Due to the recursive structure of this lattice code, a simple lattice labeling method based on Smith normal decomposition of an integer matrix is obtained. A selective mapping method in conjunction with the proposed lattice code is also presented to further reduce the PAPR. MIMO broadcast systems are also considered in the thesis. In a multiple antenna broadcast system, the lattice labeling algorithm should be such that different users can decode their data independently. Moreover, the implemented lattice code should result in a low average transmit energy. Here, a selective mapping technique provides such a lattice code. Lattice decoding is the focus of the second part of the thesis, which concerns the operation of finding the closest point of the lattice code to any point in N-dimensional real space. In digital communication applications, this problem is known as the integer least-square problem, which can be seen in many areas, e.g. the detection of symbols transmitted over the multiple antenna wireless channel, the multiuser detection problem in Code Division Multiple Access (CDMA) systems, and the simultaneous detection of multiple users in a Digital Subscriber Line (DSL) system affected by crosstalk. Here, an efficient lattice decoding algorithm based on using Semi-Definite Programming (SDP) is introduced. The proposed algorithm is capable of handling any form of lattice constellation for an arbitrary labeling of points. In the proposed methods, the distance minimization problem is expressed in terms of a binary quadratic minimization problem, which is solved by introducing several matrix and vector lifting SDP relaxation models. The new SDP models provide a wealth of trade-off between the complexity and the performance of the decoding problem.

In the last decade, there has been an explosive growth in different applications of wireless technology, due to users' increasing expectations for multi-media services. With the current trend, the present systems will not be able to handle the required data traffic. Lattice codes have attracted considerable attention in recent years, because they provide high data rate constellations. In this thesis, the applications of implementing lattice codes in different communication systems are investigated. The thesis is divided into two major parts. Focus of the first part is on constellation shaping and the problem of lattice labeling. The second part is devoted to the lattice decoding problem. In constellation shaping technique, conventional constellations are replaced by lattice codes that satisfy some geometrical properties. However, a simple algorithm, called lattice labeling, is required to map the input data to the lattice code points. In the first part of this thesis, the application of lattice codes for constellation shaping in Orthogonal Frequency Division Multiplexing (OFDM) and Multi-Input Multi-Output (MIMO) broadcast systems are considered. In an OFDM system a lattice code with low Peak to Average Power Ratio (PAPR) is desired. Here, a new lattice code with considerable PAPR reduction for OFDM systems is proposed. Due to the recursive structure of this lattice code, a simple lattice labeling method based on Smith normal decomposition of an integer matrix is obtained. A selective mapping method in conjunction with the proposed lattice code is also presented to further reduce the PAPR. MIMO broadcast systems are also considered in the thesis. In a multiple antenna broadcast system, the lattice labeling algorithm should be such that different users can decode their data independently. Moreover, the implemented lattice code should result in a low average transmit energy. Here, a selective mapping technique provides such a lattice code. Lattice decoding is the focus of the second part of the thesis, which concerns the operation of finding the closest point of the lattice code to any point in N-dimensional real space. In digital communication applications, this problem is known as the integer least-square problem, which can be seen in many areas, e.g. the detection of symbols transmitted over the multiple antenna wireless channel, the multiuser detection problem in Code Division Multiple Access (CDMA) systems, and the simultaneous detection of multiple users in a Digital Subscriber Line (DSL) system affected by crosstalk. Here, an efficient lattice decoding algorithm based on using Semi-Definite Programming (SDP) is introduced. The proposed algorithm is capable of handling any form of lattice constellation for an arbitrary labeling of points. In the proposed methods, the distance minimization problem is expressed in terms of a binary quadratic minimization problem, which is solved by introducing several matrix and vector lifting SDP relaxation models. The new SDP models provide a wealth of trade-off between the complexity and the performance of the decoding problem.

Sand-pits which were formed especially in the floodplain of the Lužnice River since the 1950s currently constitute important landscape element of the Třeboň Basin. My diploma thesis is focused on the assessment of the impact of land use on the former sand-pits in the region of Veselí nad Lužnicí. Field investigations were carried out from the beginning of June till the end of August 2008. I mapped the land use of this area by using a map key. I put down particular areas {--} agricultural areas, forest areas, water areas, bild-up areas, other areas {--} into map photographs. The total area of the mapped territory was 989 hecteres. The biggest part of the area comprises of forest growths and field-grown plants. Water areas (with the main element of the mapped area {--} a system of former sandpits) formed 23% of the total area. On the bank sof the sand-pits were placed phytosociological relevé, which illustrated littoral vegetation and environment in which this vegetation is located, and what is the influence of human activity on vegetation. I placed 74 phytosociological relevé in this system. I recorded 125 plant species {--} out of these were 104 herb plants and 21 woody species. I recorded 41 nitrophilous, 52 wetland, 16 ruderal and 2 stronngly endangered species. Altogether, 20 water samplings were carried out. Horusice I sand-pit is the richest in nutrient, the poorest in nutrients is Horusice sand-pit.

En el marc ampli de les teories audiovisuals, aquesta tesi doctoral aborda les relacions entre identitat, narració i videojocs des de la perspectiva de l'antropologia cultural, de les teories narratològiques en cinema i literatura i de la ludologia. Es proposa la figura teòrica del jugador implicat per explicar el tipus de relació entre el jugador i el seu personatge, en relació amb la construcció d'un relat identitari. En aquest sentit, es relaciona la idea de marcs d'experiència amb la de nivells narratius i narradors. El model teòric i metodològic resultant s'aplica a l'estudi de cas de dos videojocs: Silent Hill 2, un survival horror monousuari, i Espai8, un joc de rol en línia massiu i multiusuari. / En el marco amplio de las teorias audiovisuales, esta tesis doctoral aborda las relaciones entre identidad, narración y videojuego desde la perspectiva de la antropología cultural, de las teorías narratológicas en cine y literatura y de la ludología. Se propone la figura teórica del jugador implicado para explicar el tipo de relación entre el jugador y su personaje, en relación con la construcción de un relato identitario. En este sentido, se relaciona la idea de marcos de experiencia con la de niveles narrativos y narradores. El modelo teórico y metodológico resultante se aplica al estudio de caso de dos videojuegos: Silent Hill 2, un survival horror monousuario y Espai8, un juego de rol en línea masivo y multijugador. / In the wide framework of audiovisual theories, this PhD. thesis undertakes the relation between identity, narrative and videogames from the point of view of cultural anthropology, of narratological theories in cinema and literature and of ludology. We propound the theoretical figure of the implied player connected with the construction of a discourse of the self-identity. In this sense, we connect the idea of frames of experience with the idea of narrative levels and narrators. The resulting theoretical and methodological model it’s applied to the study case of two video games: Silent Hill 2, a singleplayer survival horror, and Espai8, a massively multiplayer online rol-playing game.