v anglickém jazyce The diploma thesis analyzes the institute of participation and focuses on his legal regulation in the Czech republic. Participation is indoubtedly one of the most complicated institute of the criminal law and the legal regulation can be approached in many ways. To find a suitable way of legal regulation is prerequisite to comply with basic principles of criminal law - to protect society from crime. The aim of the diploma thesis is to provide the reader insight into current legal regulation, to draw attention to its shortcomings and to suggest suitable solutions for future legislation. The diploma thesis is divided into for chapters. The first chapter firstly deals with the interpretation of basic terms that are closely related to participation. It also attends to define the term of participation and to analysis two base approaches to the regulation of participation - monistic and dualistic systems. As a part of the analysis of these approaches, a brief excursion into the legal regulation of participation in Germany, Switzerland, Slovakia, Austria and Italy is offered. The second chapter focuses on the legal regulation of participation in Czech republic. It firstly clarifies the principle of accessority as the guiding principle of participation, which results from the application...

L'animation et le rendu sont deux domaines de recherche importants dans l'informatique graphique. L'occlusion ambiante (OA) est un moyen très répandu pour simuler l'éclairage indirect. Nous présentons une approche rapide et facile à mettre en œuvre pour l'approximation de l'occlusion ambiante de l'espace d'affichage. On calcule l'OA pour chaque pixel en intégrant les valeurs angulaires des échantillonneurs autour de la position du pixel qui pourrait bloquer l'éclairage ambiant. Nous appliquons une méthode séparable afin de réduire la complexité du calcul. La simulation des rides expressives du visage peut être estimée sans changer l'information géométrique. Nous avons construit un modèle de rides en utilisant une technique graphique qui effectue des calculs seulement dans l'espace d'affichage. Les animations faciales sont beaucoup plus réalistes avec la présence des rides. Nous présentons une méthode de cinématique inverse rapide et facile à mettre en œuvre qui s'appuie sur un modèle masse-ressort et qui repose sur les interactions de forces entre les masses. Les interactions de forces entre les masses peuvent être vues comme un problème de minimisation de l'énergie. Elle offre une très bonne qualité visuelle en haute performance de vitesse. En se basant sur notre méthode d'IK, nous proposons un modèle de synthèse des gestes corporels expressifs intégrés dans notre plateforme d'agents conversationnels. Nous appliquons l'animation de tout le corps enrichi par l'aspect expressif. Ce système offre plus de flexibilité pour configurer la cinématique expressive directe ou indirecte. De façon globale, cette thèse présente notre travail sur le rendu et l'animation en 3D. / Animation and rendering are both important research domains in computer graphics. We present a fast easy-to-implement separable approximation to screen space ambient occlusion.We evaluate AO for each pixel by integrating angular values of samplers around the pixel position which potentially block the ambient lighting.We apply a separable fashion to reduce the complexity of the evaluation. Wrinkle simulation can also be approximated without changing geometry information.We built a wrinkles model by using a modern graphics technique which performs computations only in screen space.With the help of wrinkles, the facial animation can be more realistic. Several factors have been proved, and wrinkles can help to recognize action units with a higher rate. Inverse kinematics (IK) can be used to find the hierarchical posture solutions. We present a fast and easy-to-implement locally physics-based IK method. Our method builds upon a mass-spring model and relies on force interactions between masses. Our method offers convincing visual quality results obtained with high time performance. Base on our IK method, we propose our expressive body-gestures animation synthesis model for our Embodied Conversational Agent (ECA) technology. Our implementation builds upon a full body reach model using a hybrid kinematics solution. Generated animations can be enhanced with expressive qualities.This system offers more flexibility to configure expressive Forward and Inverse Kinematics (FK and IK). It can be extended to other articulated figures. Overall, this thesis presents our work in 3D rendering and animation. Several new approaches have been proposed to improve both the quality and the speed.

Ad hoc routing inherently serves two separate and conflicting divisions of interest: the needs of the user or individual and the needs of the network or community. These interests should be secured differently. The proposed research is a dual-agent approach for securing ad hoc routing protocols. This approach assumes a physical division of tasks into user agent tasks and tasks performed by a trustworthy network agent. The research, motivated by the need to reduce the tasks of the network agent, investigates strategies for an optimal division of labor while promoting the faithful execution of the routing protocol. This investigation employs the dual-agent approach for securing a variant of distance vector routing.

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Modern robotics demonstrates the reality of near sci-fi solutions regularly. Swarms of interconnected robotic agents have been proven to have benefits in scalability, robustness, and efficiency. In communication restricted environments, such teams of robots are often required to support their own navigation, planning, and decision making processes, through use of onboard processors and collaboration. Example scenarios that exhibit restriction include unmanned underwater surveys and robots operating in indoor or remote environments without cloud connectivity. We begin this thesis by discussing multi-agent state estimation and it's observability properties, specifically for the case of an agent-to-agent range measurement system. For this case, inspired by navigation requirements underwater, we derive several conditions under which the system's state is guaranteed to be locally weakly observable. Ensuring a state is observable is necessary to maintain an estimate of it via filters, thus observability is required to support higher level navigation and planning. We conclude this section by creating an observability-based planner to control a subset of the agents' inputs. For the next contribution, we discuss scalability for coverage maximizing path planners. Typically planning for many individual robots incurs significant computational complexity which increases exponentially with the number of agents, this is often exacerbated when the objective function is collaborative as in coverage optimization. To maintain feasibility while planning for a large team of robots, we call upon a powerful relation from combinatorics which utilizes the greedy selection algorithm and a matroid condition to create an efficient planner that maintains a fixed performance ratio when compared to the optimal path. We then introduce a motivating example of autonomously assisted search and rescues using multiple aerial agents, and derive planners and models to suit the application. The framework begins by estimating the likely locations of a lost person through a Monte Carlo simulation, yielding a heatmap covering the area of interest. The heatmap is then used in combination with parametrized agent trajectories and a machine learning optimization algorithm to maximize the search efficiency. The search and rescues use case provides an excellent computational testbed for the final portion of the work. We close by discussing a computation architecture to support multi-agent system autonomy. Modern robotic autonomy results, especially computer vision and machine learning algorithms, often require large amounts of processing to yield quality results. With general purpose computing devices reaching a progression barrier, one that is not expected to be solved in the near term, increasingly devices must be designed with their end purposes in mind. To better support autonomy in multi-agent systems, we propose to use a distributed cluster of embedded processors which allows the sharing of computation and storage resources among the component members with minimal communication overhead. Our proposed architecture is composed of mature softwares already well-known in the robotics community, Kubernetes and the robot operating system, allowing ease of use and interoperability with existing algorithms. / Doctor of Philosophy / The traditional approach of robotics typically uses a single large platform capable of accomplishing all tasks assigned to it. However, it has been discovered that deploying multiple smaller platforms, each with their own processor and specific expertise, can have massive performance benefits compared to previous approaches. This development has been driven largely by readily available computing and mobility hardware. Termed as multi-agent systems, they can excel in areas that benefit from multiple perspectives, simultaneous task execution, and redundancy. In addition, planning algorithms developed for previous approaches often can map well onto multi-agent systems, provided there is adequate computational support. In cases where network or cloud connectivity is limited, teams of agents must use their own processors and sensors to make decisions and communicate. However, often an individual agent's computing hardware is limited in mass or size, thus limiting it's processing capabilities. In this work we will first discuss several multi-agent system algorithms, starting with estimation and navigation and ending with area search. We then conclude the work by proposing a novel architecture designed to distribute the computation load across the team in a highly scalable way.

This dissertation explores the feasibility of employing software agent technology to support large-scale assessment. The research included the design, development, and evaluation of the Assessment Agent System for assessing comprehensive understanding based on concept maps. The system was designed by following an agent-oriented software design method. The Assessment Agent System is composed of five types of software agents: instructor agent, student agent, management agent, assessment agent, and reporting agent. Each of these agents was designed to possess different capabilities. Software agents in the system, through communication and cooperation, collectively provide the functionalities of user-system interaction, user management, task authoring and management, assessment delivery, task presentation, response collection, automatic assessing with feedback, and reporting. Through the process of design, development, and evaluation of the Assessment Agent System, this study demonstrates an approach that employs an agent-oriented software design method to produce sophisticated educational software applications. Furthermore, this study explored the concept map assessing method for the Assessment Agent System. When node terms and linking phrases are provided, assessing student concept maps can be automated by comparing student concept maps with assessment criteria, proposition by proposition. However, the usefulness of the proposition-comparing method depends heavily on the accuracy and thoroughness of the criterion propositions. Therefore, assessment criteria need to be continually refined and improved through examining student-created propositions. / Ph. D.

Multi-Agent Systems (MASs) and Partial and Ordinary Differential Equations (PDEs and ODEs respectively) have often been employed by researchers to effectively model and simulate Complex Adaptive Systems (CASs). PDEs and ODEs are reduction based approaches which view the system globally and ignore any local interactions and processes. MASs are considered by many to be a better tool to model CASs, but have issues as well. Case in point, there is concern that present day MASs fail to capture the true essence of inter-cellular communication in a CAS. In this work we present a realistic and utilizable communication framework for inter-agent communication for a CAS simulation. We model the dynamic properties of the communication signals and show that our model is a realistic model for inter-cellular communication. We validate our system by modeling and simulating pattern formation in Dictyostelium discoideum, a unicellular organism. / Master of Science

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