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Robotizirani sistemi se vse bolj uporabljajo na podrocju športa. Primer tega so naprave, namenjene treniranju tenisa. Le-te so zmožne izstreljevanja žogic poljubnih hitrosti, smeri in rotacij, kar teniškim igralcem omogoca lažji napredek pri igri. Na žalost pa so vse obstojece naprave stacionarne, kar mocno omeji pristnost teniškega treninga napram igri s soigralcem. Cilj magistrske naloge je razvoj mobilne platforme, sposobne premikanja in izstreljevanja teniških žogic po celotnem teniškem igrišcu, in algoritma, ki bo zagotavljal robustno lokalizacijo mobilne platforme med premikanjem. V magistrskem delu so opisane glavne mehanske in elektronske komponente, potrebne za razvoj mobilnih robotov. Predstavljene so najpogosteje uporabljene procesne enote in komunikacijski protokoli, ki zagotavljajo zanesljivo procesiranje in prenos podatkov. Razvita je bila robotska platforma in predstavljena njena kinematika. Pregledana je bila literatura s podrocja lokalizacije, vse od najosnovnejšega komplementarnega filtra, pa do Kalmanovega filtra in njegovih izpeljank. Opisan je proces prototipiranja in validiranja lokalizacijskega algoritma v programskem jeziku Python. Izvedene so bile testne trajektorije ter predstavljeni in ovrednoteni koncni rezultati. Robotic systems are increasingly used in the field of sports. An example of this are machines used for tennis training. They are capable of launching balls at preferred speeds, directions and rotations, which enables tennis players to make faster progress in their game. Unfortunately, all existing tennis ball launchers are stationary, which greatly limits the realism of tennis training versus playing with a teammate. The goal of the master’s thesis is the development of a mobile platform capable of moving and launching tennis balls throughout the tennis court, and an algorithm that will ensure robust localization of the mobile platform during movement. In the master’s thesis, we describe the main mechanical and electronic components necessary for the development of mobile robots. We describe the most commonly used processing units and communication protocols that ensure reliable processing and data transfer. We develop a robotic platform and present its kinematics. We review the localization literature, ranging from the most basic complementary filter to the Kalman filter and its derivatives. We describe the process of prototyping and validating a localization algorithm in the Python programming language. Finally, we execute test trajectories, present and evaluate the final results.

Za interni logisticni proces znotraj modularno zasnovanega proizvodnega sistema je bilo potrebno razviti avtonomnega mobilnega robota, ki bo samostojno transportiral material med proizvodnimi celicami. Razvili smo vec konceptov mobilnega robota, predvsem nacin odlaganja in nalaganja materiala z mobilnega robota na proizvodne module in obratno ter nacin pozicioniranja mobilnega robota na proizvodne module s pomocjo prikljucne postaje. Koncepti so bili analizirani in ovrednoteni, nato sta bila najustreznejša izbrana za izdelavo. S testiranjem delovanja prikljucne postaje in avtonomnega mobilnega robota smo preverili izbrano strategijo interne logistike in izvedli avtomatizirano strego materiala iz mobilnega robota na proizvodni modul in obratno. Izdelani avtonomni mobilni robot med delovanjem s senzorji zaznava proizvodno okolje v realnem casu in izdela digitalno mapo tlorisa modularne proizvodnega sistema. Po tej mapi se je sposoben avtonomno navigirati. For the internal logistics process within a modularly designed production system, it was necessary to develop an autonomous mobile robot that would transport materials between production cells. We developed multiple concepts for the mobile robot, focusing on the loading and unloading of materials from the robot to the production modules and vice versa, as well as the positioning of the mobile robot on the production modules using a docking station. The concepts were analyzed, evaluated, and the most suitable one was selected for implementation. By testing the operation of the docking station and the autonomous mobile robot, we verified the chosen strategy for internal logistics and performed automated material handling between the mobile robot and the production module. The developed autonomous mobile robot continuously senses the production environment in real-time using sensors and creates a digital map of the layout of the modular production system. It is capable of autonomously navigating based on this map.

ilustraciones, fotografías, gráficas La gestión de Residuos de Construcción y Demolición (en adelante RCD) durante las últimas dos décadas en Colombia ha representado un reto que se ha visto reflejado en el contenido del marco normativo que aplica a nivel nacional y distrital, en el que se busca que la industria de la construcción adopte planes de gestión para estos residuos durante la ejecución de la Fase de Construcción, de manera que sea posible controlar la correcta gestión y disposición final de estos residuos, procurando la mitigación de los impactos ambientales, sociales y urbanísticos asociados. Con el propósito de identificar los vacíos del marco normativo nacional y distrital que aplican para la ciudad de Bogotá, D.C., se hace un análisis de la legislación a partir de bloques temáticos, así como también el análisis de la implementación de los planes de gestión de RCD en proyectos de vivienda que se desarrollan en la UPL Usaquén, así como la revisión de los marcos normativos de referentes internacionales y local, de esta manera identificar conceptos y acciones relevantes que deben hacer parte de la gestión de los RCD. El resultado de este trabajo está enfocado en el desarrollo de una propuesta de implementación de un plan de acción para la gestión de RCD en la ciudad de Bogotá, D.C., en donde se promueva la prevención y reducción de RCD en etapas tempranas del desarrollo de diseños que hacen parte integral de los proyectos de construcción. De esta manera, se aporta a la solución de la problemática de los RCD, apoyado en herramientas digitales innovadoras en la industria de la construcción, para lograr un mayor nivel de sostenibilidad, uso racional de recursos y materiales, y aporte a la economía circular. (Texto tomado de la fuente). The management of Construction and Demolition Waste (hereinafter referred to as CDW) over the past two decades in Colombia has posed a challenge, as reflected in the content of the regulatory framework applied at the national and district levels. The aim is for the construction industry to adopt waste management plans during the Construction Phase, enabling proper control and final disposal of these waste materials to mitigate associated environmental, social, and urban impacts. To identify gaps in the national and district regulatory framework applicable to the city of Bogotá, D.C., an analysis of legislation is conducted based on thematic blocks. Additionally, an analysis of CDW management plans implemented in housing projects within the UPL Usaquén is conducted, along with a review of international and local regulatory frameworks. This approach aims to identify relevant concepts and actions that should be part of CDW management. The outcome of this work focuses on the development of a proposal for implementing an action plan for CDW management in the city of Bogotá, D.C. The proposal aims to promote the prevention and reduction of CDW at initial stages of design development, which are integral parts of construction projects. By doing so, it contributes to solving the CDW issue, supported by innovative digital tools in the construction industry, in order to achieve a higher level of sustainability, rational use of resources and materials, and contribute to the circular economy. Maestría Magíster en Construcción Sostenibilidad

ilustraciones, diagramas, fotografías, gráficas, mapas, tablas Actualmente, las Tecnologías de la Información y las Comunicaciones (TICs) están inmersas en un amplio contexto tecnológico, social y económico que ha potenciado su uso en procesos de investigación y en el desarrollo de proyectos de transformación digital. En este sentido, es crucial que las organizaciones optimicen sus métodos, flujos de trabajo, gestión de datos y automatización de procesos a través de soluciones basadas en tecnología digital. Al mismo tiempo, se observa un aumento en la importancia de los datos geográficos en las operaciones de las organizaciones, pero falta orientación para su transformación digital. Esta investigación responde a esta necesidad al presentar el modelo Geo-TD, un enfoque de transformación digital específico para datos geográficos utilizando TICs. Se aplica en un caso de estudio: el Grupo de Cartografía e Investigación Geológica y Geomorfológica del Servicio Geológico Colombiano (SGC). Geo-TD se basa en medir el nivel de madurez digital en cuatro dimensiones clave: competencia digital, gestión de datos, procesos digitales y tecnología. El enfoque incluye un metamodelo de arquitectura para seleccionar componentes tecnológicos en la construcción de una plataforma de validación. Geo-TD centraliza información geográfica, elimina duplicaciones, optimiza el uso de recursos y facilita la recuperación de trabajos históricos sin redundancias. Este modelo no solo aborda la falta de orientación en la transformación digital de datos geográficos, sino que también es adaptable y replicable en diversos contextos. En resumen, Geo-TD ofrece una solución práctica y efectiva para optimizar la gestión de datos geográficos mediante las TICs. (Texto tomado de la fuente) Currently, Information and Communication Technologies (ICTs) are embedded within a broad technological, social, and economic context that has amplified their utilization in research processes and the development of digital transformation projects. In this regard, it is pivotal for organizations to enhance their methods, workflows, data management, and process automation through solutions rooted in digital technology. Simultaneously, there is a growing recognition of the significance of geographic data in organizational operations, yet a lack of guidance exists for its digital transformation. This research addresses this gap by introducing the Geo-TD model, a specific digital transformation approach for geographic data employing ICTs. It is applied in a case study involving the Cartography and Geological and Geomorphological Research Group of the Colombian Geological Service (SGC). Geo-TD is founded on the assessment of digital maturity across four key dimensions: digital competency, data management, digital processes, and technology. The approach encompasses an architecture metamodel for the selection of technological components in building a validation platform. Geo-TD centralizes geographic information, eliminates duplications, optimizes resource utilization, and streamlines the retrieval of historical work without redundancies. This model not only tackles the lack of guidance in the digital transformation of geographic data but is also adaptable and replicable across diverse contexts. In summary, Geo-TD offers a practical and effective solution to optimize geographic data management through ICTs. Maestría Magíster en Geomática Metodología de Investigación Mixta. Creswell & Garrett (2008). Metodología de Revisión Sistemática de Literatura. Kitchenham & Charters (2007). Metodología PICOC. Petticrew & Roberts (2006). Metodología para caracterización del proceso Marco de la Transformación Digital para el Estado Colombiano – Parcial. MinTIC, 2020. Metodología de desarrollo ágil SCRUM en paralelo a Mockup-Driven Development – Plataforma tecnológica. Ikujiro Nonaka y Takeuchi. Tecnologías Geoespaciales

ilustraciones, fotografías, diagramas, mapas El cultivo de papa es afectado por diferentes enfermedades que disminuyen su rendimiento, entre ellas, los problemas asociados a madurez temprana (MT) causada por Verticillium spp. han cobrado importancia en Colombia. La falta de estrategias de manejo y en especial herramientas de diagnóstico y detección temprana ha generado la necesidad de identificar técnicas de detección indirecta con aplicación potencial a nivel comercial. Por lo anterior, este trabajo tuvo como objetivo evaluar herramientas de análisis de datos espectrales para la identificación y cuantificación de MT asociada a Verticillium spp. en cultivos de papa. El trabajo se dividió en dos fases en busca de caracterizar a nivel espectral plantas sanas y enfermas, además de hacer una aproximación a la cuantificación indirecta de distintos niveles de severidad de la enfermedad. En primer lugar, se compararon firmas espectrales adquiridas mediante un espectro radiómetro fijo bajo condiciones controladas con el fin de identificar bandas e índices espectrales contrastantes por su capacidad para la detección y cuantificación indirecta de esta patología. Posteriormente, en dos áreas de producción comercial se generaron clasificaciones utilizando algoritmos de aprendizaje automático (Bosques aleatorios, Máquinas de soporte vectorial, Redes neuronales y Adaboost), seleccionando aquellos de mejor comportamiento mediante parámetros de rendimiento por su capacidad para la identificación de plantas sanas y enfermas. Adicionalmente, se realizó una aproximación a la cuantificación de la severidad usando datos multiespectrales adquiridos por medio de un dron. Los resultados indican que los algoritmos usados no tuvieron diferencias significativas entre la capacidad de clasificación usando como predictoras firmas espectrales de plantas sanas y enfermas. Igualmente, las regiones del rojo y el borde rojo fueron las que presentaron mayor importancia en los clasificadores, conllevando a que los índices espectrales RECI, NDRE y GRVI presentaron mayor capacidad discriminatoria. En cuanto a los lotes comerciales, se observó que las clasificaciones alcanzaron niveles aceptables de exactitud, los cuales están directamente relacionados con las variables de intensidad de la enfermedad. Por otra parte, se resalta que en esta propuesta se hace un vínculo entre firmas espectrales e imágenes multiespectrales adquiridas bajo condiciones controladas y tomados en cultivos de condición comercial campo, hallando regiones e índices espectrales informativos con un alto potencial para el desarrollo de sensores ópticos de bajo costo que permitan la detección indirecta de la MT en el cultivo de papa. (Texto tomado de la fuente) Potato crop is affected by different diseases that reduce yield, among them, problems associated with early maturity (MT) caused by Verticillium spp. have gained importance in Colombia. The lack of management strategies, especially diagnostic and early detection tools, has generated the need to identify indirect detection techniques with potential commercial application. Therefore, the objective of this work was to evaluate spectral data analysis tools for the identification and quantification of MT associated with Verticillium spp. in potato crops. The work was divided into two phases in order to characterize healthy and diseased plants at the spectral level, as well as to make an approximation to the indirect quantification of different levels of disease severity. First, spectral signatures acquired by means of a fixed radiometer spectrum were compared under controlled conditions in order to identify contrasting spectral bands and indices for their capacity for the detection and indirect quantification of this pathology. Subsequently, in two commercial production areas, classifications were generated using machine learning algorithms (Random Forests, Support Vector Machines, Neural Networks and Adaboost), selecting those with the best performance parameters for their ability to identify healthy and diseased plants. Additionally, a severity quantification approach was performed using multispectral data acquired from a drone. The results indicate that the algorithms used had no significant differences between the classification capability using spectral signatures of healthy and diseased plants as predictors. Likewise, the red and red-edge regions were those that presented the greatest importance in the classifiers, leading to the RECI, NDRE and GRVI spectral indices presenting greater discriminatory capacity. As for the commercial lots, it was observed that the classifications reached acceptable levels of accuracy, which are directly related to the variables of disease intensity. On the other hand, it is highlighted that in this proposal a link is made between spectral signatures and multispectral images acquired under controlled conditions and taken in commercial field condition crops, finding regions and informative spectral indices with a high potential for the development of lowcost optical sensors that allow the indirect detection of MT in potato crops. Maestría Magíster en Geomática Tecnologías Geoespaciales

Zaključna naloga raziskuje zgodovino, problematiko in prihodnost kmetijstva na območju Vipavske doline. Izpostavljena je vloga reke Vipave z njenimi pritoki od Izvira v mestu Vipava do prečkanja meje z Italijo. Ta je skozi zgodovino pokrajino napajala z vodo, prinašala na območje rodovitno prst in poganjala več 100 kamnitih mlinov in fužin, ki so danes večinoma v slabem stanju ter si delijo skupno usodo propadanja. V nalogi raziskujem pomen ponovne uporabe kamnitih mlinov, ki so sicer pozabljeni, a pomembni zaradi svoje zgodovinske in kulturne vloge, strateških lokacij ob reki Vipavi in neposredne bližine polj, vinogradov in sadovnjakov. Natančneje so obravnavane Fužine in pripadajoči mlin ob izviru Hublja nad Ajdovščino, kjer so nekoč pridelovali in predelovali železo. Na to območje je umeščen Kmetijski tehnološki center, večplastna organizacija, namenjena povezovanju različnih skupnosti, naslavljanju in reševanju aktualnih problemov v kmetijstvu ter tehnološkemu razvoju te dejavnosti. Koncept prenove predlaga razširitev trenutnega stanja in ohranjanje obstoječih ruševin. Pri dodajanju novih objektov upošteva urbanistične in zgodovinske principe gradnje in z umeščenostjo dopolnjuje obstoječe stanje. Določena je jasna mejo med novim in obstoječim z obliko, materialnostjo in zaznavo. Projekt predstavi Fužine ob Hublju kot referenčni primer za prenovo ostalih mlinov, ki bi z novimi, ustreznimi programi podpirali razvoj kmetijstva in ostalih dejavnosti na Vipavskem. The Thesis explores the history, issues and the future of agricultural development in the Vipava Valley region. The role of the Vipava river from its source in Vipava to the border with Italy is highlighted. Throughout history, it has nurtured the landscape with water, brought fertile soil to the area and powered more than 100 stone mills and ironworks, most of which are now in a poor state and share the joint fate of decay. In this thesis, I explore the importance of reusing these stone mills. Although forgotten, they are important for their historical and cultural role, their strategic location along the Vipava river and their close proximity to fields, vineyards and orchards. More specifically, Fužine and the associated mill at the Hubelj river spring above Ajdovščina, where iron was once produced and processed. In this area, Agricultural Technology Centre is placed, a multifaceted organisation aimed at bringing together different communities, addressing and solving current problems in farming and agricultural developing. The concept proposes to extend the current situation and preserve the existing ruins. The addition of new buildings takes into account the urban and historical principles and is complementary to the existing situation. A clear boundary between new and existing is established through form, materiality and perception. The project presents Fužine ob Hublju as a reference example for the renovation of other mills, which would support the development of agriculture and other activities in the Vipava region with new, appropriate programmes.

Cilj istraživanja: ovim istraživanjem ispitana su demografska i klinička obilježja bolesnika s oralnim karcinomom koji su kirurški liječeni na Zavodu za maksilofacijalnu kirurgiju Kliničkog bolničkog centra Split. Hipoteze istraživanja su: pacijenti s oralnim karcinomom s ruralnih područja češće imaju karcinom višeg stadija i dulji period hospitalizacije u odnosu na pacijente s urbanog područja; oralni karcinomi u višem su udjelu bez limfovaskularne i perineuralne invazije. Ispitanici i metode: uključeni su pacijenti s dijagnozom oralnog karcinoma koji su primarno kirurški liječeni. Kriterij isključenja: liječenje primarno radioterapijom ili kemoterapijom i nepotpuna dokumentacija u arhivi. Promatrani su opći podaci pacijenta, njihove navike, prijeoperacijska i poslijeoperacijska laboratorijska obrada, prijeoperacijska slikovna dijagnostika, te patohistološki nalaz. Statistička analiza prikupljenih podataka je izvršena koristeći računalni program MedCalc. Rezultati: prikupljeni su podaci 48 ispitanika; 35 (72,9%) muškaraca i 13 (27,1%) žena. Prosječna dob uzorka bila je 66 (60,25-70,75) godina. Većina ispitanika živi u urbanom području (60,4%). Pušači su znatno češće konzumirali alkohol. Prijeoperacijske vrijednosti eritrocita, hemoglobina, hematokrita, ukupnih proteina, albumina i kalcija više su u usporedbi s poslijeoperacijskim. Svim ispitanicima utvrđen je planocelularni karcinom; u većine histološki gradus 2 (56,2%). Prosječna DOI iznosila je 7,90 ± 5,85; većina karcinoma nije imala limfovaskularnu ni perineuralnu invaziju. Većini ispitanika rezni rubovi bili su uredni (76,6%); 3 ispitanika imalo je HPV-pozitivni karcinom. Skupina ispitanika iz ruralnog područja značajno češće ima viši histološki gradus karcinoma (G2 73,6%; G3 5,2% vs G2 37,9%; G3 3,4%; p = 0.048), veće vrijednosti DOI (9(5,5-14,5) vs 4 (1,2-10,2) mm; p = 0,045), viši stadij bolesti (p = 0.031) i dulje vrijeme hospitalizacije (40,4 ± 9,2 vs 28,3 ± 5,8 dana; p < 0.001) u usporedbi sa skupinom iz urbanog područja. Zaključak: u usporedbi s urbanom, ruralna populacija ima viši stadij oralnog karcinoma i dulje vrijeme hospitalizacije. Oralni karcinomi većine ispitanika je bez limfovaskularne i perineuralne invazije. Objectives: the aim of this study was to investigate demographic and clinical factors of oral cancer patients treated at the Institute of maxillofacial surgery of the University Hospital of Split. The etsblished hypotheses were: the oral cancer patients living in the rural area would have a higher gradus of oral cancer and their hospital stay would be longer in comparison to the ones living in the urban area; and that the majority of oral cancers are without lymphovascular or perineural invasion. Patients and methods: the study involved oral cancer patients who were primarily treated surgically. Exclusion criteria: tretment primarily by radiotherapy or chemotherapy and incomplete medical records. Data of interest were general information, patients habits, preoperative and postoperative laboratory test results, preoperative imaging and patohystological findings. The statistical analysis of the collected data was made with the computer program MedCalc. Results: in total, 48 patients were included; 35 males (72,9%) and 13 females (27,1%). The average age of participants was 66 (60,25-70,75) years. The majority of the participants live in the urban area (60,4%). Smokers consumed alcohol more often. The preoperative levels of erythrocytes, hemoglobin, hematocrit, total protein, albumin and calcium were higher than the postoperative levels. Every patient had planocellular carcinoma, while the majority had hystological dysplasia of gradus 2 (56,2%). The average DOI was 7,90 ± 5,85; the majority of oral cancers did not involve lyphovascular or perineural invasion. Most of the resection margins were negative (76,6%); only three patients had HPV-positive oral cancer. The group of patients living in rural area had signifficantlly higher histological gradus (G2 73,6%; G3 5,2% vs G2 37,9%; G3 3,4%; p = 0.048), value of DOI (9(5,5-14,5) vs 4 (1,2-10,2) mm; p = 0,045), stage of cancer (p = 0.031) and longer hospital stay (40,4 ± 9,2 vs 28,3 ± 5,8 dana; p < 0.001) in comparisson to the patients living in urban area. Conclusion: This study confirmed that the people living in rural areas had a higher stage of oral cancer at the time of cancer diagnosis and longer hospital stay in comparison to the people living in urban area. Majority of patients did not have lymphovascular or perineural invasion.

Kao članica Europske Unije, Republika Hrvatska ima obvezu ispunjena energetskih ciljeva, smanjenja emisija stakleničkih plinova te smanjenja utjecaja na okoliš, korištenjem obnovljivih izvora energije. Poljoprivredni sektor nudi mnogo prostora za napredak u vidu dekarbonizacije i efikasnijeg iskorištavanja poljoprivrednih površina. Istovremeno, trend porasta svjetskog stanovništva ne jenjava te se povećava potreba za namirnicama i vodom. Pomoć rješenju ovih problema predstavljaju solarni staklenici. Oni omogućuju istovremeno iskorištavanje zemljišta za proizvodnju hrane i električne energije, pri čemu valja naglasiti da urod pod staklenicima može biti i do deset puta veći od uroda na otvorenom polju. U ovom diplomskom radu analizirana je isplativost izgradnje jednog takvog zaštićenog prostora na području Topuskog. Predviđena je izgradnja staklenika približne površine 0,5 ha koji će se koristiti za paralelni uzgoj paprike i krastavaca. U radu su prvo modelirani toplinski gubitci i dobitci za staklenik u Excel-u na satnoj razini. Modeliran je sustav grijanja na geotermalnu vodu, a na krovu staklenika predviđena je ugradnja solarne elektrane. Proračun je proveden za dva slučaja; ugradnju klasične solarne elektrane i transparentne solarne elektrane. Proizvodnja električne energije modelirana je u System Advisor Model (SAM) sustavu. Nakon što su napravljeni modeli potrošnje električne energije svih sustava, provedena je ekonomska analiza isplativosti projekta izgradnje staklenika, pri čemu se isplativost za različite slučajeve financiranja iz Europskih fondova i vlastitog financiranja analizira kroz neto sadašnju vrijednost (eng. Net Present Value, NPV), unutarnju stopu povrata (eng. Internal Recovery Rate, IRR) te indeks profitabilnosti projekta (IP). As a member of European Union, the Republic of Croatia has an obligation to fulfill energy targets, reduce greenhouse gas emissions and lower its enviromental impact by utilizing renewable energy sources. There is a lot of room for progress in agricultural sector in the terms of decacarbonization and more efficient use of agricultural land. At the same time, there is a significant growth of world population and with it the increased need for fresh water and resources. Solar greenhouses can partake in the solution of this problems. They enable simultaneous use of land for the production of food and electricity generation. It is also good to note that the yield of crops grown in the greenhouse can be up to ten times greater than yield of the same crops grown in the open field. This thesis analyzes the cost – effectiveness of one such greenhouse in the city Topusko. It is planned to build the greenhouse with the area of 0,5 ha used for the parallel cultivation of peppers and cucumbers. In the thesis heat losses and gains are modeled in Excel on an hourly basis. A geothermal water heating system is modeled, and it is planned to install solar power plant on the rood of the greenhouse. Economic analysis is carried out for two scenarios; installation of convecionsl solar power plant and a transparent one. The production of electricity is modeled in the System Advisor Model (SAM). After modeling the electricity consumption of all systems, an economic analysis is carried out, for various forms of financing including financing from European funds as well as self–financing. The profitability of the project is calculated through Net Present Value (NPV) Internal Rate of Return (IRR) and a Profitability Index.