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Item type:Item, Access status: Open Access , Generalized Voronoi Diagram-Guided and Contact-Optimized Motion Planning for Snake Robots(MDPI, 2026-01-19) Shehadeh, Mhd Ali; Šeda, MilošIn robot motion planning in a space with obstacles, the goal is to find a collision-free path for robots from the start to the target position. Numerous fundamentally different approaches, and their many variants, address this problem depending on the types of obstacles, the dimensionality of the space and the restrictions on robot movements. We present a hierarchical motion planning framework for snake-like robots navigating cluttered environments. At the global level, a bounded Generalized Voronoi Diagram (GVD) generates a maximal-clearance path through complex terrain. To overcome the limitations of pure avoidance strategies, we incorporate a local trajectory optimization layer that enables Obstacle-Aided Locomotion (OAL). This is realized through a simulation-in-theloop system in CoppeliaSim, where gait parameters are optimized using Particle Swarm Optimization (PSO) based on contact forces and energy efficiency. By coupling high-level deliberative planning with low-level contact-aware control, our approach enhances both adaptability and locomotion efficiency. Experimental results demonstrate improved motion performance compared to conventional planners that neglect environmental contact.Item type:Item, Access status: Open Access , Multi-Aspect Evaluation of Ventilated Façade Brackets with Thermal Breaks(MDPI, 2026-01-18) Barnat, Jan; Rubinová, Olga; Rubina, Aleš; Bajer, Miroslav; Šmak, MilanVentilated façade systems are being increasingly used in energy-efficient building envelopes due to their configurational flexibility and potential to reduce thermal bridging. This study focuses on the experimental evaluation of anchoring components used in such systems, specifically examining the effect of various thermal insulation pads and internal inserts on the system’s mechanical, thermal, and fire performance. A series of laboratory tests was carried out to assess the static behavior of aluminum brackets under both tensile (suction wind load) and compressive (pressure wind load) forces. The results demonstrate that the use of thermal pads and inserts does not lead to any significant degradation of the mechanical capacity of the anchoring brackets, confirming their structural reliability. Additional thermal testing revealed that the use of insulating materials significantly reduces heat transfer through the brackets. Fire resistance tests were conducted to compare the performance of different types of insulation pads under elevated temperatures. The findings indicate that the choice of pad material substantially influences both fire integrity and thermal performance. This study confirms the potential of incorporating optimized insulating pads and inserts into façade brackets to enhance the thermal and fire performance of ventilated façades without compromising their structural behavior.Item type:Item, Access status: Open Access , FireProtDB 2.0: large-scale manually curated database of the protein stability data(Oxford University Press, 2026-01-19) Musil, Miloš; Borko, Simeon; Planas-Iglesias, Joan; Lacko, David; Rosinska, Monika; Kabourek, Petr; Martins, Ligia O.; Tataruch, Mateusz; Damborsky, Jiri; Mazurenko, Stanislav; Bednar, DavidThermostable proteins are crucial in numerous biomedical and biotechnological applications. However, naturally occurring proteins have evolved to function in mild conditions, and laboratory experiments aiming at improving protein stability have proven laborious and expensive. Computational methods overcome this issue by providing a cheap and scalable alternative. Despite significant progress, their reliability is still hindered by the availability of high-quality data. FireProtDB 2.0 (http://loschmidt.chemi.muni.cz/fireprotdb) is a large-scale database aggregating stability data from multiple sources. The second version builds upon its predecessor, retaining its original functionality while introducing a new approach to data storage and maintenance. The new scheme enables the introduction of both absolute and relative data types connected with measurements of wild-types, mutants, protein domains, and de novo designed proteins. Furthermore, while the original database was limited to single-point mutations, more complex data such as insertions, deletions, and multiple-point mutations are now available. As a result, the inclusion of large-scale mutagenesis has increased the size of the database from 16 000 to almost 5 500 000 experiments. Moreover, the updated abstract scheme is fully expandable with any new measurements and annotations without the need for any restructuring. Finally, the tracking of history together with fixed identifiers is in accordance with the FAIR principles.Item type:Item, Access status: Open Access , Effective solution of nonlinear DAEs problems using Taylor series method(DeGruyter, 2026-01-20) Veigend, Petr; Šátek, Václav; Nečasová, GabrielaMost methods for solving ordinary differential equations use a limited order to calculate the results. The higher-order method based on the Taylor series presented in this article can use as many terms of the Taylor series as necessary to obtain a stable and accurate solution. When solving nonlinear problems using this method, the solution can be complex. This paper introduces a new approach to solving nonlinear problems using the explicit Taylor series method. It compares this new approach against the previously used approach and the state-of-the-art solvers in MATLAB software.Item type:Item, Access status: Open Access , Synthesis of PtCu/C Nanostructured Electrocatalysts for the Oxygen Reduction Reaction via One-Step Electrochemical Erosion(American Chemical Society, 2026-01-21) Schneider, Peter M.; Kolíbalová, Eva; Rodriguez Pereira, Jhonatan; Sarpey, Theophilus K.; Schott, Christian M.; Gubanova, Elena L.; Chennam, Pavan Kumar; Senyshyn, Anatoliy; Benning, Christine; Elsner, Martin; Macák, Jan; Bandarenka, Aliaksandr S.Reducing the precious metal loading while increasing the oxygen reduction reaction (ORR) mass activity of novel electrocatalysts constitutes one of the remaining key challenges in the widespread application of proton exchange membrane fuel cells, which is inevitable for the transition to the climate-neutral hydrogen economy. However, this requires a simple, scalable, and affordable production of active nanostructured electrocatalysts. Alloyed nanoparticles of Platinum (Pt) with transition metals like cobalt, nickel, or copper have shown promising activity toward ORR, but their preparation usually involves complex multistep processes and environmentally harmful surfactants or structure-capping agents. In this work, we present the successful synthesis of nonspherical copper-alloyed Pt nanoparticles (PtCu) by employing a simple one-step top-down approach without surfactants or capping agents. The electrocatalysts were characterized by high-resolution transmission electron microscopy, energy-dispersive X-ray spectroscopy, X-ray diffraction, X-ray photoelectron spectroscopy, and inductively coupled plasma mass spectrometry. The ORR kinetics were evaluated using the rotating (ring) disk electrode technique. The synthesized PtCu/C catalysts revealed outstanding mass activities of similar to 1.2 A mgPt -1 at 0.9 V vs the reversible hydrogen electrode, which clearly surpasses state-of-the-art Pt-based catalysts in the literature and demonstrates the highest ORR mass activities reported for PtCu nanoparticles.