Fakulta elektrotechniky a informatiky / Faculty of Electrical Engineering and Informatics
Stálý URI pro tuto komunituhttps://hdl.handle.net/10195/3847
Práce obhájené před rokem 2008 jsou uloženy pouze v kolekci Vysokoškolské kvalifikační práce
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Konferenční objektpeer-reviewedpostprint Omezený přístup Automated Dataset Enhancement Using GAN for Assessment of Degree of Degradation around Scribe(IEEE (Institute of Electrical and Electronics Engineers), 2023) Doležel, Petr; Pakosta, Marek; Rozsívalová, Veronika; Štursa, DominikCoil coating is a method of applying an organic coating material to a rolled metal strip substrate in a continuous automated process. It is used to provide a high quality, durable finish to a variety of surfaces. The degradation resistance of coil-coated materials is assessed according to European Standard EN 13523-8 by exposing a coil-coated test specimen to a salt fog at a defined temperature for a defined period of time. After this process, a sample is tested according to the International Organisation for Standardisation ISO 4628 standard to determine the degree of degradation. In this study, a GAN-based technique for automated training set enhancement is proposed to assess the degree of degradation around a scribe. The presented technique is capable of enhancing a manually generated dataset of images with synthetic samples to help refine the performance of the area degradation detector.Článekpeer-reviewedpostprint Omezený přístup Genetic Algorithm-Based Task Assignment for Fleet of Unmanned Surface Vehicles in Dynamically Changing Environment(Taylor & Francis Inc, 2023) Dvořák, Miroslav; Doležel, Petr; Štursa, Dominik; Chouai, MohamedUnmanned vehicles are gaining the attention of professional operators and the general public. The implementation of unmanned vehicles is evident in, among other fields, emergency management, agriculture, traffic monitoring, post-disaster operations, and delivery of goods. Naturally, a group of unmanned vehicles can cooperatively complete operations more proficiently than a single vehicle. However, several issues must be resolved before a stable and reliable group of unmanned vehicles can be generally deployed to solve tasks in civil infrastructures and in industrial facilities. Here, a framework for the guidance of a fleet of unmanned surface vehicles is proposed. The framework utilizes several levels of control, namely Global Planning Level, Local Planning Level, and Low-Level Control. While the individual vehicles are completely autonomous in their operational locomotion and obstacle avoidance (low-level control and local planning), the task assignment for each vehicle (or group of them) is provided by a global planning process, based on the genetic algorithm. The framework provides a concept to solve complex tasks for the fleet of unmanned surface vehicles (USVs). This includes, but is not necessarily limited to, a dynamically changing environment, different types of USVs with special abilities, multiple types of areal restrictions and obstacles, different restrictions for individual USVs, cooperation of multiple USVs to solve their subtasks, energy consumption optimization, etc. The framework can be advantageously applied to tasks such as warehouse logistics, surface maintenance, area exploration, etc. At the end of the study, the application of the framework is presented using a simulated example of cooperative problem solving using six vehicles.Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup Grasping Point Detection Using Monocular Camera Image Processing and Knowledge of Center of Gravity(Springer Nature Switzerland AG, 2022) Štursa, Dominik; Doležel, Petr; Honc, DanielThe ability to grasp objects is one of the basic functions of modern industrial robots. In this article, the focus is placed on a system for processing the image provided by a robot visual perception system leading to the detection of objects grasping points. The proposed processing system is based on a multi-step method using convolutional neural networks (CNN). The first step is to use the first CNN to transform the input image into a schematic image with labeled objects centers of gravity, which then serves as a supporting input to the second CNN. In this second CNN, original input and supporting input images are used to obtain a schematic image containing the grasping points of the objects. This solution is further compared with a network providing grasping points directly from the input image. As a result, the proposed method provided a 0.7% improvement in the average intersection over union for all of the models.Konferenční objektpeer-reviewedpostprint (accepted version) Omezený přístup Classification of Polymers Based on the Degree of Their Transparency in SWIR Spectrum(Springer Nature Switzerland AG, 2022) Štursa, Dominik; Kopecký, Dušan; Roleček, Jiří; Doležel, Petr; Baruque Zanon, BrunoDetection, classification and sorting of polymeric particles is a common task required in recycling industry. In the proposed work, an innovative method for detection of polymeric particles and their classification is introduced. The method is based on evaluation of images of polymeric particles, obtained from short-wavelength infrared (SWIR) camera, by convolutional neural network (CNN). Compared to conventionally used spectroscopes or hyper-spectral imaging, this method utilizes single wavelength (1 050 nm) and a degree of polymer transparency serves as the main descriptor. Five different polymers (ABS, ABS-T, Nylon, PETG, PLA) in form of regular blocks (size 15 × 15 × 0.3 mm) were used in the experiment. In total 203 images (size 288 × 288 px) were prepared for CNN training and 67 for testing. Scalable ASP U-Net was tested in 6 combinations and their outputs were compared. According to used intersection over union metrics over all outputs, the topology with 64 filters and depth of 3 exhibited the best results.Článekpeer-reviewedpublished Otevřený přístup Centroid based person detection using pixelwise prediction of the position(Elsevier Science BV, 2022) Doležel, Petr; Škrabánek, Pavel; Štursa, Dominik; Zanon, Bruno Baruque; Adrian, Hector Cogollos; Kryda, PavelImplementations of person detection in tracking and counting systems tend towards processing of orthogonally captured images on edge computing devices. The ellipse-like shape of heads in orthogonally captured images inspired us to predict head centroids to determine positions of persons in images. We predict the centroids using a fully convolutional network (FCN). We combine the FCN with simple image processing operations to ensure fast inference of the detector. We experiment with the size of the FCN output to further decrease the inference time. We compare the proposed centroid-based detector with bounding box-based detectors on head detection task in terms of the inference time and the detection performance. We propose a performance measure which allows quantitative comparison of the two detection approaches. For the training and evaluation of the detectors, we form original datasets of 8000 annotated images, which are characterized by high variability in terms of lighting conditions, background, image quality, and elevation profile of scenes. We propose an approach which allows simultaneous annotation of the images for both bounding box-based and centroid-based detection. The centroid-based detector shows the best detection performance while keeping edge computing standards.Článekpeer-reviewedpublished Otevřený přístup Sequence of U-Shaped Convolutional Networks for Assessment of Degree of Delamination Around Scribe(Atlantis Press, 2022) Rozsívalová, Veronika; Doležel, Petr; Štursa, Dominik; Rozsíval, PavelThe application of protective layers is the primary method of keeping metallic structures resistant to degradation. The measurement of the layer resistance to delamination is one of the important indicators of the protection quality. Therefore, ISO 4628 standard has been issued to handle and quantify the main coating defects. Here, an innovative assessment of degree of delamination around a scribe according to ISO 4628 standard has been practically realized. It utilizes an computer-driven deep learning-based method. The assessment method is composed of two shallow U-shaped convolutional networks in a row; the first for preliminary and the second for refined detection of delamination area around a scribe. The experiments performed on 586 samples showed that the proposed sequence of U-shaped convolutional networks meets the edge computing standards, provides good generalization capability, and provides precise delamination area detection for a large variability of surfaces.Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup Suitable ASP U-Net training algorithms for grasping point detection of nontrivial objects(IEEE (Institute of Electrical and Electronics Engineers), 2022) Doležel, Petr; Štursa, Dominik; Kopecký, DušanRobotic manipulation with nontrivial or irregular objects, which provide various types of grasping points, is of both academic and industrial interest. Recently, a powerful data-driven ASP U-Net deep neural network has been proposed to detect feasible grasping points of manipulated objects using RGB data. The ASP U-Net showed the ability to detect feasible grasping points with exceptional accuracy and more than acceptable inference times. So far, the network has been trained using an Adam optimizer only. However, in order to optimally utilize the potential of ASP U-Net, it was necessary to perform a systematic investigation of suitable training algorithms. Therefore, the aim of this contribution was to extend the impact of ASP U-Net by recommending suitable training algorithms and their parameters based on the result of training experiments.Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup Spectral Classification of Microplastics using Neural Networks: Pilot Feasibility Study(SciTePress - Science and Technology Publications, 2022) Doležel, Petr; Roleček, Jiří; Honc, Daniel; Štursa, Dominik; Baruque Zanon, BrunoMicroplastics, i.e. synthetic polymers that have particle size smaller than 5 mm, are emerging pollutants that are widespread in the environment. In order to monitor environmental pollution by microplastics, it is necessary to have available rapid screening techniques, which provide the accurate information about the quality (type of polymer) and quantity (amount). Spectroscopy is an indispensable method, if precise classification of individual polymers in microplastics is required. In order to contribute to the topic of autonomous spectra matching when using spectroscopy, we decided to demonstrate the quality and efficiency of neural networks. We adopted three neural network architectures, and we tested them for application to spectra matching. In order to keep our study transparent, we use publicly available dataset of FTIR spectra. Furthermore, we performed a deep statistical analysis of all the architectures performance and efficiency to show the suitability of neural networks for spectra matching. The results presented at the end of this article indicated the overall suitability of the selected neural network architectures for spectra matching in microplastics classification.Článekpeer-reviewedpublished version Otevřený přístup Optimization of a Depiction Procedure for an Artificial Intelligence-Based Network Protection System Using a Genetic Algorithm(MDPI, 2021) Doležel, Petr; Holík, Filip; Merta, Jan; Štursa, DominikThe current demand for remote work, remote teaching and video conferencing has brought a surge not only in network traffic, but unfortunately, in the number of attacks as well. Having reliable, safe and secure functionality of various network services has never been more important. Another serious phenomenon that is apparent these days and that must not be discounted is the growing use of artificial intelligence techniques for carrying out network attacks. To combat these attacks, effective protection methods must also utilize artificial intelligence. Hence, we are introducing a specific neural network-based decision procedure that can be considered for application in any flow characteristic-based network-traffic-handling controller. This decision procedure is based on a convolutional neural network that processes the incoming flow characteristics and provides a decision; the procedure can be understood as a firewall rule. The main advantage of this decision procedure is its depiction process, which has the ability to transform the incoming flow characteristics into a graphical structure. Graphical structures are regarded as very efficient data structures for processing by convolutional neural networks. This article's main contribution consists of the development and improvement of the depiction process using a genetic algorithm. The results presented at the end of the article show that the decision procedure using an optimized depiction process brings significant improvements in comparison to previous experiments.Konferenční objektpeer-reviewedpostprint (accepted version) Omezený přístup Guidance of Unmanned Surface Vehicle Fleet Using Genetic Algorithm-Based Approach(SPRINGER INTERNATIONAL PUBLISHING AG, 2021) Dvořák, Miroslav; Doležel, Petr; Štursa, Dominik; Chouai, MohamedIn this contribution, we provide an approach to guidance of a fleet of unmanned surface vehicles. While the vehicles are themselves completely autonomous in their operational locomotion and obstacle avoidance, the task assignment for each vehicle is provided by a global planning process, based on the genetic algorithm. Various possibilities to the genetic algorithm are proposed and tested using a fleet of six vehicles dealing with a complex task.
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