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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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.Článekpeer-reviewedpublished Otevřený přístup Two-layer genetic programming(2022) Merta, Jan; Brandejský, Tomáš; Bouchner, PetrThis paper focuses on a two-layer approach to genetic programming algorithm and the improvement of the training process using ensemble learning. Inspired by the performance leap of deep neural networks, the idea of a multilayered approach to genetic programming is proposed to start with two-layered genetic programming. The goal of the paper was to design and implement a twolayer genetic programming algorithm, test its behaviour in the context of symbolic regression on several basic test cases, to reveal the potential to improve the learning process of genetic programming and increase the accuracy of the resulting models. The algorithm works in two layers. In the first layer, it searches for appropriate sub-models describing each segment of the data. In the second layer, it searches for the final model as a non-linear combination of these sub-models. Two-layer genetic programming coupled with ensemble learning techniques on the experiments performed showed the potential for improving the performance of genetic programming.Článekpeer-reviewedpublished version Otevřený přístup Memory Efficient Grasping Point Detection of Nontrivial Objects(IEEE (Institute of Electrical and Electronics Engineers), 2021) Doležel, Petr; Štursa, Dominik; Kopecký, Dušan; Jecha, JiříRobotic manipulation with a nontrivial object providing various types of grasping points is of an industrial interest. Here, an efficient method of simultaneous detection of the grasping points is proposed. Specifically, two different 3 degree-of-freedom end effectors are considered for simultaneous grasping. The method utilizes an RGB data-driven perception system based on a specifically designed fully convolutional neural network called attention squeeze parallel U-Net (ASP U-Net). ASP U-Net detects grasping points based on a single RGB image. This image is transformed into a schematic grayscale frame, where the positions and poses of the grasping points are coded into gradient geometric shapes. In order to approve the ASP U-Net architecture, its performance was compared with nine competitive architectures using metrics based on generalized intersection over union and mean absolute error. The results indicate its outstanding accuracy and response time. ASP U-Net is also computationally efficient enough. With a more than acceptable memory size (77 MB), the architecture can be implemented using custom single-board computers. Here, its capabilities were tested and evaluated on the NVIDIA Jetson NANO platform.