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Vehicle Control via Reinforcement Learning
Maslowski, Petr ; Uhlíř, Václav (referee) ; Šůstek, Martin (advisor)
The goal of this thesis is a creation of an autonomous agent that can control a vehicle. The agent utilizes reinforcement learning that uses neural networks. The agent interprets images from the front vehicle camera and selects appropriate actions to control the vehicle. I designed and created reward functions and then experimented with hyperparameters setup. Trained agent simulate driving on the road. The result of this thesis shows a possible approach to control an autonomous vehicle agent using machine learning method in CARLA simulator.
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Self-supervised learning in computer vision applications
Vančo, Timotej ; Richter, Miloslav (referee) ; Janáková, Ilona (advisor)
The aim of the diploma thesis is to make research of the self-supervised learning in computer vision applications, then to choose a suitable test task with an extensive data set, apply self-supervised methods and evaluate. The theoretical part of the work is focused on the description of methods in computer vision, a detailed description of neural and convolution networks and an extensive explanation and division of self-supervised methods. Conclusion of the theoretical part is devoted to practical applications of the Self-supervised methods in practice. The practical part of the diploma thesis deals with the description of the creation of code for working with datasets and the application of the SSL methods Rotation, SimCLR, MoCo and BYOL in the role of classification and semantic segmentation. Each application of the method is explained in detail and evaluated for various parameters on the large STL10 dataset. Subsequently, the success of the methods is evaluated for different datasets and the limiting conditions in the classification task are named. The practical part concludes with the application of SSL methods for pre-training the encoder in the application of semantic segmentation with the Cityscapes dataset.
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Identification of vertebrae type in CT data by machine learning methods
Matoušková, Barbora ; Kolář, Radim (referee) ; Chmelík, Jiří (advisor)
Identification of vertebrae type by machine learning is an important task to facilitate the work of medical doctors. This task is embarrassed by many factors. First, a spinal CT imagining is usually performed on patiens with pathologies such as lesions, tumors, kyphosis, lordosis, scoliosis or patients with various implants that cause artifacts in the images. Furthermore, the neighboring vertebraes are very similar which also complicates this task. This paper deals with already segmented vertebrae classification into cervical, thoracic and lumbar groups. Support vector machines (SVM) and convolutional neural networks (CNN) AlexNet and VGG16 are used for classification. The results are compared in the conclusion.
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Reinforcement Learning for RoboCup
Bočán, Hynek ; Škoda, Petr (referee) ; Smrž, Pavel (advisor)
Goal of this thesis is creation of artificial intelligence capable of controlling robotic soccer player simulated in SimSpark environment. Agent created is expanding capabilities of existing third party agent which provides set of basic skills such as localization on the field, dribbling with the ball and omnidirectional walk. Responsibility of the created agent is to pick the best action based current state of the game. This decision making was implemented using reinforcement learning and its method Q-learning. State of the game is transformed into 2D picture with several planes. This picture is then analyzed using deep convolution neural network implemented using C++ and DeepCL library.
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Object detection in video using neural networks
Mikulský, Petr ; Sikora, Pavel (referee) ; Myška, Vojtěch (advisor)
This diploma thesis deals with the detection of moving objects in a video recording using neural networks. The aim of the thesis was to detect road users in video recordings. Pre-trained YOLOv5 object detection model was used for a practical part of the thesis. As part of the solution, an own dataset of traffic road video recordings was created and annotated with following classes: a car, a bus, a van, a motorcycle, a truck and a trailer truck. Final version of this dataset comprise 5404 frames and 6467 annotated objects in total. After training, the YOLOv5 model achieved 0.995 mAP, 0.995 precision and 0.986 recall on the dataset. All steps leading to the final form of the dataset are described in the conclusion chapter.
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Klasifikace dat v obraze pomocí nástrojů pro strojové učení v jazyce Python
Voronin, Artyom ; Appel, Martin (referee) ; Bastl, Michal (advisor)
This thesis introduces the issue of data classification in the image using tools for machine learning in Python. The aim is to verify the possibilities of overtraining existing models on their own data and evaluating the efficiency and complexity of the entire process. Subsequently, the processing of the achieved results in the form of a demonstration task, image capturing by a web camera and classification of the object in the field of view.
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Design and implementation of the robotic platform for an experimental laboratory task
Juříček, Martin ; Matoušek, Radomil (referee) ; Parák, Roman (advisor)
Pokročilá robotika se nemusí vždy pouze pojit s Průmyslem 4.0, nýbrž nachází své uplatnění i kupříkladu v konceptu Smart Hospital. Pokrok v této oblasti umocnilo onemocnění koronaviru (COVID-19), přičemž každé ulehčení práce zdravotnímu personálu je vítáno. V rámci této diplomové práce byla navrhnuta a implementována experimentální robotická platforma s hlavní funkcí stěru vzorků z předsíně dutiny nosní. Robotická platforma představuje kompletní integraci softwaru a hardwaru, kde má operátor přístup k webově založené aplikaci a může ovládat řadu funkcí. Opomenout nelze také zvýšenou bezpečnost a kolaborativní přístup. Výsledkem práce je funkční prototyp robotické platformy, který je možné dále rozšiřovat například v podobě použití alternativních technologií, rozšíření bezpečnosti či klinického testování a studie.
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Deep Book Recommendation
Gráca, Martin ; Beran, Vítězslav (referee) ; Hradiš, Michal (advisor)
This thesis deals with the field of Recommendation systems using Deep Neural Networks and their use in book recommendation. There are the main traditional recommender systems analysed and their representations are summarized, as well as systems with more advancec techniques based on machine learning.. The core of the thesis is the use of convolutional neural networks for natural language processing and the creation of a book recommendation system. Suggested system make recommendation based on user data, including user reviews and book data, including full texts.
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Traffic sign detection in real time
Sicha, Marek ; Přinosil, Jiří (referee) ; Bravenec, Tomáš (advisor)
The bachelor's thesis focuses on the detection and classification of traffic signs in images and video sequences. The goal of the work is also the possibility to perform detection and classification on a single board computer. Neural networks and the Python programming language were chosen to solve the problem. Object detection and classification are solved separately, so two neural networks were used. A convolutional neural network was chosen for classification and a detector from the EfficientDet family was chosen for detection. The overall architecture was tested on a single board Nvidia Jetson Nano computer.
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Suppression of the responsive component of electrodermal activity
Vraný, Jakub ; Vičar, Tomáš (referee) ; Kolářová, Jana (advisor)
Electrodermal acitivity is a kind of electrochemical signal generated with relation to activity of the autonomic nervous system that stimulates the sweat glands. In this way, is it possible to measure the activity of the sympathetic part of the nerve systém and evaluate the cognitive stress of the treated person, which is manifested by responsive signals in EDA record, respectively to increased occurence of responses. The aim of this work is to design a deep learning algorithm for the identification of this component in the record of data taken from UBMI database. The recordings contain a sequence of measurements the conductance of the skin of patient, who was subjected alternately to the states of rest and subsequently a state of mental stress. The data were annotated according to presence of the responsive components occuring in the records of EDA. Subsequently, a suitable deep learning algorithm was implemented in order to classify the responsive components in the measured EDA signal. The neural network model has been taught, optimized and implemented on the measurement samples using annotated data. The obtained results data were statistically evaluated to qualify the success of the classification of responsive components and differences in the records of mental calm and stress. The results of the classification and comparison of EDA records measured at different conditions of the patient were discussed subsequently.
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