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System for Automatic Calibration of a Robotic Tool
Šála, David ; Chromý, Adam (referee) ; Žalud, Luděk (advisor)
This Master's thesis describes the design and implementation of an experimental sample for automatic calibration of a robotic tool using machine vision methods under the auspices of the company SANEZOO EUROPE s.r.o. It deals with the analysis of all used methods of performing TCP calibration, on the basis of which it is implemented. The application is based on the Point-counterpoint method, where the robot is guided against the calibration point from three different directions, all perpendicular to each other. The calibration point is set using the ArUco marker. In order to detect the endpoint are used images from two cameras that are at the right angles to each other. Using conventional computer vision methods and an HSV filter, the endpoint of the instrument is found in the images and is guided to the calibration point. From the obtained coordinates, the searched endpoint of the robotic tool in the robot coordinates is found using the optimization method Particle Swarm Optimization. This application, therefore, performs TCP calibration in a fast time, thus reducing production downtime almost without human intervention.
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Robot path planning by means of swarm intelligence
Schimitzek, Aleš ; Krček, Petr (referee) ; Dvořák, Jiří (advisor)
This diploma thesis deals with the path planning by swarm intelligence. In the theoretical part it describes the best known methods of swarm intelligence (Ant Colony Optimization, Bee Swarm Optimization, Firefly Swarm Optimization and Particle Swarm Optimization) and their application for path planning. In the practical part particle swarm optimization is selected for the design and implementation of path planning in the C#.
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Evolutionary Algorithms for Neural Networks Learning
Vosol, David ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
Main point of this thesis is to find and compare posibilities of cooperation between evolutionary algorithms and neural network learning and their comparison with classical learning technique called backpropagation. This comparison is demonstrated with deep feed-forward neural network which is used for classification tasks. The process of optimalization is via search of optimal values of weights and biases within neural network with fixed topology. We chose three evolutionary approaches. Genetic algorithm, differential evolution and particle swarm optimization algorithm. These three approaches are also compared between each other. The demonstrating program is implemented in Python3 programming language without usage of any third parties libraries focused on deep learning.
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Heating in lossy waveguide
Tichý, Jakub ; Horák, Jiří (referee) ; Raida, Zbyněk (advisor)
This thesis deals with modeling of a waveguide with the rectangular cross-section in Comsol Multiphysics and optimization with PSO algorithm in MATLAB. The practical section describes electromagnetic wave excitation at different frequencies; and the influence of changes of basic characteristics, proportions and the location of an inserted dielectric slide on passing electromagnetic wave in a single-mode band. In next phase of the project, changes of basic characteristics on heating structure at electromagnetic field excitation by this waveguides are discussed. The last part deals with optimizing waveguide filter with particle swarm optimization and research his new electric and thermal character. Modeled phenomena are illustrated by pictures of a waveguide from the axial upper projection, and on rectangular charts.
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Determination of input parameters of advanced soil constitutive models using optimization methods
Koudela, Pavel ; Miča, Lumír (referee) ; Chalmovský, Juraj (advisor)
Choice of the constitutive model and determination of input parameters are necessary for a successful application of numerical methods in geotechnical engineering. Higher complexity of modern constitutive models results in an increase of the number of input parameters and time requirements for their calibration. Optimization methods are a possible solution for this problem. An application in which metaheuristic optimization method Particle swarm optimization (PSO) is involved is presented in this thesis. Critical review and testing of various PSO alternatives was performed in the first part of this thesis. The most efective PSO alternatives were chosen. In the second part connection between PSO algorithm and finite element solver was prepared. Automatization of determination of constitutive models input parameters was performed on three boundary value problems: laboratory test (oedometer), in-situ test (pressuremeter) and geotechical construction (retaining wall). Three types of constitutive models are used. Linear elastic-perfectly plastic Mohr-Coulomb model, elastoplastic non-linear Hardening soil model and Hardening soil - small strain model.
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Metrics and Criteria for Socio-Technical System Diagnostic
Raudenská, Lenka ; Dohnal, Mirko (referee) ; Nenadál, Jaroslav (referee) ; Fiala, Alois (advisor)
This doctoral thesis is focused on metrics and the criteria for socio-technical system diagnostics, which is a high profile topic for companies wanting to ensure the best in product quality. More and more customers are requiring suppliers to prove reliability in the production and supply quality of products according to given specifications. Consequently the ability to produce quality goods corresponding to customer requirements has become a fundamental condition in order to remain competitive. The thesis firstly lays out the basic strategies and rules which are prerequisite for a successful working company in order to ensure provision of quality goods at competitive costs. Next, methods and tools for planning are discussed. Planning is important in its impact on budget, time schedules, and necessary sourcing quantification. Risk analysis is also included to help define preventative actions, and reduce the probability of error and potential breakdown of the entire company. The next part of the thesis deals with optimisation problems, which are solved by Swarm based optimisation. Algorithms and their utilisation in industry are described, in particular the Vehicle routing problem and Travelling salesman problem, used as tools for solving specialist problems within manufacturing corporations. The final part of the thesis deals with Qualitative modelling, where solutions can be achieved with less exact quantitative information of the surveyed model. The text includes qualitative algebra descriptions, which discern only three possible values – positive, constant and negative, which are sufficient in the demonstration of trends. The results can also be conveniently represented using graph theory tools.
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Planar Antennas on Electromagnetic Bandgap Substrates
Horák, Jiří ; Dědková, Jarmila (referee) ; Škvor,, Zbyněk (referee) ; Raida, Zbyněk (advisor)
Planar antennas are used in several technical applications. The family of planar antennas contains microstrip antennas, which are very popular due to the low weight, low profile, simple manufacturing and easy mass production. Lower gain and excitation of surface waves are disadvantages of microstrip antennas. The propagation of surface waves can be efficiently suppressed if the conventional substrate is replaced by an electromagnetic bandgap (EBG) substrate. Microstrip antennas on EBG substrates have been presented in an open literature for several years. Nevertheless, no published work is devoted to the design of EBG substrates, which can suppress surface waves at several frequencies those cannot be covered by a single bandgap. In order to reach optimum parameters of designed antennas, selected global optimization methods are applied (genetic algorithms, particle swarm optimization, ant colony optimization).
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Modeling frequency selective surfaces in COMSOL Multiphysics
Höhn, Tomáš ; Oliva, Lukáš (referee) ; Raida, Zbyněk (advisor)
Metoda konečných prvků implementovaná v programu COMSOL Multiphysics je využívána k analýze tzv. free-standing kmitočtově selektivních povrchů ve 3D. Tyto modely jsou následně doplněny o periodické okrajové podmínky. Dále jsou free-standing povrchy doplněny o vrstvy dielektrika a je zkoumán jejich vliv na modul činitele odrazu. V analytické části jsou vyhodnoceny vlivy počtu elementů diskretizační mřížky na přesnost výsledku a délku výpočtů. Výsledky jsou srovnávány vzhledem k výsledkům uvedeným v literatuře [5]. V závěrečné části práce je vysvětlen postup při generování m-file pro obdélníkový element a použití globálního optimalizačního algoritmu PSO, který automaticky upravuje rozměry vodivého motivu tak, aby bylo dosaženo průběhu modulu činitele odrazu podle požadovaného průběhu.
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