Fotbal robotů

This doctoral thesis deals with the robot soccer domain and it is mainly focused on the area of strategy planning, analysis, optimization and adaptation. The main goal of the thesis is to create new algorithms and methods which will be applicable in different simulators and environments; not only in the area of robot soccer games. This work describes the methods for the strategy evaluation, loop strategy detection and hub rule detection. The methods utilizing graphs and space filling curves for the fast and effective rule selection from the strategy; and methods for sequence extraction and comparison to validate and visualize the strategy adaptation mechanism are presented. This thesis also describes the custom robot soccer architecture which was created to test the proposed methods and algorithms. The proposed methodology can be used in other thematic areas, where there is a need for an effective strategy planning.Tato disertační práce se zabývá doménou fotbalu robotů a je primárně zaměřena na oblast strategického plánování, analýzy, optimalizace a adaptace strategií. Hlavním cílem práce je vytvořit nové algoritmy a metody, které bude možné aplikovat v různých simulátorech či prostředích, nejen v oblasti zabývající se hrou fotbalu robotů. Práce dále obsahuje popis metod pro evaluaci strategií, detekci cyklických strategií a detekci centrálních pravidel. Jsou představeny metody pro rychlé a efektivní vybírání pravidel ze strategie využívající grafy a prostor vyplňující křivky; a metody pro extrakci a porovnání sekvencí použité pro validaci a vizualizaci mechanismu adaptace strategií. Práce také obsahuje popis vlastní architektury pro hru fotbal robotů, která byla vytvořena pro testování navržených metod a algoritmů. Představenou metodologii lze použít i v dalších tématických oblastech, kde je žádoucí efektivní strategické plánování.460 - Katedra informatikyvyhově

Optimization of rules selection for robot soccer strategies

Mobile embedded systems belong among the typical applications of distributed systems control in realtime. An example of a mobile control system is a robotic system. The proposal and realization of such a distributed control system represents a demanding and complex task for real-time control. In the process of robot soccer game applications, extensive data is accumulated. The reduction of such data is a possible win in a game strategy. The main topic of this article is a description of an efficient method for rule selection from a strategy. The proposed algorithm is based on the geometric representation of rules. A described problem and a proposed solution can be applied to other areas dealing with effective searching of rules in structures that also represent coordinates of the real world. Because this construed strategy describes a real space and the stores physical coordinates of real objects, our method can be used in strategic planning in the real world where we know the geographical positions of objects.Web of Science11art. no. 1

Neural network-based urban change monitoring with deep-temporal multispectral and SAR remote sensing data

Remote-sensing-driven urban change detection has been studied in many ways for decades for a wide field of applications, such as understanding socio-economic impacts, identifying new settlements, or analyzing trends of urban sprawl. Such kinds of analyses are usually carried out manually by selecting high-quality samples that binds them to small-scale scenarios, either temporarily limited or with low spatial or temporal resolution. We propose a fully automated method that uses a large amount of available remote sensing observations for a selected period without the need to manually select samples. This enables continuous urban monitoring in a fully automated process. Furthermore, we combine multispectral optical and synthetic aperture radar (SAR) data from two eras as two mission pairs with synthetic labeling to train a neural network for detecting urban changes and activities. As pairs, we consider European Remote Sensing (ERS-1/2) and Landsat 5 Thematic Mapper (TM) for 1991-2011 and Sentinel 1 and 2 for 2017-2021. For every era, we use three different urban sites-Limassol, Rotterdam, and Liege-with at least 500 km(2) each, and deep observation time series with hundreds and up to over a thousand of samples. These sites were selected to represent different challenges in training a common neural network due to atmospheric effects, different geographies, and observation coverage. We train one model for each of the two eras using synthetic but noisy labels, which are created automatically by combining state-of-the-art methods, without the availability of existing ground truth data. To combine the benefit of both remote sensing types, the network models are ensembles of optical- and SAR-specialized sub-networks. We study the sensitivity of urban and impervious changes and the contribution of optical and SAR data to the overall solution. Our implementation and trained models are available publicly to enable others to utilize fully automated continuous urban monitoring.Web of Science1315art. no. 300

Microsoft Robotic Studio and .NET Micro Framework

Import 29/09/2010Tato diplomová práce se zabývá dvěma nástroji, vyvinutými společností Microsoft a spadajícími do oblasti programování mikroprocesorů a robotiky. První nástroj je .NET Micro Framework, který je určen pro embedded systémy. Jeho hlavní předností je možnost psát programy v řízeném kódu s výhodami jež přináší platforma .NET Framework. V této části je cílem práce především vytvoření ukázkové úlohy, demonstrující některé pokročilejší funkce tohoto frameworku, které se objevily s jeho novou verzí. Druhý nástroj je Microsoft Robotics Developer Studio, což je nástroj pro kontrolu a simulaci robotů. Díky servisně orientované architektuře umožňuje tento nástroj práci jak s opravdovými roboty, tak i s roboty jež jsou pouze součástí grafického simulátoru. Zde je cílem podrobněji se seznámit s grafickými a fyzikálními možnostmi tohoto simulátoru. Na závěr popíši možný způsob, jakým by se v praxi dali oba zmíněné nástroje propojit. To znamená najít společný způsob komunikace obou nástrojů, pro jejich možné praktické využití.This thesis describes two tools developed by Microsoft and falling into the area of programming microprocessors and robotics. The first tools is .NET Micro Framework which is designed for embedded systems. Its main advantage is the ability to write programs in managed code with the benefits of .NET platform. This part of the thesis is demonstrating some of the advanced features of this framework which appeared with its new release. The second tool is the Microsoft Robotics Developer Studio which is a tool for controlling and simulating robots. Thanks to a service-oriented architecture this tool allows to work with real robots and also robots that are only part of the graphic simulator. Here the aim is to further acquaint themselves with the graphics and physics capabilities of the simulator. In conclusion, I will describe a possible way to connect these tools. It is meant to find a common way of communication between both tools for their potential practical applications.Prezenční456 - Katedra informatikyvýborn

Použití .NET Micro Frameworku

Import 22/10/2008Prezenční456 - Katedra informatikyNeuveden

Analysis of strategy in robot soccer game

Strategy is a kernel subsystem of robot soccer game. In our work, we present an approach to describe the strategy of the game, based on which we explain the morphology of strategy set. Loop strategies are likely to make robots be in a trap of executing repeated actions. We analyze the existence criterion of loop strategies, and then present some corollaries and theorems, by which the loop strategies and chain strategies can be found, also superfluous strategies and inconsistent strategies. We present a ranking model that indicates the weak node in strategy set. We also present a probability-based model which is the basis of evaluation of strategy. Additionally, we present a method to generate offensive strategy, and the statistic results of simulation game prove the validity of the method.Web of Science1096

SPIM workflow manager for HPC

Summary: Here we introduce a Fiji plugin utilizing the HPC-as-a-Service concept, significantly mitigating the challenges life scientists face when delegating complex data-intensive processing workflows to HPC clusters. We demonstrate on a common Selective Plane Illumination Microscopy image processing task that execution of a Fiji workflow on a remote supercomputer leads to improved turnaround time despite the data transfer overhead. The plugin allows the end users to conveniently transfer image data to remote HPC resources, manage pipeline jobs and visualize processed results directly from the Fiji graphical user interface.Web of Science35193876387

New Enabling Technologies to Observe and Characterize Urban Environments with Big Data from Space - The Urban Thematic Exploitation Platform

Modern Earth Observation (EO) satellite missions provide valuable opportunities to support sustainable urban planning and management by delivering dedicated information on the spatiotemporal development of the built environment and its key morphological and physical characteristics such as imperviousness, greenness, built-up density, building volume, albedo – from global down to local scale. However, the transformation of the raw EO imagery into ready-to-use thematic data and indicators for scientist or planners on the one hand and actionable information for decision makers on the other hand requires detailed technical expert knowledge. Moreover, the imagery collected by satellite missions such as the US Landsat program or the European fleet of Sentinel satellites, but also by airborne systems or drones, rapidly adds up to a multiple of the data volume that can effectively be handled with standard work stations and software solutions. Hence, this contribution introduces the Urban Thematic Exploitation Platform (https://urban-tep.eo.esa.int) that utilizes modern information and communication technology to bridge the gap between the mass data collections of the technology-driven EO sector and the demand of science, planning, and policy for up-to-date information on the status, properties and dynamics of the urban system. Key components of the Urban Thematic Exploitation Platform (U-TEP) are an open, web-based portal that is connected to distributed high-level computing clusters and clouds and that also provides key functionalities for i) high-performance data access, analysis and visualization, ii) customized development and sharing of algorithms, products and services, and iii) networking, communication and exchange of data and information. The overarching objective here is to enable any interested (non-expert) user to easily generate actionable indicators and information for effective sustainable urban development based on a joint analysis of various data sources such as official survey data, EO mission data, socio-economic statistics, and data collected via social media or citizen science. So far more than 3.5 PB of data have been processed and analyzed by means of the U-TEP to finally provide a broad spectrum of urban information products and related services for visualization and analytics that have yet successfully been used by more than 240 institutions (science, planning, NGOs, policy) from 41 countries (i.a. World Bank Group, United Nations, Organisation for Economic Cooperation and Development, World Food Programme, Bill and Melinda Gates Foundation, Group on Earth Observation, Global Platform for Sustainable Cities)