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master's thesis
Upravljanje kinematskim strukturama inspiriranih prirodom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:911415
Ivić, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Ivić, M. (2022). Upravljanje kinematskim strukturama inspiriranih prirodom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:911415

Ivić, Marko. "Upravljanje kinematskim strukturama inspiriranih prirodom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:911415

Ivić, Marko. "Upravljanje kinematskim strukturama inspiriranih prirodom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:911415

Ivić, M. (2022). 'Upravljanje kinematskim strukturama inspiriranih prirodom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 16 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:911415

Ivić M. Upravljanje kinematskim strukturama inspiriranih prirodom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 July 16] Available at: https://urn.nsk.hr/urn:nbn:hr:168:911415

M. Ivić, "Upravljanje kinematskim strukturama inspiriranih prirodom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:911415

Metadata
TitleUpravljanje kinematskim strukturama inspiriranih prirodom
Title (english)Control of nature-inspired kinematic structures
AuthorMarko Ivić
MentorDomagoj Jakobović (mentor)
Committee memberDomagoj Jakobović (predsjednik povjerenstva)
Committee memberMarko Đurasević (član povjerenstva)
Committee memberAnte Đerek (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-05, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Upravljanje kinematskim strukturama je zahtjevan i kompleksan problem. Uz pomoć robusnog i brzog pokretača fizike MuJoCo moguće je stvoriti okolinu za podržano učenje ponašanja kinematske strukture. Ponašanje se uči putem različitih funkcija dobrote ovisno o željenom ponašanju. Kinematskim strukturama se upravlja putem neuronske mreže koja na svoje ulaze dobiva podskup podataka iz trenutnog stanja simulacije, a na izlazu daje pomake aktuatora. Algoritmi učenja optimiraju težine neuronske mreže kako bi maksimizirale funkciju dobrote. Korišteni algoritmi učenja su: genetski algoritam s dva para operatora križanja i mutacije, algoritam roja čestica i evolucijska strategija. Svi algoritmi u nekoj mjeri pokazuju učenje inteligentnog ponašanja. Ponašanja koja algoritmi nauče znaju biti slična intuitivnim ljudskim ponašanjima.
Abstract (english)
Control of kinematic structures can prove to be a difficult and complex problem. MuJoCo is a robust and fast physics engine which enables creating the environment for reinforcement learning. Fitness function is used to learn the desired behavior of a kinematic structure. Kinematic structures are controlled using a neural network which takes a subset of a current state of the simulation and outputs actions for the actuators in the physics model. Weights in neural networks are optimized using evolutionary learning algorithms with a goal to maximize fitness function. Learning algorithms used: genetic algorithm, evolution strategy and particle swarm optimization. All algorithms show intelligent behavior to some degree. Learned behaviors can be similar to a human when completing the same task.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:911415
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
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Created on2023-01-14 08:57:32