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检索条件"机构=Center for Technologies in Robotics and Mechatronics Components"

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Explicit Model Predictive Control Design based on Constrained Zonotope Propagation 7

Explicit Model Predictive Control Design based on Constraine...

引用

7th Scientific School: Dynamics of Complex Networks and their Applications, DCNA 2023

作者： Jnadi, Ali Khusainov, Ramil Nedelchev, Simeon Savin, Sergei Innopolis University Institute of Robotics and Computer Vision Innopolis Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9798350305746

Zonotopes have become a widely used tool in control design, demonstrating their effectiveness in various applications ranging from state estimation to explicit model predictive control. However, the traditional use of zonotopes is limited by a set certain geometric shapes that restrict the range of state sets that can be considered. This paper proposes a novel approach to control design using constrained zonotopes that can encode arbitrary polytopes. We present a propagation scheme and an affine approximation of the exact control law for this representation, and discuss issues related to center identification for constrained zonotopes. A fast method for detecting set membership is also proposed based on lifting the constrained zonotopes into a higher dimensional space. The proposed method extends the range of shapes that can be considered in control design and offers a promising alternative to the limitations of regular zonotopes. It has the potential for wide-ranging impact in various areas of control, providing a valuable tool for solving complex control problems. © 2023 IEEE.

关键词： Convex optimization

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Brain activity diagnostics system for exoskeleton control 6

Brain activity diagnostics system for exoskeleton control

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Khorev, Vladimir Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

In this work we develop the method of determining the moment of time of the beginning of the act of the imagination of movement by the analysis of the electroencephalograms according to the data that were obtained during experimental research when subjects are performing acts of imaginary movement. In the course of the experiment, we gained the electrical signals of the brain activity. The signals that have undergone preprocessing and filtration were used to test the method of determining the beginning of movement. To demonstrate the abilities of the method, the dependencies of the average power in the alpha band and the topograms were built. The obtained algorithms were used to detect and identify patterns of neural activity that occur in the imaginary movements, as well as their features, that could be used for the exoskeleton control. © 2022 IEEE.

关键词： Electroencephalography

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Reward Planning for Underactuated Robotic Systems: A Study on Pendubot with Parameters Uncertainty 7

Reward Planning for Underactuated Robotic Systems: A Study o...

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7th Scientific School: Dynamics of Complex Networks and their Applications, DCNA 2023

作者： Ibrahim, Sinan Khusainov, Ramil Jnadi, Ali Ahsan Kazmi, S.M. Innopolis University Institute of Robotics and Computer Vision Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia Computer Science and Creative Technologies Bristol United Kingdom

ISBN: (纸本)9798350305746

There is a burgeoning interest in the field of Reinforcement Learning (RL) across various domains, including robotics. Traditional control approaches for robotic systems, such as semi-definite programming (SDP) or mixed integer programming (MIP), typically rely on the assumption of a known and deterministic model of the environment. In contrast, this study aims to introduce a novel RL method for planning the reward function specifically tailored for underactuated robotic systems with parameter uncertainty. We propose a method with a single RL agent to address the challenge of swing up and balance of a Pendubot system with uncertain parameters. The ultimate objective is to enhance the system's ability to adapt and perform reliably in the face of varying uncertainties. © 2023 IEEE.

关键词： Reinforcement learning

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Differences in optimal community structure in brain connectivity organization in major depressive disorder 8

Differences in optimal community structure in brain connecti...

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8th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2024

作者： Khorev, Vladimir Kurkin, Semen Paunova, Rositsa Bukina, Tatiana Stoyanov, Drozdstoy Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Baltic Federal University Kaliningrad Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350390834

We analyzed fMRI data from healthy control subjects (94 subjects) and patients with major depressive episode (70 patients). The preprocessed activity signals extracted with statistical parametric mapping from fMRI were divided into parcellations according to the anatomical labeling atlas. Our findings indicate that patients with major depressive disorder exhibit network organization that is both less locally specialized and less globally integrated. Specifically, our research reveals differences in network segregation rather than integration in patients. The discrepancies between our results and previous studies may be attributed to differences in methodology, depression diversity, sample sizes, and co-occurring factors such as stress and anxiety. © 2024 IEEE.

关键词： Brain mapping

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Upper limb exoskeleton for neurorehabilitation with control via brain-computer interface 6

Upper limb exoskeleton for neurorehabilitation with control ...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Antipov, Vladimir Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

This paper describes the results of developing control methods for an active exoskeleton for rehabilitation of human upper limb motor activity. The experimental setup, real-time software implementation of the control system, and also the developed software environment for stimulation of the subject during the neurophysiological experiment are described. The research object of the above system is the processes of activation of brain areas in terms of analysis of bioelectrical electroencephalographic signals registered during a motor activity, suitable for use in the tasks of motor rehabilitation. The purpose of this work is to develop a hardware-software part of the experiment to study real-time algorithms for control of the upper limb exoskeleton for rehabilitation and education tasks using 'brain-computer' interfaces. © 2022 IEEE.

关键词： Brain computer interface

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Exploration and mapping of an indoor environment using Multirotor Aerial Vehicle

Exploration and mapping of an indoor environment using Multi...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Hassan, Mohamed Ahmed Kulathunga, Geesara Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781665424066

Self-exploration of unknown environments using mobile robots is an important aspect in order to achieve complete automation of the tasks done by robots. The key idea of the exploration is to find a pose at which the robot will gain more information about the environment. By moving from such a pose to another the robot builds a map using the information gained during motion. A frontier based exploration algorithm for 3D spaces is introduced. The algorithm is an extension of the classic frontier exploration algorithm. The space is represented in an octree structure for faster access and efficient memory management. At every iteration of the exploration algorithm, the Multirotor Aerial Vehicle (MAV) performs a 360° rotation to increase the information gain about the environment, this rotation is dependent on the sensor's field of view. If a rotating sensor which can cover a 360° of the environment is used, the 360° rotation can be skipped without affecting the methodology. The distance moved by the MAV is specified at each iteration of the exploration process depending on the environment. Simulations were conducted to compare the effect of different parameters in the algorithm. © 2021 IEEE.

关键词： Robots

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ROS-like framework using modern development concepts and microservices

ROS-like framework using modern development concepts and mic...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Ivanou, Mikhail Mikhel, Stanislav Maloletov, Alexander Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

The Robot Operating System (ROS) has established itself as a useful set of software libraries and tools that can help to build robot applications. It provides services such as hardware abstraction, low-level device management, implementation of frequently used functions, inter-process message passing, and package management. ROS is good for small static research environments, however, it does not scale so well to large real-world applications. Besides, there is no security model, the test approach is unclear, the library versions can be incompatible. The paper presents a survey, the results of which show that many ROS users have problems with such modern programming techniques as testing or automatic deployment. Nowadays, many systems based on modern programming paradigms are developed by leading companies, and there is a lot of good open-source software out there. An application can be built without writing a lot of code, one just needed to combine high-quality libraries with necessary functionality. This paper intends to show how to build a ROS-like system using modern technologies, such as microservices and message queues, in a simple way with high quality and functionality using an example of the RhoMBus framework. © 2021 IEEE.

关键词： Robot Operating System

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Effect of the fatigue in the balance keeping experiment 5

Effect of the fatigue in the balance keeping experiment

引用

5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Khorev, Vladimir Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781665442824

In this work we conducted an experiment involving keeping balance on a platform to research the perception of maintaining body posture. The objective of the present work was to characterize the fatigue during experimental sessions. With the help of the statistical analysis we established that shin muscles were suffering from fatigue more than the hip muscles. © 2021 IEEE

关键词： Muscle

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Numerical calculation of the Jacobian derivative

Numerical calculation of the Jacobian derivative

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Mikhel, Stanislav Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

The robot's Jacobian is an important tool since it allows to solve different problems, from calculating the trajectory of motion to modeling dynamics in task space. Here we demonstrate the algorithm that allows calculating the Jacobian and its time derivative simultaneously. The algorithm is focused on numerical computations but can be used to get the analytical expressions as well. © 2021 IEEE.

关键词： Manipulators

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Robot description formats and approaches: Review

Robot description formats and approaches: Review

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Ivanou, Mikhail Mikhel, Stanislav Savin, Sergei Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

Modern robotics represents a collaboration between industry and scientific community, with interdisciplinary research being at its forefront. This leads to wide variation in the requirements for robotic systems, which encourages the development and use of different description formats. Currently, some of the existing formats are gaining wide recognition;at the same time, their individual limitations become more apparent. The goal of this work is to generalize the idea of a robot description format, putting together different approaches to representing a robot, including formats that rely on human-readable and binary data representation, formats tied to specific software, and ones that exist independently, and others. We outline the main advantages and limitations of the existing formats, with the aim to make the following efforts at standardization or development more informed. © 2021 IEEE.

关键词： Robots

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