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

共 242 条记录，以下是111-120 订阅

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Regions of Interest Segmentation from LiDAR Point Cloud for Multirotor Aerial Vehicles

Regions of Interest Segmentation from LiDAR Point Cloud for ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Geesara Kulathunga Roman Fedorenko Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

We propose a novel filter for segmenting the regions of interest from LiDAR 3D point cloud for multirotor aerial vehicles. It is specially targeted for real-time applications and works on sparse LiDAR point clouds without preliminary mapping. We use this filter as a crucial component of fast obstacle avoidance system for agriculture drone operating at low altitude. As the first step, each point cloud is transformed into a depth image and then identify places near to the vehicle (local maxima) by locating areas with high pixel densities. Afterwards, we merge the original depth image with identified locations after maximizing intensities of pixels in which local maxima were obtained. Next step is to calculate the range angle image that represents angles between two consecutive laser beams based on the improved depth image. Once the corresponding range angle image is constructed, smoothing is applied to reduce the noise. Finally, we find out connected components within the improved depth image while incorporating smoothed range angle image. This allows separating the regions of interest. The filter has been tested on various simulated environments as well as an actual drone and provides real-time performance. We make our source code, dataset 2 and real world experiment 3 available online.

关键词： Three-dimensional displays Laser radar Laser beams Smoothing methods Two dimensional displays Real-time systems Robot sensing systems

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Stabilization of a spherical robot rolling on an oscillating underlying surface

Stabilization of a spherical robot rolling on an oscillating...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Karavaev, Yury Kilin, Alexander Klekovkin, Anton Pivovarova, Elena Kalaschnikov Izhevsk State Technical University Department of Mechatronics Systems Izhevsk Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Udmurt State University Department of Theoretical Physics Izhevsk Russia

ISBN: (纸本)9781728187631

This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described. © 2020 IEEE.

关键词： Feedback

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Source-level analysis of brain activity in the process of learning and retrieving new information 5

Source-level analysis of brain activity in the process of le...

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

作者： Makarov, Vladimir Grubov, Vadim Kurkin, Semen Smirnov, Nikita Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

In this paper, we discovered the increase in EEG power in the theta frequency range in the occipital cortex during a visual analysis of new information and the power decrease in the alpha range in the temporal lobe during retaining information. The revealed increase in theta power correlates with the response time and errors rate. The alpha power correlates with response time. Summarizing the above, the detected cluster of theta-activity during information perception may reflect the increased concentration of attention. © 2021 IEEE

关键词： Electroencephalography

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Comparison on brain activity for mechanical imagery and execution: a brief review 5

Comparison on brain activity for mechanical imagery and exec...

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

作者： Chepurova, Alla Kurkin, Semen Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

With this review we summarize the current state of scientific studies in the field of MI (motor imagery) and ME (motor execution). We composed brain map and description which correlate different brain areas with type of movements it is responsible for. That gives a more complete and systematic picture of human brain functionality in a case of ME and MI. Also we found the research gap and possible improvements for the further researches in this field. © 2021 IEEE

关键词： Brain

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Spatio-temporal cortical activity during a visual task accomplishing 3

Spatio-temporal cortical activity during a visual task accom...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Kuc, Alexander Maksimenko, Vladimir Patent and License Department Saratov State Technical University Saratov Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

It is known that neuronal populations of cortical brain network are involved in the processes, related to accomplishing of different tasks, e.g. processing of sensory information and making decisions. Each particular type of tasks is characterized by the specific features of neuronal activity both in time-frequency and spatio-temporal domains. These features of neuronal activity reflect the structure of electrical activity signals (EEG) registered from the head surface via noninvasive electrodes. EEG signals are composed of the different rhythms of neuronal activity. While some studies relate these rhythms to the particular basic brain functions, other studies demonstrate that specific scenarios of EEG rhythms dynamics can be associated with accomplishing of cognitive task and affect human behavioral performance. With this in mind we analyze the spatio-temporal dynamics of alpha and beta rhythms of cortical activity during processing visual task and relate the features of rhythms dynamics to human's behavioral performance. © 2019 IEEE.

关键词： Wavelet analysis

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Influence of the sensory information ambiguity on the brain state during the decision-making task 3

Influence of the sensory information ambiguity on the brain ...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Kuc, Alexander Nedaivozov, Vladimir Patent and License Department Saratov State Technical University Saratov Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The process of visual information classification includes different states of brain activity, such as sensory processing and decision-making. The stage of sensory processing is usually short and occurs in the occipital and parietal areas of the brain, while the decision-making stage is more pronounced over time and includes the parietal and frontal areas. In the current paper, we consider the brain activity during the classification task using ambiguous visual stimuli with varying degrees of ambiguity. We show that with increasing ambiguity of the visual stimulus, the brain engages neuronal populations in the distributed cortical regions in 15-30 Hz frequency band, including the frontal area at the early stages of information processing. © 2019 IEEE.

关键词： Decision making

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Route to Coherence in a Frequency-Heterogeneous Kuramoto Network 4

Route to Coherence in a Frequency-Heterogeneous Kuramoto Net...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Frolov, Nikita Maksimenko, Vladimir Ghosh, Dibakar Majhi, Soumen Rakshit, Sarbendu Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Indian Statistical Institute Physics and Applied Mathematics Unit Kolkata India

ISBN: (纸本)9781728172866

Synchronization phenomena in populations of interacting elements are the subject of extensive research in biological, chemical, physical and social systems. Understanding of the emergent behavior in controlled experiments or real systems requires a focus on the consideration of heterogeneous network models. In this study, we explore the influence of the network topology on the rout to coherence in a heterogeneous Kuramoto model under the monotonically increasing coupling strength. Specifically, we consider regular (non-locally coupled ring), small-world (SW) and scale-free (SF) networks. We demonstrate a specific type of a chimera-like behavior that emerges in all three types of topology under certain conditions. © 2020 IEEE.

关键词： Complex networks

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Artificial neural network predicts inter-areal functional connectivity

Artificial neural network predicts inter-areal functional co...

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Saratov Fall Meeting 2020 - Computations and Data Analysis: From Molecular Processes to Brain Functions

作者： Pitsik, Elena Frolov, Nikita Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Saratov State Medical University Saratov Russia

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

In the present paper, we introduce an extended machine-learning-based approach to detect inter-areal functional connectivity based on an artificial neural network (ANN). Using the concept of generalized synchronization, we show that the proposed approach is relevant to infer functional dependencies between remote brain areas of interest from multivariate EEG recordings. We verify the ANN-based method to capture the reconfiguration of functional connectivity during motor execution. The proposed model showed good ability to approximate functional relations between the electrical activity of parietal and frontal areas and motor cortex at different stages of motor execution, providing an adequate pattern of functional connectivity network. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Multilayer neural networks

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Macroscopic dynamics prediction by reservoir computing 6

Macroscopic dynamics prediction by reservoir computing

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

作者： Andreev, Andrey Neuroscience and Cognitive Technology Laboratory 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

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

Nowadays, the problem of forecasting complex signals is significant and has many applications in real life. One of such applications is the prediction of neurophysiological signals, like EEG. Such signals are macroscopic signals of a group of neurons, and the connections between them adapt in time. Here, we investigate the possibility of forecasting the dynamics of the modulated adaptive network, which topology changes in time, using Reservoir Computing (RC). We show that the dynamics of the signal is chaotic, and RC cannot predict it, but reconstruction of the phase space by adding the delays improves the quality of the signal's prediction. © 2022 IEEE.

关键词： Complex networks

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Eye movement features in solving Sternberg Memory Task 6

Eye movement features in solving Sternberg Memory Task

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

作者： Brusinskii, Nikita Badarin, Artem Hramov, Alexander Immanuil Kant Baltic Federal University Baltic Center for Neurotechnologies and Artificial Intelligence Kaliningrad Russia 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

Oculomotor activity is an important component of human mental processes, and decoding this activity can be applied in many applied fields. This paper analyzed the physiological and behavioral characteristics of a person during a prolonged solution of a cognitive task based on the Sternberg paradigm. A number of trends in changes in both physiological and behavioral characteristics over the course of the experiment were revealed. For example, an increase in subjective fatigue over the course of the experiment. In addition, correlation analysis were performed. In particular, a correlation was found between subjective fatigue and the amplitude of pupil dilation during letter set demonstrations. © 2022 IEEE.

关键词： Eye movements

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