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Modeling and Control of Robotic Systems Course: from Fundamentals to Applications ⁎

IFAC-PapersOnLine 2019年第9期52卷 224-229页

作者： Vladislav S. Gromov Oleg I. Borisov Sergey S. Shavetov Anton A. Pyrkin Fatimat B. Karashaeva Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this paper the Modeling and Control of Robotic Systems course to build the set of the professional skills is presented. This course is included in the curriculum of the master’s degree program and provided at the Faculty of Control Systems and robotics of ITMO University. The selection of the tracks to build the professional skills are presented. An important part of the tracks is a using various technical equipment to build the skills and experience.

关键词： Control education Control application robotics Ship control Industrial robots

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Computer Vision in Control and robotics for Educational Purposes ⁎

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IFAC-PapersOnLine 2019年第9期52卷 127-132页

作者： Sergei V. Shavetov Isabella I. Merkulova Anton A. Ekimenko Oleg I. Borisov Vladislav S. Gromov ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper is devoted to computer vision education for ITMO University students specializing in control systems and robotics. The set of laboratory works are attached. Several examples of finished works are provided. The topics of the laboratory course consists of histograms, profiles, projections, image geometric transformations, filtering and edges detection, images segmentation, Hough transformation, image morphologic analysis.

关键词： Computer vision Laboratory education Computer applications Robots sensing systems Control systems applications

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Post-stroke rehabilitation with the help of brain-computer interface 3

Post-stroke rehabilitation with the help of brain-computer i...

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

作者： Kiselev, Anton R. Maksimenko, Vladimir A. Shukovskiy, Nikolay Pisarchik, Alexander N. Pitsik, Elena Hramov, Alexander E. Saratov State Medical University Saratov Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Biomedical Technology Technical University of Madrid Madrid Spain

ISBN: (纸本)9781728124704

We considered a group of 50 patients with lateral paresis in the acute period after the first stroke. The EEG recordings in the group of post-stroke patients displayed fundamentally different brain dynamics during real movements of a conventionally healthy hand and a hand with decreased muscle strength. While for the conventionally healthy hand the brain activity in the sensory zone is quite close to the dynamics observed in the control group, for the paretic hand there is pathological activity associated with increased activity in low frequency ranges (up to 12 Hz). Meanwhile, the brain activity during imaginary motion is similar for both hands and hence to the dynamics in the control group of conditionally healthy subjects. The obtained results can be used in rehabilitation techniques based on imaginary motor activity with the help of brain-computer interface. © 2019 IEEE.

关键词： Brain computer interface

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Factor of border crossing limitation with an infection hub in the SIR covid model 5

Factor of border crossing limitation with an infection hub i...

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

作者： Khorev, Vladimir Kazantsev, Victor B. Center for technologies in robotics and mechatronics components Innopolis University Innopolis Russia Neurotechnology deparment Lobachevsky University Nizhniy Novgorod Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

In this work we develop a new nonlinear net-based SIR epidemic problem modeling the spreading of coronavirus under the effect of a border crossing limits by the government measures to stop coronavirus spreading. We show that the emergence and disappearance of subsequent waves of infection on the degree of relationship with a hub is non-linear, and with a large degree of relationships, the number of waves can decrease. © 2021 IEEE

关键词： Coronavirus

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Application of CycleGAN-based Augmentation for Autonomous Driving at Night

Application of CycleGAN-based Augmentation for Autonomous Dr...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Vladislav Ostankovich Rauf Yagfarov Maksim Rassabin Salimzhan Gafurov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russian Federation

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

Self-driving vehicles contain a number of modules allowing them to autonomously navigate in uncertain environment. The robust, efficient, safe and accurate autonomous navigation are heavily depend on parameters of a perception module. In this paper, we consider perception module as a combination of object detection and road segmentation submodules. As a matter of fact, all of them are based on Deep learning technique. It leads to liability of a big training datasets to provide the accuracy, efficiency and robustness of a perception module for a self-driving car operating in a wide range of scenarios. This paper presents the GAN-based augmentation as a key factor allowing to improve the performances of perception. The provided research shows the comparison between classical augmentation method and CycleGAN-based method. The main focus is made on detection and segmentation problems at nights. The initial training data includes BDD100K dataset and our own one collected in winter time by means of front-view camera of a self-driving car developed in Innopolis University. The obtained results show the improvement of segmentation task in case of application of CycleGAN augmentation. However, the chosen method of GAN-based augmentation has not shown the positive influence on object detection due to appeared visual artifacts.

关键词： Training Visualization Roads Training data Object detection Autonomous automobiles Task analysis

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Topological classification of population activity in spiking neural network

Topological classification of population activity in spiking...

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

作者： Lobov, Sergey A. Zharinov, Alexey I. Semenova, Olga Kazantsev, Victor B. Lobachevsky State University Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Laboratory of Neuromodeling Samara Russia

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

The role of propagating waves of neuronal activity in different brain areas, particularly in cerebral cortex, is still debated in modern neuroscience. We consider spiking neural network (SNN) model with spike timing dependent plasticity (STDP). It is shown that in the SNN the topological type of neural activity depends on the average length of connections between neurons - the connectivity radius. At the small radius (mostly local connections), the activity spreads in the form of traveling waves with well shaped leading and trailing edge. Such simple wave activity can be treated as a network spike. With increase in the connectivity radius, blurring of the leading and trailing edges is observed up to the "instant"activation of the network. In this case, the sparse neurons first generate spikes, and then all neurons in the network generate multiple spikes. This type of activity can be considered as a network burst. We also analyze the velocity of neural activity propagation depending on the connectivity radius. In the case of the network burst mode, the velocity is predominantly limited by axonal delays. In turn, in the case of the network spike mode it is defined by synaptic delays. In addition, we found that the STDP facilitates network synchronization in SNNs with a predominance of local connections. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Neurons

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Object detection and tracking basics: Student education ⁎

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IFAC-PapersOnLine 2019年第9期52卷 79-84页

作者： Izabella Y. Merkulova Sergey V. Shavetov Oleg I. Borisov Vladislav S. Gromov ITMO University Department of Control Systems and Robotics Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Computer vision is a rapidly developing field of human knowledge. Due to the fullness of images information visual sensors, unlike other types of sensors, theoretically can cover the entire amount of information necessary for autonomous driving, registration of traffic violations, in various medical tasks and so on. The requirements for computer vision specialists are growing every day. At the same time, it is advisable to train specialists in related fields the basics of computer vision. This paper provides an overview of the main points that should be taken into account during the education process in the field of object detection and tracking using computer vision algorithms.

关键词： Computer vision detection algorithms target tracking convolution neural networks education laboratory education

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Spatio-temporal EEG activity in cortical network during visual percetion task

Spatio-temporal EEG activity in cortical network during visu...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Alexander Kuc Natalija Malova Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Saratov Russia Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

A promising task is the analysis of the different rhythms of the brain cortical activity when performing cognitive tasks. Studying this issue allows to advance in the development of brain-computer interfaces. Some brain rhythms show certain dynamics during various cognitive activities. An important rhythm associated with cognitive activity is the alpha rhythm. In this paper, we study features of the dynamics of the alpha rhythm during bistable visual processing of information of varying complexity.

关键词： Visualization Information processing Brain-computer interfaces Complexity theory Task analysis Robots Monitoring

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On Smooth Planar Curvilinear Motion of Cable-Driven Parallel Robot End-effector*

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IFAC-PapersOnLine 2022年第10期55卷 2475-2480页

作者： Eugene A. Marchuk Yaroslav V. Kalinin Alexander V. Maloletov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Volgograd State Technical University Volgograd Russia

The paper deals with the problem of smooth motion of the end-effector of an overactuated cable-driven parallel robot. There is observed a way to give planar curvilinear trajectory via Fourie series. The idea of this work is to use special sigmoid function as an argument of function composition to achieve smoothness at the beginning of motion of the end-effector of a cable-driven parallel robot. The developed method makes it possible to reduce the positioning errors of the end-effector when moving along complex trajectories.

关键词： cable-driven robot trajectory planning smooth motion sigmoid function

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Efficiency and fatigue in marksmanship training 5

Efficiency and fatigue in marksmanship training

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

作者： Grubov, Vadim Badarin, Artem Savosenkov, Andrey Grigoriev, Nikita Lukojanov, Maxim Ydoratina, Anna Maximenko, Vladimir Kazantsev, Viktor B. Hramov, Alexander E. Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Brain-Machine Interface Development Lab Institute for Neurosciences Lobachevskiy University Nijnij Novgorod Russia

In the present study we developed experimental paradigm and setup for marksmanship training in untrained subjects. We aimed to demonstrate correlation between subject’s fatigue and efficiency during training. © ... 详细信息

ISBN: (纸本)9781665442824

关键词： Efficiency

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