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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Demian, Albert Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia School of Computer Science College of Science University of Lincoln Brayford Pool Lincolnshire LincolnLN6 7TS United Kingdom

ISBN: (纸本)9783031457692

This paper proposes a design approach for a spring-based compensator that passively adapts to external loadings. The proposed compensator is based on a combination of spring-lever mechanisms that are adjustable to the robot’s configuration. Springs in this arrangement are mounted on sliding pivots that connected to springs that allow passive adjustment of the value of the counter-torque. While previous research is either concerned with gravity compensation or with variable stiffness actuators, the proposed approach deals with the variation of external loadings. The proposed force compensator can be used in robotics applications where the robot experiences high external loads during operation. The model was tested in simulation for a planar 2-DoF manipulator and a planar redundant 3-DoF manipulator. The presented results show 58.5% torque reduction for 2-DoF and 55.2% reduction for 3-DoF. Robot redundancy can enhance counter-balancing since the compensation level is configuration-dependent. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robots

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Reservoir computing allows recovering hidden network dynamics 7

Reservoir computing allows recovering hidden network dynamic...

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

作者： Badarin, Artem Andreev, Andrey Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Saint Petersburg State University St. Petersburg Russia Baltic Federal University Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Kaliningrad Russia

ISBN: (纸本)9798350305746

In this study, we examined reservoir computing (RC)as a tool for predicting the macroscopic dynamics of a subset of oscillators in a network based on the macroscopic dynamics of other parts of it. As a model network, we utilized a network of 300 Kuramoto oscillators with adaptation. Our results demonstrate that reservoir computing effectively addresses this task. Additionally, a similar reservoir computing model was applied to experimental neurovisualization data and exhibited high accuracy in reconstructing damaged EEG channels compared to classical methods like spatial interpolation. © 2023 IEEE.

关键词： Dynamics

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LMI-Based Design of Output Robust Controller with Static Anti-Windup*

LMI-Based Design of Output Robust Controller with Static Ant...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Mikhail A. Kakanov Oleg I. Borisov Anton A. Pyrkin Faculty of Control Systems and Robotics St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

The article discusses the development of a robust algorithm for controlling the system output in the presence of restrictions on the input signals. The nominal controller contains an integral component to compensate for the external disturbance. Undesired effects of saturation of the input signals are compensated by the static anti-windup correction sheme. An approach is proposed for adjusting the coefficient of anti-windup correction based on the tools of linear matrix inequalities. The effectiveness of the proposed approach is illustrated by the example of an autopilot system by surface vessel.

关键词： Interference Tools Linear matrix inequalities Robots

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Explicit Model Predictive Control Design based on Constrained Zonotope Propagation

Explicit Model Predictive Control Design based on Constraine...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

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

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.

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Energy-Efficiency in Legged Robots Locomotion: Open versus Closed Chains*

Energy-Efficiency in Legged Robots Locomotion: Open versus C...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Roman A. Zashchitin Ivan I. Borisov Olga V. Borisova Sergey A. Kolyubin ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

Quadrupedal gallop is one of the fastest and efficient forms of locomotion that can be found in nature. Engineers in the field of robotics use it as a source of inspiration to create legged robots. The most common model to describe galloping is the spring-loaded inverted pendulum, representing the body as a mass, while legs perform a spring-like bouncing movement. There are many design choices to implement a robotic system to get desirable bouncing dynamics. This paper compares two opposite ways to design a hopping robot in terms of energy-efficiency: algorithmically with an open chain or mechanically with a closed chain. The first way takes a relatively simple serial kinematic chain and, via impedance control algorithms, perform passive dynamic interaction with the ground. The second way takes SLIP-synthesized underactuated mechanism and via simple position and velocity control perform the same passive dynamic interaction with the ground. The paper contains a detailed description of the hoppers, analysis, and simulation results.

关键词： Legged locomotion Heuristic algorithms Kinematics Energy efficiency Impedance Springs Robots

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Advanced technologies in High Education in Cooperation with High-Tech Companies ⁎

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IFAC-PapersOnLine 2019年第9期52卷 312-317页

作者： Anton A. Pyrkin Alexey A. Bobtsov Alexey A. Vedyakov Sergey V. Shavetov Yuriy S. Andreev Oleg I. Borisov ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper discusses advanced educational technologies in control engineering implemented at ITMO University. They are module-based education, project-based bachelor’s degree program and project tracks based on academia-industry collaboration. All of them are oriented on the students needs and aimed to update the educational processes, reduce its bureaucracy and improve its outcome. The positive experience of such initiatives is already confirmed by a number of successful participations of the students in top level world competitions on robotics.

关键词： Education Control education Projects Teaching Industrial control

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Differences in the resting-state functional brain networks of patients with major depressive disorder and bipolar disorder 7

Differences in the resting-state functional brain networks o...

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

作者： Khorev, Vladimir Kurkin, Semen A. Paunova, Rositsa Stoyanov, Drozdstoy Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Immanuel Kant Baltic Federal University Baltic Center for Artificial Intelligence and Neurotechnology Kaliningrad Russia Samara State Medical University Neurosciences Research Institute Samara Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350305746

In this work, we analyzed the functional connectivity between different groups of subjects. The groups included patients with major depressive disorder, and patients with bipolar depression that were obtained during experimental research. The data that had been subjected to preprocessing procedures were employed in order to identify the functional connectivity between the brain regions that displayed significant variations. © 2023 IEEE.

关键词： Brain

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Features of the resting-state functional network in patients with major depressive disorder: mutual information analysis in fMRI data 7

Features of the resting-state functional network in patients...

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

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

ISBN: (纸本)9798350305746

In this work, we conducted the analysis of the functional magnetic resonance imaging data in healthy subjects and patients with major depressive disorder that were obtained during experimental research when subjects were resting. The signals that have undergone preprocessing and filtration were used to find the functional connectivity between the brain regions. Results demonstrate significant changes between functional connections based on the mutual information measure. We obtained five significantly changed connections, four of which increased more in cotrol group over patients. © 2023 IEEE.

关键词： Brain

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Synchronization in interacting networks of Hodgkin-Huxley neurons

Synchronization in interacting networks of Hodgkin-Huxley ne...

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Andreev, Andrey V. Maksimenko, Vladimir A. Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis 420500 Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University A. Nevskogo ul. 14 Kaliningrad236016 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

We consider a network of networks consisting of small input neural network and four small-world subnetworks Hodgkin-Huxley neurons. Input network receives an external signal and transfers it to subnetworks via excita-tory couplings while the subnets interact with each other via inhibitory couplings. We show that the subnets are divided into 2 clusters under the influence of an inhibitory couplings between them. The synchronization indexes of subnetworks periodically change in time. We found that SIs can oscillate either in-phase or anti-phase depending on the couplings between subnetworks. © 2022 SPIE.

关键词： Complex networks

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Brain activity functional analysis based on the fMRI data in healthy subjects between Stroop and emotion tests 6

Brain activity functional analysis based on the fMRI data in...

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

作者： Khorev, Vladimir Kurkin, Semen Paunova, Rositsa Simeonova, Denitsa Kandilarova, Sevdalina Stoyanov, Drozdstoy Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Immanuel Kant Baltic Federal University Baltic Center for Artificial Intelligence and Neurotechnology Kaliningrad Russia Neurosciences Research Institute Samara State Medical University Samara Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

In this work, we conducted the analysis of the functional magnetic resonance imaging data in healthy subjects that were obtained during experimental research when subjects are performing Stroop and emotion picture tests. The signals that have undergone preprocessing and filtration were used to test the method of functional connectivity analysis to find the connections between the brain regions that demonstrate significant changes between functional tests. © 2022 IEEE.

关键词： Brain

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