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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171-180 订阅

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External stimulus classification by Hodgkin-Huxley neural network

External stimulus classification by Hodgkin-Huxley neural ne...

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

作者： Andreev, Andrey V. Pisarchik, Alexander N. Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia Center for Biomedical Technology Technical University of Madrid Campus Montegancedo Pozuelo de Alarcon28223 Spain

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

We propose to use the chimera-like state for stimulus classification in a spiking neural network of bistable HH neurons. As a stimulus, we use an external pulsed current applied to the network. Additive noise makes the neurons nonidentical so that the external pulse switches only a part of the neurons from the resting to the oscillatory state depending on the pulse amplitude. For classification, we use the neural network and two output neurons. The network is trained on two external pulses with different amplitudes to adjust coupling strengths between neurons in the main network and output neurons. We investigate influence of inhibitory coupling between output neurons on classification of input signal with different amplitudes. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Neurons

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Analysis of EEG spectral amplitudes during ambiguous information processing

Analysis of EEG spectral amplitudes during ambiguous informa...

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

作者： Alexander Kuc Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Republic of Tatarstan Russia

We analyzed the dynamics of EEG spectral amplitudes in α- and β-frequency bands during ambiguous visual stimuli processing. As a result, we described differences in the cortical activity during the processing of vis... 详细信息

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

关键词： Electroencephalography Visualization Analysis of variance Information processing Neuroscience Wavelet analysis Time-frequency analysis

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Tracking Output Robust Control of Unmanned Surface Vessel with Disturbance Cancellation and Anti-Windup

Tracking Output Robust Control of Unmanned Surface Vessel wi...

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Mediterranean Conference on Control and Automation (MED)

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

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

This paper shows an explicit application example of the robust output high-gain control framework augmented with the internal model and back-calculation anti-windup technique. The application in question concerns station-keeping and tracking of an unmanned surface vessel modeled as MIMO systems with cross-couplings. The framework is illustrated by a set of simulation runs under different conditions.

关键词： Observers Monitoring Task analysis Surface waves Robots Oscillators Robust control

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Autonomous Drifting Control in 3D Car Racing Simulator

Autonomous Drifting Control in 3D Car Racing Simulator

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International IEEE Conference on Intelligent Systems, IS

作者： Igor Zubov Ilya Afanasyev Aidar Gabdullin Ruslan Mustafin Ilya Shimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Institute of Robotics Innopolis University Innopolis Russia Innopolis University Innopolis Russia

ISBN: (纸本)9781538670989;9781538670972

It is known that drifting is a driving technique, when a car is moving along some direction different from its steering trajectory, having a slip angle at the rear axle greater then at the forward axle. Even though it is often used in auto sport, it is still not applied to everyday life due to safety concerns. On the other hand, using all car control possibilities can provide safe driving even in extreme conditions without a crash. This article is devoted to the investigation and development of a drift controller and its application in electric car simulation with studying the problems of autonomous drifting and stabilization around an equilibrium state. To implement the drift controller, we used all-wheel drive Roborace Robocar in Speed Dreams car racing simulator, applying the mechanical bicycle and simplified nonlinear tire models to define tire parameters, and two state equilibrium model to compute the equilibrium points. Although the steering drift controller is rather simple and based on errors from equilibrium values, to find controller's gains the model was linearized, and controller was represented as full-state feedback that guaranteed its stability.

关键词： Automobiles Tires Computational modeling Wheels Mathematical model Friction Robots

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Parameter Estimation of Quadrotor Model

Parameter Estimation of Quadrotor Model

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Mikhail A. Kakanov Stanislav I. Tomashevich Vladislav S. Gromov Oleg I. Borisov Fatimat B. Gromova Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This article is devoted to the estimation of unknown parameters of the quadrotor dynamic model. The linear regression model of the quadrotor was obtained. To estimate the unknown parameters of the regression model, the gradient approach and its modifications, such as the advanced Kalman filter, and dynamic regressor extension and mixing (DREM) methods were applied. The effectiveness of the proposed methods was confirmed by simulation. The results showed the benefits of the DREM algorithm, in particular, concerning the convergence rate.

关键词： Parameter estimation Linear regression Estimation Numerical models Kalman filters Robots Convergence

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Output Robust Control of a Surface Vessel with Uncertainties, Exogenous Inputs, and Unmodeled Dynamics*

Output Robust Control of a Surface Vessel with Uncertainties...

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International Conference on Control, Decision and Information technologies (CoDIT)

作者： Fatimat B. Karashaeva Oleg I. Borisov Anton A. Pyrkin Sergei V. Shavetov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

This paper focuses on the applied research on the output control problem of a surface vessel with parametric, signal, and structural uncertainties. The control framework based on the extended observer design is augmented with the internal model to reject exogenous inputs such as reference derivatives and external disturbances. Special attention in this study is given to the presence of unmodeled dynamics due to the vessel actuators.

关键词： Uncertainty Nonlinear dynamical systems Heuristic algorithms Actuators Task analysis Robust control Uncertain systems

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Analysis and Modeling of Galloping Robot With Actuated Tail for Balance*

Analysis and Modeling of Galloping Robot With Actuated Tail ...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Olga V. Borisova Ivan I. Borisov Sergey A. Kolyubin Biomechatronics and Energy-Efficient Robotics Lab 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

In the rapidly evolving field of mobile galloping robots, there is a problem of stabilizing underactuated systems because they face an unknown dynamical environment during high-speed motion. Nevertheless, using the principles of biomimetics, we can implement a way to preserve a galloping robot's equilibrium in the same manner as land animals with long tails do. Our task is to understand how the tail works to balance and turn in nature and transfer this to the construction, taking into account the mechanics and control system's features and advantages. It is also highly important to solve the tail's control problem, which should not complicate the entire robot's control system. We considered the tail influences of two types of galloping robots: quadrupedal locomotion robot and one-leg hopper. Using the active tail, we can ensure that the galloping robot can move over uneven and unknown terrain without losing its balance even if there is an external disturbance. The study includes analytical modeling and simulation results.

关键词： Legged locomotion Analytical models Simulation Control systems Stability analysis Robots Numerical stability

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Design and Validation of Two-Stage Motion Control System for By-Air Quantum Key Distribution*

Design and Validation of Two-Stage Motion Control System for...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Kirill Artemov Sergey Kolyubin Biomechatronics and Energy-Efficient Robotics Lab ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

In this paper, we present a dynamic visual servo control for receiver and transmitter positioning in a by-air quantum key distribution network using a robot manipulator. We discuss the positioning system with pre-alignment and fine-positioning stages. At the pre-alignment stage, the use of image-based visual servoing and dynamic controllers with payload variation is considered. We consider the use of two classical controllers (PD+ gravity and computed-torque controller) and an additional simple time-delay controller. As a fine-positioning stage, we describe approaches that can be used for precise adjustment of a transmitter. We conclude the paper with simulation results using a model of 5-dof robot manipulator KUKA youBot.

关键词： Visualization Transmitters Heuristic algorithms Receivers Quantum key distribution Manipulator dynamics Payloads

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Controlled motion of a highly maneuverable mobile robot along curvilinear trajectories

Controlled motion of a highly maneuverable mobile robot alon...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Vyacheslav A. Shestakov Ivan S. Mamaev Yury L. Karavaev Kalashnikov Izhevsk State Technical University Izhevsk Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper presents the control algorithm of an omnidirectional mobile robot to implement motion along curvilinear trajectories. The trajectory is defined by the Bezier curves of the third order. An algorithm is proposed to generate control actions for the robot's motion along a given curvilinear trajectory, taking into account the processes of acceleration and deceleration. The experimental results confirm the applicability of the proposed method.

关键词： Process control Trajectory Mobile robots Acceleration

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Modern research on the primary school children brain functioning in the learning process

Modern research on the primary school children brain functio...

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

作者： Tatyana V. Bukina Marina V. Khramova Semen Kurkin Department of Information Systems and Educational Technologies Saratov State University Saratov Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

The article deals with research related to the study of the primary school children's brain activity in the educational process: the prevalence of such research, the definition of the scientists' activities main directions on the topic and their chosen approaches to research. Conclusions about the need for further study of this issue are presented.

关键词： Brain Electroencephalography Cognitive neuroscience Pediatrics Training

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