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20th International Conference on Mathematical Modeling and Supercomputer technologies, MMST 2020

作者： Rozhnova, Maiya A. Bandenkov, Daniil V. Kazantsev, Victor B. Pankratova, Evgeniya V. Department of Applied Mathematics Institute of Information Technologies Mathemaics and Mechanics Lobachevsky State University of Nizhni Novgorod Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University of Nizhni Novgorod Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center of Neurotechnologies and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9783030787585

Transmission and processing of information in the brain are highly complicated processes that are defined by a lot of non-trivial interconnections of structural elements of neural networks. To shed light on peculiarities of such communication, a lot of mathematical models were introduced and computer simulations were carried out. In this work, a model describing the impact of neural activity on changes in brain extracellular matrix (ECM) molecules concentration was considered. It was assumed that the rate of neural activity is periodically changed. For this case, various regular and chaotic modes in dynamics of ECM-molecules concentration were observed. The role of the amplitude and frequency of the periodically varying neuronal firing rate in transitions between various dynamical modes in the ECM-model were examined. Bifurcational mechanisms for chaotic oscillations appearance were demonstrated. © 2021, Springer Nature Switzerland AG.

关键词： Brain

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Model Predictive Path Integral Control for Car Driving with Autogenerated Cost map Based on Prior Map and Camera Image

Model Predictive Path Integral Control for Car Driving with ...

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International Conference on Intelligent Transportation

作者： Alexander Buyval Aidar Gabdullin Konstantin Sozykin Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Skolkovo Institute of Science and Technology (Skoltech) Center for Computational and Data-Intensive Science and Engineering (CDISE) Russia

ISBN: (纸本)9781538670255

Model Predictive Path Integral (MPPI) algorithm is an efficient approach to control an autonomous car. However, it requires a cost map. Preparing a cost map in advance is a task that can be completed only for a static closed unchanging environment, but impossible for real city conditions where the environment is dynamic. In this work, we present a method for automatic creation of the cost map based on map data and image from a camera mounted on a self-driving car. The described approach was tested on the Kia Soul car.

关键词： Cameras Automobiles Fires Roads Image segmentation Prediction algorithms Heuristic algorithms

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Robust Output Regulation of Permanent Magnet Synchronous Motors by Enhanced Extended Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4881-4886页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

This paper presents an application of the enhanced extended observer design with regard to the problem of robust output regulation of permanent magnet synchronous motors. The control framework is further advanced by means of the internal model so as to cope with disturbances represented by the time-varying load torque. The paper shows simulation of regulating a motor for different cases of torque loads and references and provides an explicit procedure of the recursive calculation of the enhanced extended observer coefficients.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Permanent magnet synchronous motors

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Application of Enhanced Extended Observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles ⁎

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IFAC-PapersOnLine 2019年第16期52卷 837-842页

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Quadrotors

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Time of single-pulse TMS delivery during cognitive task affects subject’s reaction time 6

Time of single-pulse TMS delivery during cognitive task affe...

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6th International Conference "Neurotechnologies and Neurointerfaces", CNN 2024

作者： Udoratina, Anna Grigorev, Nikita Savosenkov, Andrey Ermolaev, Denis Maksimenko, Vladimir Gordleeva, Susanna Neurotechnology Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia ANO Neimark Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University of NizhnyNovgorod Nizhny Novgorod Russia 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)9798350390926

In the present study, we investigated the effect of single-pulse TMS on sensorimotor integration (SI). Real and sham TMS was delivered while a subject performed a cognitive task to 6 areas of the cortex responsible for the motor component of SI, 200 ms or 800 ms after the presentation of visual stimuli. Here we show that the time of single-pulse TMS delivery affects the subject’s reaction time (RT). RT was significantly slower (p ©2024 IEEE.

关键词： Brain

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A model-based fault-detection strategy in DC/AC conversion

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IFAC-PapersOnLine 2020年第2期53卷 676-681页

作者： A. Pyrkin R. Cisneros D.U. Campos-Delgado A. Bobtsov S. Somov ITMO University 197101 St. Petesburg Rusia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia ITAM 01080 Mexico City Mexico UASLP Facultad de Ciencias SLP Mexico

An open-circuit fault-detection strategy is here proposed for single-phase DC/AC conversion. The power converter under consideration consists of an H-bridge and a capacitor with parallel resistance and current source in its DC side—these last two stand for the unknown system load and energy injection from renewable resources, respectively. An inductor filter is also included as a coupling element to the AC network. When an open-circuit fault occurs in the H-bridge, the resulting AC output waveform is asymmetric, and induces DC and harmonic components to the network. Hence, by using an additive fault modeling, the fault signature can be expressed by a constant term f dc and a fluctuating signal. The sign of f dc allows to determine the pair of faulty switches in the H-bridge. In this work, an DREM-based identification scheme is proposed to estimate f dc . Through the sign of its estimate, it is possible to detect the pair of faulty switches. To assess our approach, simulation results are included.

关键词： Open-circuit fault-detection Parameter estimation DC/AC conversion

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Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor

Experimental evaluation of simplified physical model for con...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Anton V. Klekovkin Yury L. Karavaev Ivan S. Mamaev Evgeny V. Vetchanin Valentin A. Tenenev Kalashnikov Izhevsk State Technical University Izhevsk Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Udmurt State University Izhevsk Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper is devoted to investigations of the motion of an aquatic propeller-less robot. The robot motion implemented by rotation of internal rotor. A simple finite-dimensional mathematical model to describe the motion of the robot is proposed. Experiments with control actions providing the motion along a straight line and a circle have been conducted.

关键词： Robot motion Aquatic robots Rotors Propulsion Mathematical model

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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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Nonlinearity, Information and robotics, (NIR) International Conference

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

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

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.

关键词： Fabrication Prototypes Control systems Mathematical model Robots Oscillators

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Bistable Dynamics of the Brain Extracellular Matrix in the Presence of Periodically Varying Neuronal Activity 5

Bistable Dynamics of the Brain Extracellular Matrix in the P...

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

作者： Rozhnova, Maiya A. Kazantsev, Victor B. Pankratova, Evgeniya V. Department of Applied Mathematics Institute of Information Technologies Mathematics and Mechanics Lobachevsky State University of Nizhni Novgorod Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Neuroscience Research Institute Samara State Medical University Samara Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

In this work, the role of the amplitude and frequency of the periodically varying neuronal firing rate in emergence of complicated dynamical modes in recently proposed mathematical model describing the change of extracellular matrix molecules concentration, was examined. Impact of the revealed co-existence of regular and chaotic modes in the extracellular matrix activity on the whole neuronal network functioning is discussed. © 2021 IEEE

关键词： Brain

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

Differences in optimal community structure in brain connecti...

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

作者： Vladimir Khorev Semen Kurkin Rositsa Paunova Tatiana Bukina Drozdstoy Stoyanov 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: (数字)9798350390834

ISBN: (纸本)9798350390841

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.

关键词： Image color analysis Anxiety disorders Organizations Complex networks Color Functional magnetic resonance imaging Diversity methods Depression Labeling

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