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

作者： Khakimov, Pavel Savin, Sergei Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this article, trajectory optimization of an inverted pendulum on a cart with machine learning tools is analyzed. Reinforcement learning and Q-learning algorithm are used for searching and optimization of trajectori... 详细信息

ISBN: (纸本)9781728124704

关键词： Poles

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Automated robotic assembly of complex workpieces from regular components 3

Automated robotic assembly of complex workpieces from regula...

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

作者： Kozlov, Pavel Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The paper deals with the automated robotic assembly of complex casting molds from regular components. It addresses the issues od model decomposition and assembly sequence taking into account particularities of the gluing process and shape particularities. The obtained results were validated via simulation and experimental study dealing with assembly of particular workpieces with UR10e robot. © 2019 IEEE.

关键词： Industrial manipulators

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Brain activity diagnostics system for exoskeleton control 6

Brain activity diagnostics system for exoskeleton control

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

作者： Khorev, Vladimir Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

In this work we develop the method of determining the moment of time of the beginning of the act of the imagination of movement by the analysis of the electroencephalograms according to the data that were obtained during experimental research when subjects are performing acts of imaginary movement. In the course of the experiment, we gained the electrical signals of the brain activity. The signals that have undergone preprocessing and filtration were used to test the method of determining the beginning of movement. To demonstrate the abilities of the method, the dependencies of the average power in the alpha band and the topograms were built. The obtained algorithms were used to detect and identify patterns of neural activity that occur in the imaginary movements, as well as their features, that could be used for the exoskeleton control. © 2022 IEEE.

关键词： Electroencephalography

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Experimental test bench for investigation of flow control around unmanned underwater robot

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IFAC-PapersOnLine 2018年第30期51卷 604-609页

作者： Galushko, Ilya D. Salmina, Vera A. Gafurov, Salimzhan A. Stadnik, Dmitry M. Ilukhin, Vladimir N. Samara National Research University Samara443086 Russia Innopolis University Center for Technologies of Robotics and Mechatronics Components Innopolis420500 Russia

For underwater robots in the past three decades, the problem of energy efficiency and acoustic noiselessness has arisen sharply. The solution of these problems is inextricably linked with the solution of the problems of dynamics and vibroacoustics arising in the flow of a liquid under the flow of underwater bodies. These problems include the problem of the pressure pulsations occurrence and velocity distributed over the surface of the object, as well as noise and vibrations caused by these pulsations. To create energy-efficient and low-noise underwater robots, it is necessary to create methods for influencing the structure of wall currents and the shape of the aerodynamic surfaces of the robot in order to reduce its surface friction, as well as impedance. In this paper, we consider the development of an experimental bench for testing the main executive systems of an underwater robot with an anisotropic hull, including a buoyancy variation system, a trim and roll change system, and a hull geometry changing system. © 2016

关键词： Energy efficiency Acoustic impedance Acoustic noise Anisotropy Pneumatics Robots Underwater acoustics Aerodynamic surfaces Anisotropic bodies Experimental test benches Noise and vibration Pressure pulsation Test benches Underwater robotics Variable geometry

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Unmanned Aerial Vehicle Path Planning for Exploration Mapping

Unmanned Aerial Vehicle Path Planning for Exploration Mappin...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Respall, Victor Massague Devitt, Dmitry Fedorenko, Roman Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781728187631

This paper presents a new path planner for the exploration of previously unknown environments. The proposed algorithm uses a Next-Best-View (NBV) fashion to decide the movements ahead. A Rapidly-Exploring Random Tree (RRT) is built and the node with the highest gain is the next configuration to execute, based on the amount of unmapped volume in the field of view (FoV) of the sensor employed. The proposed planner is able to send online a 3D occupancy map of the volume and work with a variety of different depth sensors. The performance is analyzed in various challenging simulations, such as exploration of a city street or a narrow tunnel. Moreover, real experiments indoor and outdoor were conducted to further validate the proposed approach results. In cases with large scale volumes, it can cover a wide range in affordable flight time. © 2020 IEEE.

关键词： Motion planning

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Accuracy Analysis of a Ground Reaction Predictor-based Feedforward Control

Accuracy Analysis of a Ground Reaction Predictor-based Feedf...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Savin, Sergei Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187631

Robots with contact interactions can use machine learning-based reaction predictors to build local linear reaction models and use them in feedback and feedforward control. In this paper, a study of effects of noisy and biased reaction predictors on the feedforward control is considered. The paper presents a model of the predictor with exact accuracy, and a simplified model of a noisy and biased predictor. Distributions of the control errors and prediction errors based on the linearized contact model are demonstrated for two robots: a bipedal walking robot and an in-pipe four legged robot. The proposed procedure can be used to find stopping criteria for the training process of the predictors. © 2020 IEEE.

关键词： Feedforward control

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Tensegrity Topology Merging: Mixed-Integer Convex optimization-based Method

Tensegrity Topology Merging: Mixed-Integer Convex optimizati...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Khafizov, Ramil Savin, Sergei Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781665424066

This paper proposed a mixed-integer convex optimization-based method for merging multiple tensegrity structures. Merging is extremely useful in constructing complex structures, which consist of lots of cables and struts, whereas building such structures from scratch might be infeasible. In addition to that, merging procedure let's us use human-designed structures as elementary units of resulting object. The proposed method permits utilization of lots of constraints, used during tensegrity generation procedure. At the same time we also try to merge structures with as little additional connections as possible. In comparison to existing approaches, this method is a single-step algorithm and does not make any assumption on shape and relative position of merged structures. © 2021 IEEE.

关键词： Merging

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Workspace Analysis of Tensegrity Structures with an Iterative Energy-based Algorithm

Workspace Analysis of Tensegrity Structures with an Iterativ...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Savin, Sergei Balakhnov, Oleg Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781728187631

The paper studies the use of energy-based forward and inverse kinematics procedures for calculation of operational space of tensegrity robotics structures. Tensegrity structures are compliant and highly dynamical, which makes them a favorable robotics component for a number of difficult tasks (such as collaborative robotics, space exploration and others), but at the same times make trajectory planning and control highly *** the paper it is demonstrated that the studied forward and inverse kinematics methods can be used to find workspaces of tensegrity structures, using six bar structure as an example. It is shown that the method can adjust to the choice of actuated and passive elastic elements, making it a design tool which maps the actuation pattern to the resulting workspace or to the law of change of the rest lengths of the actuated elastic elements. © 2020 IEEE.

关键词： Computational efficiency

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Cognitive interaction during a collaborative attentional task 3

Cognitive interaction during a collaborative attentional tas...

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

作者： Maksimenko, Vladimir Grubov, Vadim Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components University Innopolis Russia

ISBN: (纸本)9781728124704

The modern trend in neuroscience and engineering is the developing systems allowing increase human physical and cognitive abilities through human-machine interaction. In these systems the human's condition is controlled by a brain-computer interface and assistance is activated when cognitive (or physical) performance decreases. In the current paper we consider the system, where the human's cognitive performance is enhanced due to cognitive interaction with another human. The proposed interface was tested at experimental sessions, in which the subjects were asked for a long time to solve the problem of classification of ambiguous visual stimuli of varying complexity. The proposed interface allows to increase the average productivity of a group of people due to the distribution of cognitive load between all participants. © 2019 IEEE.

关键词： Brain computer interface

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Analysis of information perception and processing during long-term and intense cognitive load using combined EEG and NIRS

Analysis of information perception and processing during lon...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Grubov, Vadim Badarin, Artem Maksimenko, Vladimir Center for Technologies in Robotics and Mechatronics Components Innopolis University Neuroscience and Cognitive Technology Laboratory Russia

ISBN: (纸本)9781728187631

This work is devoted to the analysis of information perception and processing during long-term and intense cognitive load using combined EEG + NIRS. We consider changes in the reaction time during long-term and intense cognitive load and a comparison of brain activity with behavioral characteristics. We found the establishment of a characteristic mode in the brain corresponding to a routine cognitive task. © 2020 IEEE.

关键词： Brain

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