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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

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

ISBN: (纸本)9781728187631

We developed noninvasive brain-to-brain interface for dynamical redistribution of cognitive load between subjects according to their current performances during shared cognitive task. As a result, a participant who exhibits higher cognitive performance is subjected to a higher workload, while his/her partner receives a lower workload. We demonstrate that dynamical workload redistribution allows to increase overall cognitive performance in the pair of interacting subjects. © 2020 IEEE.

关键词： brain-to-brain interface cognitive load cognitive performance cognitive resource electroencephalogram

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Oscillations of synchronization in inhibitory coupled Hodgkin-Huxley neurons network 4

Oscillations of synchronization in inhibitory coupled Hodgki...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Andreev, Andrey Innopolis University Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172866

We investigate the dynamics of complex network of Hodgkin-Huxley neurons. It consists of 3 sub-networks. The first small network receives external signal which is transferred into a spike sequence. Then it is transmitted to two small-world networks interacting via an inhibitory coupling and working together to process the signal. We observe that the synchronization index (SI) in both networks periodically changes in time: The time intervals with the high SI alternate with the time intervals where SI is low. We calculate correlation between them and find that when adjusting the strength of the inhibitory coupling one can observe SI in these networks changes either in phase or out of phase. © 2020 IEEE.

关键词： Small-world networks

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Dynamic Object Grasping in Human-Robot Cooperation Based on Mixed-Reality

Dynamic Object Grasping in Human-Robot Cooperation Based on ...

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

作者： Demian, Albert Ostanin, Mikhail Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Innopolis University Robotics and Computer Vision Institute Innopolis Russia

ISBN: (纸本)9781665424066

Static Object grasping is a challenging task that has been studied for decades. The difficulty of the task comes back to the reason that a grasping attempt can have many solutions or due to the uncertainty about the targeted object's features and characteristics. This makes the fact about dynamic object grasping with un-modeled dynamics even more challenging. In this paper, an approach for dynamic object grasping is presented. The approach considers human-robot handover operation where the robot should be able to track human's holding-object hand and plan a successful grasp of the object in hand. The system was implemented with the help of Mixed-Reality using HoloLens glasses for human's hand tracking. A serial manipulator was used to execute the operation mounted with end-effector-mounted camera to perform computer vision operations for grasp planning and correction. The main task is robot at random configuration can be able to find hand-holding object and plan grasp on object in hand. The implemented system shows success and was able to perform most of the grasping tasks successfully. © 2021 IEEE.

关键词： Mixed reality

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Explicit Model Predictive Control Design based on Constrained Zonotope Propagation 7

Explicit Model Predictive Control Design based on Constraine...

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

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

ISBN: (纸本)9798350305746

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. © 2023 IEEE.

关键词： Convex optimization

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Recurrence plot analysis of functional brain connectivity during bistable visual perception 3

Recurrence plot analysis of functional brain connectivity du...

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

作者： Miftahova, Amina R. Hramov, Alexander E. Innopolis University Innopolis420500 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia

ISBN: (纸本)9781728124704

To develop fully-featured brain-computer interfaces it is crucial to study the behaviour of the brain in ambiguous situations. In this study, we analyzed the EEG data recorded during the perception of the bistable image - Necker's cube with the varying intensity of the lines. The image was demonstrated to the test person for one second and the person was asked to decide whether the cube is right-oriented or left-oriented and to push the corresponding data. During these actions the brain activity was recorded using 31-channel EEG, electrodes were placed according to the 10-20 system. The analysis, which was performed with the application of joint recurrence plots, suggests the existence of the synchronization between the channels of the frontal and occipital lobes. We believe that more rigorous research could reveal statistically significant brain connections and their dependence on physiological factors. Besides, this study may be significant for the development of the self-learning adaptive control systems. © 2019 IEEE.

关键词： Brain

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Analysis of EEG spectral amplitudes during ambiguous information processing 4

Analysis of EEG spectral amplitudes during ambiguous informa...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

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

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

ISBN: (纸本)9781728172866

关键词： Wavelet transforms

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Approach of Flow Control Around Unmanned Underwater Robot

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IFAC-PapersOnLine 2018年第30期51卷 452-457页

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

The development of a prototype of an underwater robot with a variable geometry of the body is a major complex task, including a whole series of tasks of a scientific, technical, engineering and applied nature, and the creation of new automatic systems for managing it. The creation of such a robot will ensure its high autonomy and maneuverability. In this paper, the development of a solid model of a biomimetic robot hybrid and AUV with a variable geometry of the hull is presented. Also presented is a basic pneumatic circuit integrated into the robot body, which drives the pneumatic muscles fixed to the ribs of the robot's robust body. The experimental part includes the investigation of the vertical and horizontal components of the deformation of the walls of the shell, depending on the pressure supplied by the pneumatic system to the pneumatic cusps. © 2016

关键词： Robots Biomimetics Geometry Pneumatic control Pneumatic equipment Pneumatics Anisotropic bodies Automatic systems Bio mimetic robot Horizontal components Pneumatic muscle Underwater robotics Underwater robots Variable geometry

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Reward Planning for Underactuated Robotic Systems: A Study on Pendubot with Parameters Uncertainty 7

Reward Planning for Underactuated Robotic Systems: A Study o...

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

作者： Ibrahim, Sinan Khusainov, Ramil Jnadi, Ali Ahsan Kazmi, S.M. Innopolis University Institute of Robotics and Computer Vision Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia Computer Science and Creative Technologies Bristol United Kingdom

ISBN: (纸本)9798350305746

There is a burgeoning interest in the field of Reinforcement Learning (RL) across various domains, including robotics. Traditional control approaches for robotic systems, such as semi-definite programming (SDP) or mixed integer programming (MIP), typically rely on the assumption of a known and deterministic model of the environment. In contrast, this study aims to introduce a novel RL method for planning the reward function specifically tailored for underactuated robotic systems with parameter uncertainty. We propose a method with a single RL agent to address the challenge of swing up and balance of a Pendubot system with uncertain parameters. The ultimate objective is to enhance the system's ability to adapt and perform reliably in the face of varying uncertainties. © 2023 IEEE.

关键词： Reinforcement learning

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Multi-Camera Fusion in Apollo Software Distribution

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IFAC-PapersOnLine 2019年第8期52卷 49-54页

作者： Geesara Kulathunga Aleksandr Buyval Aleksandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

We have continued extending the Apollo software distribution for supporting multi-object tracking followed by the fusion in a real-time manner for a multi-camera setup. Our proposed multi-camera fusion approach includes improvements in the following stages: object detection, data association, filtering and tracking on each camera space, and adding support for connecting multiple cameras into the system. Object detection and data association are the pivots for object tracking across the multi-camera setup. Hence, YOLOv3 that is the state-of-art model for real-time object detection is introduced to improve accuracy. When the obstacle sizes are changing over time abruptly, most of the popular data association approaches do not perform well. A new distance estimation technique is purposed to overcome this difficulty. Kalman filter that uses for tracking objects in 3D has modified to improve the estimation accuracy of pose and distance to the object from the car. Subsequently, added support for multi-camera visualization as well.

关键词： Sensor fusion Obstacle detection Probabilistic data association Multiobjective optimisations Cameras

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Modern research on the primary school children brain functioning in the learning process 4

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

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

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

ISBN: (纸本)9781728172866

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. © 2020 IEEE.

关键词： Brain

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