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

作者： Andreev, Andrey Neuroscience and Cognitive Technology Laboratory 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

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

Nowadays, the problem of forecasting complex signals is significant and has many applications in real life. One of such applications is the prediction of neurophysiological signals, like EEG. Such signals are macroscopic signals of a group of neurons, and the connections between them adapt in time. Here, we investigate the possibility of forecasting the dynamics of the modulated adaptive network, which topology changes in time, using Reservoir Computing (RC). We show that the dynamics of the signal is chaotic, and RC cannot predict it, but reconstruction of the phase space by adding the delays improves the quality of the signal's prediction. © 2022 IEEE.

关键词： Complex networks

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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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Nonlinearity, Information and robotics, (NIR) International Conference

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

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

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 non-trivial. In 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.

关键词： Trajectory planning Kinematics Iterative algorithms Trajectory Space exploration Task analysis Robots

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Energy-based local forward and inverse kinematics methods for tensegrity robots

Energy-based local forward and inverse kinematics methods fo...

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IEEE International Conference on Robotic Computing (IRC)

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

ISBN: (数字)9781728152370

ISBN: (纸本)9781728152387

This paper describes an energy-based forward kinematics method for tensegrity robotics structures. The method can be implemented as a nonlinear optimization procedure and solved with standard optimization algorithms. Based on this result, the paper proposes a local linearization-based approach to inverse kinematics for tensegrity robots, for which a gradient descent-like algorithms is formulated. A preliminary study of the algorithm numerical behavior is given, and examples of the use cases for both forward and inverse kinematics methods are provided. It is shown that the method allows planing trajectories in the Cartesian space for the end effector and discover the desired law of change of the rest lengths of the actuated elastic elements.

关键词： Planing Kinematics Trajectory Quadratic programming Robots Optimization Standards

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Differences in optimal community structure in brain connectivity organization in major depressive disorder 8

Differences in optimal community structure in brain connecti...

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8th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2024

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

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. © 2024 IEEE.

关键词： Brain mapping

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Efficiency and fatigue in marksmanship training 5

Efficiency and fatigue in marksmanship training

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

作者： Grubov, Vadim Badarin, Artem Savosenkov, Andrey Grigoriev, Nikita Lukojanov, Maxim Ydoratina, Anna Maximenko, Vladimir Kazantsev, Viktor B. Hramov, Alexander E. Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Brain-Machine Interface Development Lab Institute for Neurosciences Lobachevskiy University Nijnij Novgorod Russia

In the present study we developed experimental paradigm and setup for marksmanship training in untrained subjects. We aimed to demonstrate correlation between subject’s fatigue and efficiency during training. © ... 详细信息

ISBN: (纸本)9781665442824

关键词： Efficiency

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Numerical Optimisation-Based Control Pipeline for Robot Arm for Machine Learning Experiments

Numerical Optimisation-Based Control Pipeline for Robot Arm ...

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International Russian Automation Conference (RusAutoCon)

作者： Sergei Savin Svyatoslav Golousov Mikhail Ivanov Alexander Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this paper, a control pipeline for an industrial robot arm is presented. The robot is proposed as a test bench for machine learning experiments, where it is important to have a reliable and repeatable behavior of the robot while its control system needs to be flexible. The proposed controller is model-based, and is implemented as a quadratic program, imitating feedback linearization and computed torque controller with stable control error dynamics. The paper discusses practical aspects of the software suit developed for the project and presents a favorable set of the third party packages which allowed to create a fast and reliable implementation of the proposed control scheme. The properties of the proposed control were studied using simulation in the Gazebo environment.

关键词： Manipulators Service robots Control systems Task analysis Robot kinematics Pipelines

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Human-robot interaction for robotic manipulator programming in Mixed Reality

Human-robot interaction for robotic manipulator programming ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mikhail Ostanin Stanislav Mikhel Alexey Evlampiev Valeria Skvortsova Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The paper presents an approach for interactive programming of the robotic manipulator using mixed reality. The developed system is based on the HoloLens glasses connected through Robotic Operation System to Unity engine and robotic manipulators. The system gives a possibility to recognize the real robot location by the point cloud analysis, to use virtual markers and menus for the task creation, to generate a trajectory for execution in the simulator or on the real manipulator. It also provides the possibility of scaling virtual and real worlds for more accurate planning. The proposed framework has been tested on pick-and-place and contact operations execution by UR10e and KUKA iiwa robots.

关键词： Virtual reality Trajectory Collision avoidance Manipulators Programming Service robots

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Ground and non-ground separation filter for UAV Lidar point cloud

arXiv

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arXiv 2019年

作者： Prathap, Geesara Fedorenko, Roman Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University

This paper proposes a novel approach for separating ground plane and non-ground objects on Lidar 3D point cloud as a filter. It is specially designed for real-time applications on unmanned aerial vehicles and works on sparse Lidar point clouds without preliminary mapping. We use this filter as a crucial component of fast obstacle avoidance system for agriculture drone operating at low altitude. As the first step, a point cloud is transformed into a depth image and then places with high density nearest to the vehicle (local maxima) are identified. Then we merge original depth image with identified locations after maximizing intensities of pixels in which local maxima were found. Next step is to calculate range angle image which represents angles between two consecutive laser beams based on improved depth image. Once a range angle image is constructed, smoothing is applied to reduce the noise. Finally, we find out connected components in the improved depth image while incorporating smoothed range angle image. This allows separating the non-ground objects. The rest of the locations of depth image belong to the ground plane. The filter has been tested on a simulated environment as well as an actual drone and provides real-time performance. We make our source code and dataset available online2. Copyright © 2019, The Authors. All rights reserved.

关键词： Optical radar

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Unmanned Aerial Vehicle Path Planning for Exploration Mapping

Unmanned Aerial Vehicle Path Planning for Exploration Mappin...

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Nonlinearity, Information and robotics, (NIR) International Conference

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

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

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.

关键词： Three-dimensional displays Laser radar Urban areas Robot sensing systems Sampling methods Path planning Unmanned aerial vehicles

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Factor of border crossing limitation with an infection hub in the SIR covid model 5

Factor of border crossing limitation with an infection hub i...

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

作者： Khorev, Vladimir Kazantsev, Victor B. Center for technologies in robotics and mechatronics components Innopolis University Innopolis Russia Neurotechnology deparment Lobachevsky University Nizhniy Novgorod Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

In this work we develop a new nonlinear net-based SIR epidemic problem modeling the spreading of coronavirus under the effect of a border crossing limits by the government measures to stop coronavirus spreading. We show that the emergence and disappearance of subsequent waves of infection on the degree of relationship with a hub is non-linear, and with a large degree of relationships, the number of waves can decrease. © 2021 IEEE

关键词： Coronavirus

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