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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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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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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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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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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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Highest performance requires an optimal effort: A MEG study on visual perception

Highest performance requires an optimal effort: A MEG study ...

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

作者： Parth Chholak Alexander N. Pisarchik Centre for Biomedical Technology Technical University of Madrid Madrid Spain Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

Twelve subjects (6 males; 17-64 years) participated in magnetoencephalography (MEG) experiments designed to study visual response to flickering Necker cubes. Event-related fields in the lateral occipital complex and steady-state response in the visual region V1 and V2 were studied to characterise the early response time durations and attentional capacity during the trial time period of 5-s, respectively. We found that there was an optimal response time duration for which the attention capacity was maximum. The results also support the hypothesis that stimulus detection in brain is driven by coherence resonance.

关键词： Visualization Coherence Electric potential Delays Electroencephalography Magnetic resonance imaging Steady-state

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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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Noise amplification precedes extreme epileptic events on human EEG

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Physical Review E 2021年第2期103卷 022310-022310页

作者： Oleg E. Karpov Vadim V. Grubov Vladimir A. Maksimenko Nikita Utaschev Viachaslav E. Semerikov Denis A. Andrikov Alexander E. Hramov National Medical and Surgical Center named after N. I. Pirogov Ministry of Healthcare of the Russian Federation 105203 Moscow Russia Research and Production Company “Immersmed” Moscow 105203 Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University 420500 Kazan Russia

Extreme events are rare and sudden abnormal deviations of the system's behavior from a typical state. Statistical analysis reveals that if the time series contains extreme events, its distribution has a heavy tail. In dynamical systems, extreme events often occur due to developing instability preceded by noise amplification. Here, we apply this theory to analyze generalized epileptic seizures in the human brain. First, we demonstrate that the time series of electroencephalogram (EEG) spectral power in a frequency band of 1–5 Hz obeys a heavy-tailed distribution, confirming the presence of extreme events. Second, we report that noise on EEG signals gradually increases before the seizure onset. Thus, we hypothesize that generalized epileptic seizures in humans are the extreme events emerging from instability accompanied by preictal noise amplification similar to other dynamical systems.

关键词： Epilepsy Neuronal dynamics Brain network Extreme event statistics

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Investigation of complex nonlinear processes in systems with intense relativistic electron beams 3

Investigation of complex nonlinear processes in systems with...

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

作者： Kurkin, Semen Neuroscience and Cognitive Techology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Saratov State University Saratov Russia

ISBN: (纸本)9781728124704

The following novel schemes of relativistic generators with virtual cathode were proposed and investigated in terms of nonlinear dynamics analysis, enhancing output power, efficiency and generation frequency: multibeam vircator, vircator with elliptical resonator, vircator with photonic crystal. The carried-out analysis and obtained results have shown efficiency of the proposed vircator schemes. © 2019 IEEE.

关键词： Photonic crystals

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Cascaded Constrained Optimization For Cheetah-Inspired Galloping Robot Leg Mechanism ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9232-9237页

作者： Artem A. Egorov Ivan I. Borisov Sergey A. Kolyubin Stefano Stramigioli Biomechatronics and Energy-Efficient Robotics Lab ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Electrical Engineering Mathematics and Computer Science University of Twente The Netherlands

The paper describes one of the key steps in creating a bio-inspired galloping robot, namely parametric optimization of a multi-link leg mechanism. We introduce the cascaded constrained optimization procedure for finding optimal values for geometric parameters of a femur, knee, and foot segments for given design constraints and various gait specifications. The presented approach is computationally efficient and guarantees convergence to the unique solution. Steps on free parameters, constraints, and cost function selection are discussed. The efficiency of the proposed procedure is illustrated via a series of simulations. The proposed approach can also be implemented for the design of wearable robots like upper and lower-limb exoskeletons and rehabilitation systems that should follow sometimes sophisticated human-like trajectories.

关键词： Mobile robots robot design legged robots parametric optimization

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