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检索条件"机构=Center for Technologies in Robotics and Mechatronics Components Innopolis University"

共 264 条记录，以下是11-20 订阅

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Robot description formats and approaches: Review

Robot description formats and approaches: Review

引用

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

作者： Ivanou, Mikhail Mikhel, Stanislav Savin, Sergei Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

Modern robotics represents a collaboration between industry and scientific community, with interdisciplinary research being at its forefront. This leads to wide variation in the requirements for robotic systems, which encourages the development and use of different description formats. Currently, some of the existing formats are gaining wide recognition;at the same time, their individual limitations become more apparent. The goal of this work is to generalize the idea of a robot description format, putting together different approaches to representing a robot, including formats that rely on human-readable and binary data representation, formats tied to specific software, and ones that exist independently, and others. We outline the main advantages and limitations of the existing formats, with the aim to make the following efforts at standardization or development more informed. © 2021 IEEE.

关键词： Robots

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Explicit Model Predictive Control Design based on Constrained Zonotope Propagation

Explicit Model Predictive Control Design based on Constraine...

引用

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

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

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.

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Effect of the fatigue in the equilibrium training

Effect of the fatigue in the equilibrium training

引用

Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Khorev, Vladimir S. Neuroscience and Cognitive Technology Lab. Center for Technologies in Robotics and Mechatronics Components Innopolis University 1 Universitetskaya Str. Innopolis 420500 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

Maintaining an equilibrium of the human body in an upright position is crucial for the majority of motor activities. Numerous studies of physiologists, clinicians, scientific researchers show that the equilibrium function is very complex. In this work, we conducted an experiment involving equilibrium maintaining on a balance board to research different aspects of this process. The purpose of this study was to assess the dynamics of the movement of the platform movement associated with the equilibrium during the experiment and how muscle fatigue effects it. With the help of the statistical analysis we determine which muscles were affected by the fatigue more. © 2022 SPIE.

关键词： Signal analysis

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Exploration and mapping of an indoor environment using Multirotor Aerial Vehicle

Exploration and mapping of an indoor environment using Multi...

引用

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

作者： Hassan, Mohamed Ahmed Kulathunga, Geesara Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781665424066

Self-exploration of unknown environments using mobile robots is an important aspect in order to achieve complete automation of the tasks done by robots. The key idea of the exploration is to find a pose at which the robot will gain more information about the environment. By moving from such a pose to another the robot builds a map using the information gained during motion. A frontier based exploration algorithm for 3D spaces is introduced. The algorithm is an extension of the classic frontier exploration algorithm. The space is represented in an octree structure for faster access and efficient memory management. At every iteration of the exploration algorithm, the Multirotor Aerial Vehicle (MAV) performs a 360° rotation to increase the information gain about the environment, this rotation is dependent on the sensor's field of view. If a rotating sensor which can cover a 360° of the environment is used, the 360° rotation can be skipped without affecting the methodology. The distance moved by the MAV is specified at each iteration of the exploration process depending on the environment. Simulations were conducted to compare the effect of different parameters in the algorithm. © 2021 IEEE.

关键词： Robots

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Real-time static custom gestures recognition based on skeleton hand

Real-time static custom gestures recognition based on skelet...

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

作者： Osipov, Alexander Ostanin, Mikhail Innopolis University Innopolis Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

Gesture recognition is one of the natural ways of human-computer interaction (HCI) that will positively affect their use. This paper presents an approach for real-time static gestures recognition based on the skeleton of a hand using a MediaPipe framework and Support Vector Machine(SVM) classification. The approach demonstrated high accuracy of recognition gestures 98.74% on a dataset of sign-digit-gestures as well as runtime 71 fps. Moreover, the approach is required only one camera sensor for recognition. The proposed approach can be extended for dynamic gesture recognition and used to control robots and computer devices. © 2021 IEEE.

关键词： Support vector machines

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Passively Adapting External Force Compensation System for Serial Manipulators 16th

Passively Adapting External Force Compensation System for S...

引用

16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Demian, Albert Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia School of Computer Science College of Science University of Lincoln Brayford Pool Lincolnshire LincolnLN6 7TS United Kingdom

ISBN: (纸本)9783031457692

This paper proposes a design approach for a spring-based compensator that passively adapts to external loadings. The proposed compensator is based on a combination of spring-lever mechanisms that are adjustable to the robot’s configuration. Springs in this arrangement are mounted on sliding pivots that connected to springs that allow passive adjustment of the value of the counter-torque. While previous research is either concerned with gravity compensation or with variable stiffness actuators, the proposed approach deals with the variation of external loadings. The proposed force compensator can be used in robotics applications where the robot experiences high external loads during operation. The model was tested in simulation for a planar 2-DoF manipulator and a planar redundant 3-DoF manipulator. The presented results show 58.5% torque reduction for 2-DoF and 55.2% reduction for 3-DoF. Robot redundancy can enhance counter-balancing since the compensation level is configuration-dependent. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robots

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

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

引用

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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Reservoir computing allows recovering hidden network dynamics 7

Reservoir computing allows recovering hidden network dynamic...

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

作者： Badarin, Artem Andreev, Andrey Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Saint Petersburg State University St. Petersburg Russia Baltic Federal University Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Kaliningrad Russia

ISBN: (纸本)9798350305746

In this study, we examined reservoir computing (RC)as a tool for predicting the macroscopic dynamics of a subset of oscillators in a network based on the macroscopic dynamics of other parts of it. As a model network, we utilized a network of 300 Kuramoto oscillators with adaptation. Our results demonstrate that reservoir computing effectively addresses this task. Additionally, a similar reservoir computing model was applied to experimental neurovisualization data and exhibited high accuracy in reconstructing damaged EEG channels compared to classical methods like spatial interpolation. © 2023 IEEE.

关键词： Dynamics

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Differences in the resting-state functional brain networks of patients with major depressive disorder and bipolar disorder 7

Differences in the resting-state functional brain networks o...

引用

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

作者： Khorev, Vladimir Kurkin, Semen A. Paunova, Rositsa Stoyanov, Drozdstoy Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Immanuel Kant Baltic Federal University Baltic Center for Artificial Intelligence and Neurotechnology Kaliningrad Russia Samara State Medical University Neurosciences Research Institute Samara Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350305746

In this work, we analyzed the functional connectivity between different groups of subjects. The groups included patients with major depressive disorder, and patients with bipolar depression that were obtained during experimental research. The data that had been subjected to preprocessing procedures were employed in order to identify the functional connectivity between the brain regions that displayed significant variations. © 2023 IEEE.

关键词： Brain

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Features of the resting-state functional network in patients with major depressive disorder: mutual information analysis in fMRI data 7

Features of the resting-state functional network in patients...

引用

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

作者： Khorev, Vladimir Kurkin, Semen Paunova, Rositsa Stoyanov, Drozdstoy Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Immanuel Kant Baltic Federal University Baltic Center for Artificial Intelligence and Neurotechnology Kaliningrad Russia Samara State Medical University Neurosciences Research Institute Samara Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350305746

In this work, we conducted the analysis of the functional magnetic resonance imaging data in healthy subjects and patients with major depressive disorder that were obtained during experimental research when subjects were resting. The signals that have undergone preprocessing and filtration were used to find the functional connectivity between the brain regions. Results demonstrate significant changes between functional connections based on the mutual information measure. We obtained five significantly changed connections, four of which increased more in cotrol group over patients. © 2023 IEEE.

关键词： Brain

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