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Interactive mobile robot in a dynamic environment1

IFAC-PapersOnLine 2018年第30期51卷 354-359页

作者： Rehman, Bakhtawar Yagfarov, Rauf Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

In this work we introduced a robotic system to work in a sociable environment alongside humans. The robot is able to recognize information through sound and it is capable to speak in order to response or provide significant information. We implemented and compared different simultaneous localization and mapping (SLAM) algorithms available in Robot Operating System (ROS). We compared their results and showed performance in real time in an indoor environment using lidars as the core sensing module. Thus we came up with a mobile robot autonomously navigating in a dynamic environment capable of interaction and manipulation intelligently. © 2016

关键词： Indoor positioning systems Mobile robots Navigation robotics Dynamic environments humanoid Indoor environment interaction Interactive control Robot operating systems (ROS) Simultaneous localization and mapping algorithms SLAM

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A model-based fault-detection strategy in DC/AC conversion

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IFAC-PapersOnLine 2020年第2期53卷 676-681页

作者： A. Pyrkin R. Cisneros D.U. Campos-Delgado A. Bobtsov S. Somov ITMO University 197101 St. Petesburg Rusia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia ITAM 01080 Mexico City Mexico UASLP Facultad de Ciencias SLP Mexico

An open-circuit fault-detection strategy is here proposed for single-phase DC/AC conversion. The power converter under consideration consists of an H-bridge and a capacitor with parallel resistance and current source in its DC side—these last two stand for the unknown system load and energy injection from renewable resources, respectively. An inductor filter is also included as a coupling element to the AC network. When an open-circuit fault occurs in the H-bridge, the resulting AC output waveform is asymmetric, and induces DC and harmonic components to the network. Hence, by using an additive fault modeling, the fault signature can be expressed by a constant term f dc and a fluctuating signal. The sign of f dc allows to determine the pair of faulty switches in the H-bridge. In this work, an DREM-based identification scheme is proposed to estimate f dc . Through the sign of its estimate, it is possible to detect the pair of faulty switches. To assess our approach, simulation results are included.

关键词： Open-circuit fault-detection Parameter estimation DC/AC conversion

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Stabilization of a spherical robot rolling on an oscillating underlying surface

Stabilization of a spherical robot rolling on an oscillating...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Yury Karavaev Alexander Kilin Anton Klekovkin Elena Pivovarova Kalaschnikov Izhevsk State Technical University Izhevsk Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Udmurt State University Izhevsk Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described.

关键词： Fabrication Prototypes Control systems Mathematical model Robots Oscillators

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Chaos and hyperchaos in a chain of coupled Rydberg atoms 3

Chaos and hyperchaos in a chain of coupled Rydberg atoms

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

作者： Balanov, Alexander Andreev, Andrey Department of Physics Loughborough University Loughborough United Kingdom Neuroscience and Cognivite Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

Partially quantum coherent arrays of artificial atoms (e.g., superconducting qubits) may be used as analogue simulators of other quantum systems, when the behaviour of the latter cannot be directly observed or modeled by classical means. Here we show that a chain of superconducting qubits can simulate the chaotic behaviour predicted in chains of Rydberg atoms. We investigate the transition from periodic to chaotic dynamics and show the increase of the number of positive Lyapunov exponents as the number of atoms grows. The possibility of an external control and suppression of hyperchaos in the chain is demonstrated. © 2019 IEEE.

关键词： Lyapunov methods

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Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor

Experimental evaluation of simplified physical model for con...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Anton V. Klekovkin Yury L. Karavaev Ivan S. Mamaev Evgeny V. Vetchanin Valentin A. Tenenev Kalashnikov Izhevsk State Technical University Izhevsk Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Udmurt State University Izhevsk Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper is devoted to investigations of the motion of an aquatic propeller-less robot. The robot motion implemented by rotation of internal rotor. A simple finite-dimensional mathematical model to describe the motion of the robot is proposed. Experiments with control actions providing the motion along a straight line and a circle have been conducted.

关键词： Robot motion Aquatic robots Rotors Propulsion Mathematical model

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Bursting activity interplay in modular neural networks in vitro 3

Bursting activity interplay in modular neural networks in vi...

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3rd International Conference "Neurotechnologies and Neurointerfaces", CNN 2021

作者： Gladkov, Arseniy Pigareva, Yana Kolpakov, Vladimir Mukhina, Irina Bukatin, Anton Kazantsev, Victor Pimashkin, Alexey Cell Technology Department Central Research Laboratory Privolzhsky Research Medical University Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Renewable Energy Sources Alferov Saint-Petersburg National Research Academic University of the Russian Academy of Sciences Saint-Petersburg Russia Laboratory of Bio and Chemosensor Microsystems Institute for Analytical Instrumentation of the RAS Saint-Petersburg Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia NeurotechnologyDepartment Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia

ISBN: (纸本)9781665424745

Neural networks modularity is a major challenge to study spiking pattern propagation and information processing in the brain. Sparse and heterogeneous connectivity between network modules defines spiking activity generation and interplay. Detailed study of modular network complex connectivity and dynamics is complicated by inducing retrograde or closed-loop activity. In this study, we analyzed the spiking activity of spontaneous and stimulus-induced interplay between two cultured neuronal networks (source-target) coupled with unidirectional synaptic connections, which were formed by microfluidic microchannels. Inhibition of excitatory synaptic activity in a source module abolished retrograde and closed-loop activity in the interplay. We found characteristics of electrical stimulation applied to the intermodular connections, which evoked a network-wide response in a target module. The developed approach can be applied to study synaptic plasticity in modular networks in vitro and improvement of new methods of neurointerface design. © 2021 IEEE.

关键词： Microfluidic chips

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Accuracy assessment of the mechatronic unit control system with flexible links

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AIP Conference Proceedings 2023年第1期2697卷

作者： M. Yu. Vetlitsyn Yu. A. Vetlitsyn G. Yu. Prokudin N. G. Sharonov 1Volgograd State Technical University Volgograd Russia 2GBUZ GKB №3 Volgograd Russia 3Center for Technology Components of Robotics and Mechatronics Innopolis University Innopolis Russia

The results study of the digital control system mechatronic unit of the adaptive panel with flexible links are presents. For the experiment to assess the accuracy of the deviation angle, a mathematical model was formed with a group of controlled input parameters: the error in setting the rib deflection angle, the error in the duration of the servo control command, the error in the servo motor rotation angle.

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Interactions within the Spatially-distributed Cortical Neural Network during Visual Attentional Tasks

Interactions within the Spatially-distributed Cortical Neura...

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International Conference on Computational Intelligence and Networks (CINE)

作者： Alexander E. Hramov Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Component Innopolis University

ISBN: (数字)9781728156880

ISBN: (纸本)9781728156897

Many physiological experiments demonstrate that a cognitive performance during sustained attention tasks is not maintained at a constant level. Such behavioral lowfrequency variations are connected with dynamics of attentionrelated cortical neuronal networks. At the same time neurophysiological reason of a such behavior remains unclear. In this talk we analyze the neuronal interactions in alpha and beta bands by means of 31-channels EEG processing. As a visual attention task we use a binary classification of a large number of presented images - ambiguous Necker cubes. Analyzing of response time of subjects indicates that processing of similar tasks takes both long and short reaction time. Provided analysis based on complex network theory reveals strong correlation between response time and duration of formation of a functional frontoparietal functional network associated with perceptual decision-making process. Having considered a functional topology during a prestimulus period, we find that lower reaction times are subserved by a strong prestimulus functional connectivity over a somatosensory and sensorimotor areas of cortex. Finally, we show that high reaction times are dominant during the beginning of experiment and suppose that this time is required for a prestimulus template formation. Since similar visual tasks are presented several times during the experiment, brain uses their templates to perform them faster and effectively.

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Influence of the sensory information ambiguity on the brain state during the decision-making task 3

Influence of the sensory information ambiguity on the brain ...

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

作者： Kuc, Alexander Nedaivozov, Vladimir Patent and License Department Saratov State Technical University Saratov Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The process of visual information classification includes different states of brain activity, such as sensory processing and decision-making. The stage of sensory processing is usually short and occurs in the occipital and parietal areas of the brain, while the decision-making stage is more pronounced over time and includes the parietal and frontal areas. In the current paper, we consider the brain activity during the classification task using ambiguous visual stimuli with varying degrees of ambiguity. We show that with increasing ambiguity of the visual stimulus, the brain engages neuronal populations in the distributed cortical regions in 15-30 Hz frequency band, including the frontal area at the early stages of information processing. © 2019 IEEE.

关键词： Decision making

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Phase-amplitude coupling between mu- and gamma-waves to carry motor commands 3

Phase-amplitude coupling between mu- and gamma-waves to carr...

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

作者： Chholak, Parth Pisarchik, Alexander N. Kurkin, Semen A. Maksimenko, Vladimir A. Hramov, Alexander E. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The development of brain computer interfaces, especially the ones related to controlling exoskeletons and neurorehabilitation of stroke patients, strongly relies on our understanding of motor system and its neuronal mechanism. Motor imagery (MI) has turned out to be one of the most popular experimental regimes to study this system. Kinesthetic imagery (KI) is a kind of MI which shares a large portion of its neuronal pathway with real movements, except for having an additional inhibitory mechanism to prevent movement execution. Our magnetoencephalographic (MEG) experiments with ten untrained subjects revealed that this inhibitory control implied local neuronal desynchronization. We found that the motor-related communication between the inferior parietal cortex and the prefrontal cortex was carried out using the mu-frequency range. Additionally, three gamma frequencies were also pinpointed that encode the motor command specifics. Using artificial neural networks (ANNs) we classified left- and right-hand MI which reached maximal accuracy when we included these three gamma frequencies in the input signal for ANN. We suggest that mu-activity acts as a carrier of gamma-activity between inferior and parietal areas utilising phase-amplitude coupling. © 2019 IEEE.

关键词： Neural networks

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