检索结果-内蒙古大学图书馆

Automated robotic assembly of complex workpieces from tiped components forms

IOP Conference Series: Materials Science and Engineering 2021年第1期1129卷

作者： P Kozlov A Klimchik Center for T echnologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

This paper deals with the automated robotic assembly of complex casting molds from components of regular shape. It addresses the issues of model decomposition and assembly sequence taking into account particularities of the gluing process and shape features. The decomposition parameters were determined by several approximation experiments. The obtained results validated via simulation and experimental study dealing with the assembly of particular workpieces with UR10e robot.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Theoretical and experimental investigations of the controlled motion of the Roller Racer

Theoretical and experimental investigations of the controlle...

引用

Nonlinearity, Information and robotics, (NIR) International Conference

作者： Kirill S. Yefremov Tatiana B. Ivanova Alexander A. Kilin Yury L. Karavaev Kalashnikov Izhevsk State Technical University Izhevsk Russia Udmurt State University Izhevsk Russia Chuvash State University Cheboksary 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 address the problem of the motion of the Roller Racer. We assume that the angle φ(t) between the platforms is a prescribed function of time and that the no-slip condition (nonholonomic constraint) and viscous friction force act at the points of contact of the wheels. In this case, all trajectories of the reduced system asymptotically tend to a periodic solution. In this paper it is shown analytically and experimentally that the chosen control defines periodic trajectories of the attachment point of the platforms on an average along a straight line. We determine the conditions for optimal control when the system moves along a straight line depending on the mass and geometric characteristics of the system and control parameters.

关键词： Friction Force Wheels Optimal control Trajectory Oscillators Robots

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

arXiv

引用

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

来源：评论

学校读者我要写书评

暂无评论

Modeling of a brain neuronal network under visual stimulation 3

Modeling of a brain neuronal network under visual stimulatio...

引用

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

作者： Pisarchik, Alexander Andreev, Andrey Ivanov, Alexey Center for Biomedical Technology Technical University of Madrid Madrid Spain Neuroscience and Cognivite Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Yuri Gagarin State Technical University of Saratov Saratov Russia

ISBN: (纸本)9781728124704

We numerically simulate a network of coupled Hodgkin-Huxley neurons for modulating a processing visual perception by the brain. On a part of the network, we apply an external current of constant amplitude modulating visual information entering the brain. We analyze the influence of the external stimulus amplitude on the dynamics of the system. We discover coherent resonance phenomenon when for certain area of external stimulus amplitude both signal-to-noise ratio and characteristic correlation time are maximal. © 2019 IEEE.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

Modeling and Control of Robotic Systems Course: from Fundamentals to Applications ⁎

引用

IFAC-PapersOnLine 2019年第9期52卷 224-229页

作者： Vladislav S. Gromov Oleg I. Borisov Sergey S. Shavetov Anton A. Pyrkin Fatimat B. Karashaeva Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this paper the Modeling and Control of Robotic Systems course to build the set of the professional skills is presented. This course is included in the curriculum of the master’s degree program and provided at the Faculty of Control Systems and robotics of ITMO university. The selection of the tracks to build the professional skills are presented. An important part of the tracks is a using various technical equipment to build the skills and experience.

关键词： Control education Control application robotics Ship control Industrial robots

来源：评论

学校读者我要写书评

暂无评论

Object detection and tracking basics: Student education ⁎

引用

IFAC-PapersOnLine 2019年第9期52卷 79-84页

作者： Izabella Y. Merkulova Sergey V. Shavetov Oleg I. Borisov Vladislav S. Gromov ITMO University Department of Control Systems and Robotics Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Computer vision is a rapidly developing field of human knowledge. Due to the fullness of images information visual sensors, unlike other types of sensors, theoretically can cover the entire amount of information necessary for autonomous driving, registration of traffic violations, in various medical tasks and so on. The requirements for computer vision specialists are growing every day. At the same time, it is advisable to train specialists in related fields the basics of computer vision. This paper provides an overview of the main points that should be taken into account during the education process in the field of object detection and tracking using computer vision algorithms.

关键词： Computer vision detection algorithms target tracking convolution neural networks education laboratory education

来源：评论

学校读者我要写书评

暂无评论

Computer Vision in Control and robotics for Educational Purposes ⁎

引用

IFAC-PapersOnLine 2019年第9期52卷 127-132页

作者： Sergei V. Shavetov Isabella I. Merkulova Anton A. Ekimenko Oleg I. Borisov Vladislav S. Gromov ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper is devoted to computer vision education for ITMO university students specializing in control systems and robotics. The set of laboratory works are attached. Several examples of finished works are provided. The topics of the laboratory course consists of histograms, profiles, projections, image geometric transformations, filtering and edges detection, images segmentation, Hough transformation, image morphologic analysis.

关键词： Computer vision Laboratory education Computer applications Robots sensing systems Control systems applications

来源：评论

学校读者我要写书评

暂无评论

Neuromorphic system development based on adaptive neuronal network to modulate synaptic transmission in hippocampus 3

Neuromorphic system development based on adaptive neuronal n...

引用

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

作者： Lebedeva, Albina Gerasimova, Svetlana Fedulina, Anastasiya Mishchenko, Mikhail Beltyukova, Anna Matveeva, Mariya Mikhaylov, Alexey Pisarchik, Alexander Kazantsev, Victor Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665424745

The project presents fundamental research on the development of concept and basic components of physical circuit based on optoelectronic elements (neuromorphic generators, memristors, optical fibers). This network can replace some functions of brain’s neural networks (such as memory) through adaptive stimulation of neural interfaces at the cellular and cellular networks level. Developing learning system will perform the electrical stimulation of brain areas based on the neural activity recorded and will include electronic devices for recording and processing signals. In addition, this system will include electronic devices for generating electrical stimuli based on hardware models of neurons and memristive devices. The basic idea is to integrate an artificial network with living microcircuits of the brain. The artificial network is capable of adaptively generating electrical output signals and can stimulate a given area of the brain according to the recorded pattern of input signals. We suppose that such a network will be able to reproduce the functions of brain systems, based on the use of learning algorithms. It can be used to expand the functionality of these brain systems and to replace lost functions in pathology or trauma. © 2021 IEEE.

关键词： Memristors

来源：评论

学校读者我要写书评

暂无评论

Stator Flux Finite-time Observer for Non-Salient Permanent Magnet Synchronous Motors

Stator Flux Finite-time Observer for Non-Salient Permanent M...

引用

Mediterranean Conference on Control and Automation (MED)

作者： Alexey Bobtsov Anton Pyrkin Stanislav Aranovskiy Nikolay Nikolaev Olga Slita Olga Kozachek Center for Techologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Equipe Automatique CentraleSupeléc - IETR Cesson-Sévigné France Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper a gradient observer and finite-time observer of stator flux are developed for non-salient permanent magnet synchronous motors. The methods described here are based on implementation of linear time-invariant (LTI) filters and the dynamic regression extension and mixing (DREM) techniques. The motor resistance and inductance are assumed to be known.

关键词： Observers Stator windings Rotors Permanent magnet motors Resistance Inductance

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：