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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Khorev, Vladimir Grubov, Vadim Badarin, Artem Maksimenko, Vladimir Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

We have conducted an experiment involving keeping balance on a platform to research the perception of maintaining body posture. The objective of the present work was to characterize the common features of cortical activity during postural control. Regarding the cortical basis of performance differences during unstable conditions, EEG analysis suggest that central-frontal areas may underlie the cortical interaction including oscillations in general, maybe underlie cortical monitoring of changes in postural state of the body. The obtained results show that the neuronal activity in the β-frequency band can be utilized as the neurophysiological marker of the subject's ability to maintain the equilibrium state. © 2020 IEEE.

关键词： activity balance EEG EMG posture

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Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)

Path Planning Followed by Kinodynamic Smoothing for Multirot...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Kulathunga, Geesara Devitt, Dmitry Fedorenko, Roman Savin, Sergei Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique "RRT*"for this purpose. In the proposed technique, we modified original RRT∗ introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT∗ which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments. © 2020 IEEE.

关键词： Motion planning

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Segmification: Solving road segmentation and scene classification tasks for self-driving cars using one neural network 2020

Segmification: Solving road segmentation and scene classific...

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3rd International Conference on Applications of Intelligent Systems, APPIS 2020

作者： Ostankovich, Vladislav Yagfarov, Rauf Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (纸本)9781450376303

In this work we show our developed model for a self-driving car that solves a road segmentation task and at the same time classifies whether the vehicle is moving in or off the lane. We demonstrate how scene classifier can be efficiently embedded into a segmentation neural network model by the means of branching additional layers with small number of trainable parameters. The model was trained and tested on our own dataset with good accuracy performance. Experiment with external dataset proves efficiency of the proposed approach and shows reasonable results in both segmenation and classification tasks. © 2020 ACM.

关键词： Autonomous vehicles

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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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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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Optimization-based trajectory tracking approach for multi-rotor aerial vehicles in unknown environments

arXiv

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arXiv 2022年

作者： Kulathunga, Geesara Hamed, Hany Devitt, Dmitry Klimchik, Alexandr Artificial Intelligence Research Center Innopolis University Russia Centre For Robotics And Mechatronics Components Innopolis University Russia

The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our proposed approach comprises two planners: a global planner and a local planner. The global planner refines the initial reference trajectory when the trajectory goes either through an obstacle or near an obstacle and lets the local planner calculate a near-optimal control policy. The global planner comprises two convex programming approaches: the first one helps to refine the reference trajectory, and the second one helps to recover the reference trajectory if the first approach fails to refine. The global planner mainly focuses on real-time performance and obstacles avoidance, whereas the proposed formulation of the constrained nonlinear model predictive control-based local planner ensures safety, dynamic feasibility, and the reference trajectory tracking accuracy for low-speed maneuvers, provided that local and global planners have mean computation times 0.06s (15Hz) and 0.05s (20Hz), respectively, on an NVIDIA Jetson Xavier NX computer. The results of our experiment confirmed that, in cluttered environments, the proposed approach outperformed three other approaches: sampling-based pathfinding followed by trajectory generation, a local planner, and graph-based pathfinding followed by trajectory generation. © 2022, CC BY.

关键词： Motion planning

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Peculiarities of brain activity sources in the process of motor acts imagination

Peculiarities of brain activity sources in the process of mo...

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Saratov Fall Meeting 2020 - Computations and Data Analysis: From Molecular Processes to Brain Functions

作者： Kurkin, Semen Chholak, Parth Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University 1 Universitetskaya Str Innopolis420500 Russia Center for Biomedical Technology Technical University of Madrid Madrid Spain

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

The analysis of neurophysiological mechanisms responsible for the imagination of movements is essential for developing brain-computer interfaces. We have carried out MEG experiments with voluntary participants performing imaginary movements. We have analyzed the features of motor imagery (imagery arms and legs movements) at the source level. We have obtained the results that confirmed two types of motor imagery: visual imagery and kinesthetic imagery. We have analyzed averaged distributions of normalized sources power for the visual imagery and kinesthetic imagery subgroups of volunteers and identified the main differences between these types of motor imagery in terms of the excitation of sources of neural activity. We have applied statistical cluster-based permutation test to identify the differences between the averaged distributions of normalized sources power for visual and kinesthetic imagery. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Brain computer interface

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Trajectory tracking for quadrotors: An optimization-based planning followed by controlling approach

Research Square

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Research Square 2021年

作者： Kulathunga, Geesara Devitt, Dmitry Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

We present an optimization-based reference trajectory tracking method for quadrotor robots for slow-speed maneuvers. The proposed method uses planning followed by the controlling paradigm. The basic concept of the proposed method is an analogy to Linear Quadratic Gaussian (LQG) in which Nonlinear Model Predictive Control (NMPC) is employed for predicting optimal control policy in each iteration. Multiple-shooting (MS) is suggested over Direct-collocation (DC) for imposing constraints when modelling the NMPC. Incremental Euclidean Distance Transformation Map (EDTM) is constructed for obtaining the closest free distances relative to the predicted trajectory;these distances are considered obstacle constraints. The reference trajectory is generated, ensuring dynamic feasibility. The objective is to minimize the error between the quadrotor’s current pose and the desired reference trajectory pose in each iteration. Finally, we evaluated the proposed method with two other approaches and showed that our proposal is better than those two in terms of reaching the goal without any collision. Additionally, we published a new dataset, which can be used for evaluating the performance of trajectory tracking algorithms. © 2021, CC BY.

关键词： Trajectories

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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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Nonlinearity, Information and robotics, (NIR) International Conference

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

ISBN: (纸本)9781665424080

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.

关键词： Human computer interaction Runtime Robot vision systems Support vector machine classification Gesture recognition Cameras Skeleton

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Changing functional connectivity during solving cognitive tasks: fNIRS study

Changing functional connectivity during solving cognitive ta...

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Badarin, A.A. Antipov, V.M. Grubov, V.V. Kurkin, S.A. Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis 420500 Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University A. Nevskogo ul. 14 Kaliningrad236016 Russia Department of Theoretical Cybernetics Saint Petersburg State University University Embankment 7/9 Saint Petersburg199034 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

In this paper, we present an analysis of the dynamics of functional connectivity of the cerebral cortical network using near-infrared spectroscopy during human solutions to simple cognitive tasks. A task-based on the Sternberg paradigm was chosen to provide a cognitive load. We identified statistically significant changes in the communication forces obtained on the basis of the analysis of oxyhemoglobin signals during the experiment. We found that in the course of the experiment, there is a restructuring of the functional network, which is accompanied by a decrease in the average connectivity strength between the cortical areas under study. We showed that there is a correlation between the subjective evaluation of fatigue degree and the characteristics of the identified functional neural network. © 2022 SPIE.

关键词： Near infrared spectroscopy

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