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Robust Output Regulation of Disturbed Systems with Uncertainties and Input Constraints ⁎

IFAC-PapersOnLine 2019年第29期52卷 79-84页

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

In this paper a “state-space” revised version of the consecutive compensator control approach is proposed to regulate systems with uncertainties and input constraints affected by external disturbances. As a preliminary result the redesigned controller is applied to a system coupled with unmodeled dynamics. The main result enhances this approach by implementing the internal model and back-calculation anti-windup scheme in the control law. The paper throughly addresses the stability issues and provides a numerical example illustrating the proposed approach.

关键词： Robust control Output feedback Uncertain dynamic systems Constraints Robot control

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Output Adaptive Switching Controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation ⁎

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IFAC-PapersOnLine 2019年第29期52卷 263-268页

作者： Dmitrii Dobriborsci Sergey Kolyubin Fatimat Karashaeva Alexey Bobtsov Faculty of Control systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

A new DREM-based (Dynamic Regressor Extension and Mixing) modification for output adaptive controller with input multi-harmonic disturbance cancellation is proposed in this paper. This approach provides monotonic convergence of the disturbance internal model parameters’ estimates to its true values. We also introduce a novel algorithm for the DREM-based estimator gains tuning in order to improve convergence under poor excitation. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed, while the non-prehensile ball stabilization in a predefined coordinates under bounded disturbances is a task to be solved.

关键词： Adaptive control output control disturbance cancellation DREM ball-and-plate

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Modeling of a brain neuronal network under visual stimulation 3

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

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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

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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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Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection ⁎

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IFAC-PapersOnLine 2020年第2期53卷 8456-8461页

作者： Dmitrii Dobriborsci Sergey Kolyubin Natalia Gorokhova Marina Korotina Alexey Bobtsov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia.

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints.

关键词： Adaptive control output control motion control disturbance rejection finite-time estimation ball-and-plate

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Features of real and imaginary human motor activity with EEG and fNIRS

Features of real and imaginary human motor activity with EEG...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Vadim Grubov Artem Badarin Nikita Frolov Elena Pitsik Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

Experimental design for recording of EEG and fNIRS during performance of real and imaginary movement was proposed. Set of experiments was conducted in accordance with this design and obtained EEG and fNIRS dataset was analyzed. Analysis allowed to introduce certain features in time-frequency domain that can be used to separate real motor activity from motor imagery.

关键词： Time-frequency analysis Continuous wavelet transforms Wavelet analysis Electroencephalography Hemodynamics Robots

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Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth

Map Comparison of Lidar-based 2D SLAM Algorithms Using Preci...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Rauf Yagfarov Mikhail Ivanou Ilya Afanasyev Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Institute of Robotics Innopolis University Innopolis Russia

This paper presents a comparative analysis of three most common ROS-based 2D Simultaneous Localization and Mapping (SLAM) libraries: Google Cartographer, Gmapping and Hector SLAM, using a metrics of average distance to the nearest neighbor (ADNN). Each library was applied to construct a map using data from 2D lidar that was placed on an autonomous mobile robot. All the approaches have been evaluated and compared in terms of inaccuracy constructed maps against the precise ground truth presented by FARO laser tracker in static indoor environment.

关键词： Simultaneous localization and mapping Two dimensional displays Measurement Mobile robots Laser radar

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Analysis of information perception and processing during long-term and intense cognitive load using combined EEG and NIRS

Analysis of information perception and processing during lon...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Vadim Grubov Artem Badarin Vladimir Maksimenko Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This work is devoted to the analysis of information perception and processing during long-term and intense cognitive load using combined EEG + NIRS. We consider changes in the reaction time during long-term and intense cognitive load and a comparison of brain activity with behavioral characteristics. We found the establishment of a characteristic mode in the brain corresponding to a routine cognitive task.

关键词： Brain Electroencephalography Task analysis Robots

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Deep learning approach for building detection in satellite multispectral imagery

arXiv

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arXiv 2018年

作者： Prathap, Geesara Afanasyev, Ilya Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Institute of Robotics Innopolis University Innopolis Russia

Building detection from satellite multispectral imagery data is being a fundamental but a challenging problem mainly because it requires correct recovery of building footprints from high-resolution images. In this work, we propose a deep learning approach for building detection by applying numerous enhancements throughout the process. Initial dataset is preprocessed by 2-sigma percentile normalization. Then data preparation includes ensemble modelling where 3 models were created while incorporating Open Street Map data. Binary Distance Transformation (BDT) is used for improving data labeling process and the U-Net (Convolutional Networks for Biomedical Image Segmentation) is modified by adding batch normalization wrappers. Afterwards, it is explained how each component of our approach is correlated with the final detection accuracy. Finally, we compare our results with winning solutions of Space Net 2 competition for real satellite multispectral images of Vegas, Paris, Shanghai and Khartoum, demonstrating the importance of our solution for achieving higher building detection accuracy. Copyright © 2018, The Authors. All rights reserved.

关键词： Metadata

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Learning Stabilizing Control Policies for a Tensegrity Hopper with Augmented Random Search

arXiv

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arXiv 2020年

作者： Kurenkov, Vladislav Hamed, Hany Savin, Sergei Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Robotics Institute Innopolis University Innopolis Russia

In this paper, we consider tensegrity hopper - a novel tensegrity-based robot, capable of moving by hopping. The paper focuses on the design of the stabilizing control policies, which are obtained with Augmented Random Search method. In particular, we search for control policies which allow the hopper to maintain vertical stability after performing a single jump. It is demonstrated, that the hopper can maintain a vertical configuration, subject to the different initial conditions and with changing control frequency rates. In particular, lowering control frequency from 1000Hz in training to 500Hz in execution did not affect the success rate of the balancing task. Copyright © 2020, The Authors. All rights reserved.

关键词： Hoppers

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