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Interactive Industrial Robot Programming based on Mixed Reality and Full Hand Tracking

IFAC-PapersOnLine 2022年第10期55卷 2791-2796页

作者： Mikhail Ostanin Stanislav Zaitsev Adelia Sabirova Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper show a state-of-the-art approach for programming industrial robotics manipulator via mixed reality holographic interface. In mixed reality, we implement basic functionality for robot programming: setting up the base and tool frames, setting the sequence of Cartesian poses and Joint positions for robot motion, robot movements simulation. The software developed is based on Unity, ROS, and MoveIt frameworks. We compared cursor-based interface (Microsoft HoloLens 1) and full hand tracking (Microsoft HoloLens 2 and Oculus Quest 2) functionalities for interactive robot programming. We tested our approach on the UR10e collaborative robot in the virtual scene and real environment. The full hand tracking human-robot interaction approach improves the setup of Cartesian and Joints robot goals in respect to cursor based interaction.

关键词： human-robot interaction mixed reality industrial robots hand tracking

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

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

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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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Effect of the fatigue in the equilibrium training

Effect of the fatigue in the equilibrium training

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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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Passively Adapting External Force Compensation System for Serial Manipulators 16th

Passively Adapting External Force Compensation System for S...

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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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Motion Planning for Multirotor Aerial Vehicles in Plan-based Control Paradigm: a Review

arXiv

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arXiv 2022年

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

In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or static. Hence, the most adequate choice is to use local planning or local planning alongside global planning. When designing optimal motion planning both local and global, the key metrics to bear in mind are execution time, asymptotic optimality, and quick reaction to dynamic obstacles. Such planning approaches can address the aforesaid target metrics more efficiently compared to other approaches such as path planning followed by smoothing. Thus, the foremost objective of this study is to analyse related literature in order to understand how the motion planning, especially trajectory planning, problem is formulated, when being applied for generating optimal trajectories in real-time for Multirotor Aerial Vehicles (MAVs), impacts the listed metrics. As a result of the research, the trajectory planning problem was broken down into a set of subproblems, and the lists of methods for addressing each of the problems were identified and described in detail. Subsequently, the most prominent results from 2010 to 2022 were summarized and presented in the form of a timeline. © 2022, CC BY.

关键词： Model predictive control

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How Long short-term memory artificial neural network, synthetic data, and fine-tuning improve the classification of raw EEG data 6

How Long short-term memory artificial neural network, synthe...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Nasybullin, Albert Maksimenko, Vladimir Kurkin, Semen Innopolis University Laboratory of Data Analysis and Bioinformatics Center for Artificial Intelligence Innopolis Russia Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

In this paper, we discuss a Machine Learning pipeline for the classification of EEG data. We propose a combination of synthetic data generation, long short-term memory artificial neural network (LSTM), and fine-tuning to solve classification problems for experiments with implicit visual stimuli, such as the Necker cube with different levels of ambiguity. The developed approach increased the quality of the classification model of raw EEG data. © 2022 IEEE.

关键词： Classification (of information)

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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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Explicit Model Predictive Control Design based on Constrained Zonotope Propagation

Explicit Model Predictive Control Design based on Constraine...

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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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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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Eye movement features in solving Sternberg Memory Task 6

Eye movement features in solving Sternberg Memory Task

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Brusinskii, Nikita Badarin, Artem Hramov, Alexander Immanuil Kant Baltic Federal University Baltic Center for Neurotechnologies and Artificial Intelligence Kaliningrad Russia Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

Oculomotor activity is an important component of human mental processes, and decoding this activity can be applied in many applied fields. This paper analyzed the physiological and behavioral characteristics of a person during a prolonged solution of a cognitive task based on the Sternberg paradigm. A number of trends in changes in both physiological and behavioral characteristics over the course of the experiment were revealed. For example, an increase in subjective fatigue over the course of the experiment. In addition, correlation analysis were performed. In particular, a correlation was found between subjective fatigue and the amplitude of pupil dilation during letter set demonstrations. © 2022 IEEE.

关键词： Eye movements

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