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

作者： Kuc, Alexander Maksimenko, 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

It is known that neuronal populations of cortical brain network are involved in the processes, related to accomplishing of different tasks, e.g. processing of sensory information and making decisions. Each particular type of tasks is characterized by the specific features of neuronal activity both in time-frequency and spatio-temporal domains. These features of neuronal activity reflect the structure of electrical activity signals (EEG) registered from the head surface via noninvasive electrodes. EEG signals are composed of the different rhythms of neuronal activity. While some studies relate these rhythms to the particular basic brain functions, other studies demonstrate that specific scenarios of EEG rhythms dynamics can be associated with accomplishing of cognitive task and affect human behavioral performance. With this in mind we analyze the spatio-temporal dynamics of alpha and beta rhythms of cortical activity during processing visual task and relate the features of rhythms dynamics to human's behavioral performance. © 2019 IEEE.

关键词： Wavelet analysis

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

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

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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

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Mean phase coherence modified for piecewise constant phase difference data 3

Mean phase coherence modified for piecewise constant phase d...

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

作者： Khorev, Vladimir Department of Dynamic Modeling and Biomedical Engineering Saratov State University Saratov Russia Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

We propose a modification of the mean phase coherence method based on the statistics arrange of phase difference data. The modification aimed towards better analysis of data of coupled oscillators under influence of s... 详细信息

ISBN: (纸本)9781728124704

关键词： Synchronization Coherence Oscillators Couplings Indexes Time series analysis Delays

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

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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

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Computer Vision in Control and robotics for Educational Purposes ⁎

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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

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Post-stroke rehabilitation with the help of brain-computer interface 3

Post-stroke rehabilitation with the help of brain-computer i...

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

作者： Kiselev, Anton R. Maksimenko, Vladimir A. Shukovskiy, Nikolay Pisarchik, Alexander N. Pitsik, Elena Hramov, Alexander E. Saratov State Medical University Saratov Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Biomedical Technology Technical University of Madrid Madrid Spain

ISBN: (纸本)9781728124704

We considered a group of 50 patients with lateral paresis in the acute period after the first stroke. The EEG recordings in the group of post-stroke patients displayed fundamentally different brain dynamics during real movements of a conventionally healthy hand and a hand with decreased muscle strength. While for the conventionally healthy hand the brain activity in the sensory zone is quite close to the dynamics observed in the control group, for the paretic hand there is pathological activity associated with increased activity in low frequency ranges (up to 12 Hz). Meanwhile, the brain activity during imaginary motion is similar for both hands and hence to the dynamics in the control group of conditionally healthy subjects. The obtained results can be used in rehabilitation techniques based on imaginary motor activity with the help of brain-computer interface. © 2019 IEEE.

关键词： Brain computer interface

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Object detection and tracking basics: Student education ⁎

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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

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Interactive mobile robot in a dynamic environment1

Interactive mobile robot in a dynamic environment1

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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： Mobile robots

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Development of methods for automatic control of manipulator drives of mobile weeding robot with parallel-serial structure 23rd

Development of methods for automatic control of manipulator ...

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23rd International Conference on Climbing and Walking Robots and the Support technologies for Mobile Machines, CLAWAR 2020

作者： Ivanov, A.G. Vorob'yeva, N.S. Zhoga, V.V. Pavlovsky, V.E. Pavlovsky, E.V. Volgograd State Agrarian University University Avenue 26 Volgograd400002 Russia Volgograd State Technical University Lenin Avenue 28 Volgograd400005 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia Keldysh Institute of Applied Mathematics Russian Academy of Sciences Miusskaya sq. 4 Moscow125047 Russia

ISBN: (纸本)9781916449046

The work solved the problem of positioning-determining the lengths of the actuating links of the manipulator with a parallel-serial structure at a given position of the operating body. A kinematic algorithm for manipulator position stabilization in a given final state is synthesized. A mathematical model of the spatial controlled motion dynamics of the operating body as a multi-mass system is developed. The control efforts change laws are obtained. The article considers the development of a control algorithm for the actuating links of a manipulator with a parallel-serial structure. The authors suggest a two-stage procedure for resolving the problem of controlling the robot operating body motion into a set neighborhood of the final state for a set time. The first stage covers the process of solving the problem of defining the manipulator generalized coordinates at the set coordinates of the operating body. The problem solution is of an optimization nature. The second stage proceeds with the resolving of the problem of defining the laws of the setting action formation for the actuating drives responsible for the operating body motion in the set point neighborhood. The programmed path correction is done in such a way that at any specific time it moves through a set position of the operating body while the deviations from the final state of actuating links change according to the solution of the formed differential equation. The authors develop a mathematical model for the dynamics of the operating body motion taking into account it is a multi-mass system. The article provides the obtained laws regulating changes in control forces. Finally, the authors give the results of computational modeling to prove the algorithm practical efficiency by the example of a specific manipulator. © CLAWAR Association Ltd.

关键词： Manipulators

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