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Development of typical collision reactions in combination with algorithms for external impacts identification

IFAC-PapersOnLine 2019年第13期52卷 253-258页

作者： Mikhel, Stanislav Popov, Dmitry Mamedov, Shamil Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

This study is focused on the problem of robot interaction with dynamically changing environment for contact and non-contact operations. Robot reaction is based on classification the results, obtained from force sensors. Particular attention is paid to the problem of contact localization in the case of single and multi-contact collisions. Localization algorithms presented for simplified shapeless model of the robot and more complex model that's also consider real shape of the robot links. Numerical experiments for external force estimation and collision point identification are provided using Kuka iiwa model. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robots Changing environment Collision reactions Contact localization External force estimation Localization algorithm Multi contact Numerical experiments Robot controls

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Reservoir computing allows recovering hidden network dynamics

Reservoir computing allows recovering hidden network dynamic...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Artem Badarin Andrey Andreev Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Saint Petersburg State University St. Petersburg Russia Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Baltic Federal University Kaliningrad Russia

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.

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Analysis of EEG spectral amplitudes during ambiguous information processing 4

Analysis of EEG spectral amplitudes during ambiguous informa...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Kuc, Alexander Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Republic of Tatarstan Russia

We analyzed the dynamics of EEG spectral amplitudes in a- A nd ß-frequency bands during ambiguous visual stimuli processing. As a result, we described differences in the cortical activity during the processing of... 详细信息

ISBN: (纸本)9781728172866

关键词： Wavelet transforms

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Analysis of behavioral characteristics during prolonged cognitive load 5

Analysis of behavioral characteristics during prolonged cogn...

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Kuc, Alexander Grubov, Vadim Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia Center of New Cardiological Informational Technologies Scientific Research Institute of Cardiology Saratov State Medical University Saratov Russia

ISBN: (纸本)9781665442824

In the present work we studied human behavioral characteristics during prolonged cognitive activity. For this purpose we conducted experiment with interpretation of consistently presented ambiguous visual stimuli with different levels of ambiguity. As behavioral characteristic we chose the correctness of ambiguous stimuli interpretation and we showed, that number of errors changes significantly through the experiment. © 2021 IEEE

关键词： Behavioral research

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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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Differences in the resting-state functional brain networks of patients with major depressive disorder and bipolar disorder

Differences in the resting-state functional brain networks o...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Vladimir Khorev Semen A. Kurkin Rositsa Paunova Drozdstoy Stoyanov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Artificial Intelligence and Neurotechnology Immanuel Kant Baltic Federal University Kaliningrad Russia Neurosciences Research Institute Samara State Medical University Samara Russia Plovdiv Medical University Plovdiv Bulgaria

In this work, we analyzed the functional connectivity between different groups of subjects. The groups included patients with major depressive disorder, and patients with bipolar depression that were obtained during experimental research. The data that had been subjected to preprocessing procedures were employed in order to identify the functional connectivity between the brain regions that displayed significant variations.

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Features of the resting-state functional network in patients with major depressive disorder: mutual information analysis in fMRI data

Features of the resting-state functional network in patients...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Vladimir Khorev Semen Kurkin Rositsa Paunova Drozdstoy Stoyanov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Artificial Intelligence and Neurotechnology Immanuel Kant Baltic Federal University Kaliningrad Russia Neurosciences Research Institute Samara State Medical University Samara Russia Plovdiv Medical University Plovdiv Bulgaria

In this work, we conducted the analysis of the functional magnetic resonance imaging data in healthy subjects and patients with major depressive disorder that were obtained during experimental research when subjects were resting. The signals that have undergone preprocessing and filtration were used to find the functional connectivity between the brain regions. Results demonstrate significant changes between functional connections based on the mutual information measure. We obtained five significantly changed connections, four of which increased more in cotrol group over patients.

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Modern research on the primary school children brain functioning in the learning process 4

Modern research on the primary school children brain functio...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Bukina, Tatyana V. Khramova, Marina V. Kurkin, Semen Saratov State University Department of Information Systems and Educational Technologies Saratov Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781728172866

The article deals with research related to the study of the primary school children's brain activity in the educational process: The prevalence of such research, the definition of the scientists' activities main directions on the topic and their chosen approaches to research. Conclusions about the need for further study of this issue are presented. © 2020 IEEE.

关键词： Brain

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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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Transcranial magnetic stimulation affects response time in decision-making tasks 4

Transcranial magnetic stimulation affects response time in d...

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4th International Conference "Neurotechnologies and Neurointerfaces", CNN 2022

作者： Grigorev, Nikita Savosenkov, Andrey Udoratina, Anna Kolchina, Anna Maksimenko, Vladimir Gordleeva, Susanna Lobachevsky State University of Nizhny Novgorod Neurotechnology Department Nizhny Novgorod Russia Immanuel Kant Baltic Federal University Center for Neurotechnology and Machine Learning Kaliningrad Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Lobachevsky State University of Nizhny Novgorod Mathematics and Mechanics Department Nizhny Novgorod Russia Neuroscience and Cognitive Technology Lab. Innopolis University Innopolis Russia

ISBN: (数字)9781665463294

ISBN: (纸本)9781665463294

In this study, we investigate how excitatory transcranial magnetic stimulation (TMS) can influence decision speed in the task of classifying ambiguous visual patterns. 30 healthy volunteers were divided into 2 groups. During two experimental sessions they classified ambiguous Necker cubes. Before the second experimental session, stimulation of the area of the cerebral cortex, which is related to decision-making, was performed. One group received sham stimulation;the other group was stimulated with repetitive TMS (rTMS) for 3 minutes at a frequency of 10 Hz. As a result: the rTMS group significantly (p © 2022 IEEE.

关键词： Decision making

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