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3rd International Conference "Neurotechnologies and Neurointerfaces", CNN 2021

作者： Lebedeva, Albina Gerasimova, Svetlana Fedulina, Anastasiya Mishchenko, Mikhail Beltyukova, Anna Matveeva, Mariya Mikhaylov, Alexey Pisarchik, Alexander Kazantsev, Victor Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665424745

The project presents fundamental research on the development of concept and basic components of physical circuit based on optoelectronic elements (neuromorphic generators, memristors, optical fibers). This network can replace some functions of brain’s neural networks (such as memory) through adaptive stimulation of neural interfaces at the cellular and cellular networks level. Developing learning system will perform the electrical stimulation of brain areas based on the neural activity recorded and will include electronic devices for recording and processing signals. In addition, this system will include electronic devices for generating electrical stimuli based on hardware models of neurons and memristive devices. The basic idea is to integrate an artificial network with living microcircuits of the brain. The artificial network is capable of adaptively generating electrical output signals and can stimulate a given area of the brain according to the recorded pattern of input signals. We suppose that such a network will be able to reproduce the functions of brain systems, based on the use of learning algorithms. It can be used to expand the functionality of these brain systems and to replace lost functions in pathology or trauma. © 2021 IEEE.

关键词： Memristors

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Integration technology for replacing damaged brain areas with artificial neuronal networks 4

Integration technology for replacing damaged brain areas wit...

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

作者： Lebedeva, Albina Mishchenko, Mikhail Bardina, Polina Fedulina, Anastasiya Mironov, Andrey Zhuravleva, Zoia Gerasimova, Svetlana Mikhaylo, Alexey Pisarchik, Alexander Kazantsev, Victor Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia

ISBN: (纸本)9781728172866

We present a novel integration technology for replacing damaged microcircuits in the rat brain with electronic neuronal networks. This technology will allow simulating important brain functions, such as memory, through the adaptive stimulating effects of neural interfaces at cellular and neuronal network levels. The proposed system includes electronic devices to register and process neuronal signals and to adaptively stimulate damaged brain areas according to the online algorithm decoding the registered neuronal activity. The stimulation algorithm is implemented in hardware neural network with memristive connections that allows both network learning and adaptive *** basic idea is to develop components of hardware neural network with memristive connections for adaptive generation of electrical signals to stimulate particular brain areas. Moreover, the uniqueness of the system is adaptive closed-loop connection between two hippocampal neuronal networks. Such a system is very promising for restoring functionality of damaged areas in the human brain to replace lost functions in patients with brain pathologies or trauma. © 2020 IEEE.

关键词： Brain

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control system design for micro AUV based on open source hardware

Control system design for micro AUV based on open source har...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Wang, Chenguang Hu, Zhiqiang Yang, Yi Geng, Lingbo Wang, Ling Department of Control Theory and Engineering Shenyang Ligong University Shenyang Liaoning Province China Department of Ocean Robotics Shenyang Institute of Automation Shenyang Liaoning Province China Department of Electric Automation Shenyang Ligong University Shenyang Liaoning Province China

ISBN: (纸本)9781538680698

This paper mainly introduces the the control system of micro AUV based on open source hardware. The control system is the most important part of the AUV and its performance has a direct impact on the stability and reliability of AUV. Due to the small size and limited energy, micro AUV puts more restrictions on the volume and power consumption of the control system. In this paper, we choose the BeagleBone Black, the open source hardware, as the main controller, the rich peripheral interface of it facilitates data acquisition and centralized processing of the vehicle. Arduino, another type of open source hardware, is used as the node controller of the control system. Compared with the traditional hardware design, this architecture has the advantages of small volume, low power consumption, low cost, short period of development and maintenance, and it also had good performance in data processing and real-time control. The experimental results showed that the control system based on this architecture run effectively. © 2018 IEEE.

关键词： control systems

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Payoff-Based Approach to Learning Nash Equilibria in Convex Games

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IFAC-PapersOnLine 2017年第1期50卷 1508-1513页

作者： Tatarenko T. Kamgarpour M. Department of Control Theory and Robotics TU Darmstadt Germany Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents’ actions belong to a compact convex Euclidean space and the agents’ cost functions are coupled. We propose a distributed payoff-based algorithm to learn Nash equilibria in the game between agents. Each agent uses only information about its current cost value to compute its next action. We prove convergence of the proposed algorithm to a Nash equilibrium in the game leveraging established results on stochastic processes. The performance of the algorithm is analyzed with a numerical case study. © 2017

关键词： game theory Multi-agent decision making payoff-based algorithm

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Reconfigurable control Design Based on Complete Parametric Approach for Spacecraft Rendezvous 36

Reconfigurable Control Design Based on Complete Parametric A...

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第36届中国控制会议

作者： Guangren Duan Qin Zhao State Key Laboratory of Robotics and System(HIT) Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

This paper studies the problem of reconflgurable fault tolerant controller design for linear time-invariant systems with measurement unavailability based on a complete parametric *** attention is focused on completely recovering eigenvalues of the pre-fault system by resynthesizing an output feedback controller while the restrictions on assignable eigenvalues of existing results are ***,the complete parametric method is introduced to give the parametric expressions for all output feedback matrices with the advantage of guaranteeing the stability of the reconfigured ***'s more,reconflgurable controllers for the spacecraft rendezvous system are studied as the example in cases of different measurement failure ***,numerical calculations are given and results show the effectiveness of the proposed method.

关键词： Reconfigurable control Spacecraft Rendezvous Measurement Unavailability Complete Parametric Approach Output Feedback

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Integrated guidance and control with input saturation 36

Integrated guidance and control with input saturation

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第36届中国控制会议

作者： Wangkui Liu Yiyin Wei Guangren Duan State Key Laboratory of Robotics and System Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

Based on backstepping control technique,a novel adaptive integrated guidance and control(IGC) law is presented for missile intercepting maneuvering target with input *** deal with the uncertainties in the IGC system,adaptive control technique is utilized to estimate the upper bounds of the ***,an auxiliary system is designed to cope with the input *** state of the auxiliary system is used in the IGC law design and stability *** detailed stability analysis of the closed-loop IGC system is carried out based on the Lyapunov ***,the effectiveness of the proposed adaptive IGC law is verified by the nonlinear numerical simulation results.

关键词： Backstepping control Adaptive Integrated guidance and control(IGC) Input saturation

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Integration technology for replacing damaged brain areas with artificial neuronal networks

Integration technology for replacing damaged brain areas wit...

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

作者： Albina Lebedeva Mikhail Mishchenko Polina Bardina Anastasiya Fedulina Andrey Mironov Zoia Zhuravleva Svetlana Gerasimova Alexey Mikhaylo Alexander Pisarchik Victor Kazantsev Neurotechnologies Department Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

关键词： Hippocampus Biological neural networks Neurons Neuromorphics Memristors Optical fiber amplifiers Electrodes

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Flexible robotic arm dynamics through deflection screw approach

Flexible robotic arm dynamics through deflection screw appro...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Mariapaola D'Imperio Luca Carbonari Myrel Alsayegh Torsten Bertram Matteo Claudio Palpacelli Darwin Caldwell Ferdinando Cannella Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Industrial Engineering and Mathematical Sciences Universit Politecnica delle Marche Ancona Italy Institute of Control Theory and Systems Engineering Technische Universitat Dortmund Dortmund Germany

ISBN: (纸本)9781509061914

The design and control of robotic systems capable of performing dynamic tasks, such as those involving stable impact, is of growing interest within the robotic community. If their structure is conceived as rigid, it results in massive and bulky systems, so that high forces are generated in the interaction with the external environment. At the opposite, if the robotic structure is designed as flexible, the interaction with the external environment produces lower forces thanks to their weight reduction and to the energy absorption guaranteed by the structural deformations. However, adding flexibility leads to unwanted vibrations which is a major drawback, that must be taken into account by the control algorithm to prevent resonance phenomena and to guarantee precise task performance. In this paper, the authors propose a structural model of a flexible robotic arm to be implemented in a model based control algorithm. The study is based on the screw theory approach which allows for an easy-to-manipulate concise symbolic representation for both kinematics and dynamics.

关键词： Fasteners Service robots Manipulators Kinematics Aerodynamics Heuristic algorithms

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Link elasticity exploited for payload estimation and force control

Link elasticity exploited for payload estimation and force c...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： J. Malzahn R. Schloss T. Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany Jorn-Malzahn is with the Department of Advanced Robotics Istituto Italiano Di Tecnologia (IIT) Genova Italy Russell Schloss and Torsten Bertram are with the Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Link elasticity is commonly understood to be a detrimental side-effect of imperfect mechanical designs of robotic arms and comparable machinery. In contrast to this notion, this paper demonstrates a novel approach to exploit intrinsic robot link compliance in order to estimate a priori unknown payload masses, measure and also control end effector forces. In this way, the intrinsic link elasticity can be seen as an enabler for new sensing and control capabilities instead of a purely detrimental effect.

关键词： Strain Payloads Force Robot sensing systems Torque Elasticity

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Synchronizing linear heterogeneous networks by output homogenization 19

Synchronizing linear heterogeneous networks by output homoge...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control and Mechatronics Laboratory of Control Theory and Robotics Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogeneous case to a homogeneous synchronization task, for which the solution is well known. The presented method is applicable to networks of completely different agents, even with different dimensions. Additionally, the communication effort is minimized because only the states which are to be synchronized need to be exchanged through the network. An example illustrates the efficiency of the concept. © IFAC.

关键词： Multi agent systems

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