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2020 International Conference Nonlinearity, Information and Robotics (NIR)最新文献

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Algebraic approach to the stiffness model reduction for manipulators with double encoders 双编码器机械臂刚度模型约简的代数方法
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290194
S. Mikhel, A. Klimchik
{"title":"Algebraic approach to the stiffness model reduction for manipulators with double encoders","authors":"S. Mikhel, A. Klimchik","doi":"10.1109/NIR50484.2020.9290194","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290194","url":null,"abstract":"The paper is focused on the problem of the stiffness model estimation that could be used in combination with double encoders for the detection of the compliance errors and applied forces. Algebraic approach is proposed based on knowledge of link stiffness parameters and kinematics of the robot. The application of this technique is demonstrated in the example of a 3-link manipulator.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123555411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Application of CycleGAN-based Augmentation for Autonomous Driving at Night 基于cyclegan的增强技术在夜间自动驾驶中的应用
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290218
Vladislav Ostankovich, R. Yagfarov, Maksim Rassabin, S. Gafurov
{"title":"Application of CycleGAN-based Augmentation for Autonomous Driving at Night","authors":"Vladislav Ostankovich, R. Yagfarov, Maksim Rassabin, S. Gafurov","doi":"10.1109/NIR50484.2020.9290218","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290218","url":null,"abstract":"Self-driving vehicles contain a number of modules allowing them to autonomously navigate in uncertain environment. The robust, efficient, safe and accurate autonomous navigation are heavily depend on parameters of a perception module. In this paper, we consider perception module as a combination of object detection and road segmentation submodules. As a matter of fact, all of them are based on Deep learning technique. It leads to liability of a big training datasets to provide the accuracy, efficiency and robustness of a perception module for a self-driving car operating in a wide range of scenarios. This paper presents the GAN-based augmentation as a key factor allowing to improve the performances of perception. The provided research shows the comparison between classical augmentation method and CycleGAN-based method. The main focus is made on detection and segmentation problems at nights. The initial training data includes BDD100K dataset and our own one collected in winter time by means of front-view camera of a self-driving car developed in Innopolis University. The obtained results show the improvement of segmentation task in case of application of CycleGAN augmentation. However, the chosen method of GAN-based augmentation has not shown the positive influence on object detection due to appeared visual artifacts.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128762138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Motor-related elderly brain activity revealed via recurrence quantification analysis 通过复发量化分析揭示老年人运动相关脑活动
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290221
E. Pitsik, N. Frolov, A. Kiselev, N. Shchukovskii, Artem Badarin, V. Grubov
{"title":"Motor-related elderly brain activity revealed via recurrence quantification analysis","authors":"E. Pitsik, N. Frolov, A. Kiselev, N. Shchukovskii, Artem Badarin, V. Grubov","doi":"10.1109/NIR50484.2020.9290221","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290221","url":null,"abstract":"We study motor-related brain activity in the group of elderly individuals (aged 55-76) using the continuous wavelet transform and the recurrence quantification analysis (RQA). Detecting motor patterns on electroencephalograms (EEGs) is a complex task due to the nonstationarity and complexity of EEG signal, which leads to the high inter- and intra-subject variability of traditionally applied methods. It is especially demanded to use these methods in the context of the elderly group analysis due to the additional age-related changes of the brain motor cortex functioning. In the present paper, we show that RQA measure of complexity is very useful in detection of transitions from background (normal) to motor-related brain activity captured via EEG signals. Moreover, used RQA measure of determinism calculated to quantify brain processes during upper limbs movements reflects contralateral properties of motor-related neuronal activity, which is helpful at distinguishing between two types of executed movements.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121648464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
NIR 2020 Index 2020年新工业革命指数
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/nir50484.2020.9290207
{"title":"NIR 2020 Index","authors":"","doi":"10.1109/nir50484.2020.9290207","DOIUrl":"https://doi.org/10.1109/nir50484.2020.9290207","url":null,"abstract":"","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131028028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Stiffness analisys of the Tripteron parallel manipulator Tripteron并联机械臂刚度分析
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290208
D. Kirsanov, I. Sevostianov, Oleg Rodionov, M. Ostanin
{"title":"Stiffness analisys of the Tripteron parallel manipulator","authors":"D. Kirsanov, I. Sevostianov, Oleg Rodionov, M. Ostanin","doi":"10.1109/NIR50484.2020.9290208","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290208","url":null,"abstract":"This article was devoted to the stiffness modeling of parallel robot Tripteron, which contains 3 separate legs directed along axes X, Y and Z. Two different techniques, Virtual joint modeling(VJM) and Matrix structural analysis(MSA) were applied in order to obtain the desired elastostatic model of the robot. Cartesian stiffness matrices were determined in a semi-analytical manner, corresponding deflections of the end-effector under external loads were represented in the form of deflection maps. Both approaches were analyzed and compared according to the computational cost and difference between results.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124159532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
[Copyright notice] (版权)
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/nir50484.2020.9290166
{"title":"[Copyright notice]","authors":"","doi":"10.1109/nir50484.2020.9290166","DOIUrl":"https://doi.org/10.1109/nir50484.2020.9290166","url":null,"abstract":"","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116455951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Energy-Efficiency in Legged Robots Locomotion: Open versus Closed Chains* 有腿机器人运动的能量效率:开放链与封闭链*
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290214
R. A. Zashchitin, I. Borisov, O. Borisova, S. Kolyubin
{"title":"Energy-Efficiency in Legged Robots Locomotion: Open versus Closed Chains*","authors":"R. A. Zashchitin, I. Borisov, O. Borisova, S. Kolyubin","doi":"10.1109/NIR50484.2020.9290214","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290214","url":null,"abstract":"Quadrupedal gallop is one of the fastest and efficient forms of locomotion that can be found in nature. Engineers in the field of robotics use it as a source of inspiration to create legged robots. The most common model to describe galloping is the spring-loaded inverted pendulum, representing the body as a mass, while legs perform a spring-like bouncing movement. There are many design choices to implement a robotic system to get desirable bouncing dynamics. This paper compares two opposite ways to design a hopping robot in terms of energy-efficiency: algorithmically with an open chain or mechanically with a closed chain. The first way takes a relatively simple serial kinematic chain and, via impedance control algorithms, perform passive dynamic interaction with the ground. The second way takes SLIP-synthesized underactuated mechanism and via simple position and velocity control perform the same passive dynamic interaction with the ground. The paper contains a detailed description of the hoppers, analysis, and simulation results.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130598118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Stabilization of a spherical robot rolling on an oscillating underlying surface 在振动下垫面上滚动的球形机器人的稳定
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290225
Y. Karavaev, A. Kilin, A. Klekovkin, E. Pivovarova
{"title":"Stabilization of a spherical robot rolling on an oscillating underlying surface","authors":"Y. Karavaev, A. Kilin, A. Klekovkin, E. Pivovarova","doi":"10.1109/NIR50484.2020.9290225","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290225","url":null,"abstract":"This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121469545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Spatio-temporal EEG activity in cortical network during visual percetion task 视觉感知任务中皮层网络的时空脑电活动
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290161
Alexander Kuc, N. Malova
{"title":"Spatio-temporal EEG activity in cortical network during visual percetion task","authors":"Alexander Kuc, N. Malova","doi":"10.1109/NIR50484.2020.9290161","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290161","url":null,"abstract":"A promising task is the analysis of the different rhythms of the brain cortical activity when performing cognitive tasks. Studying this issue allows to advance in the development of brain-computer interfaces. Some brain rhythms show certain dynamics during various cognitive activities. An important rhythm associated with cognitive activity is the alpha rhythm. In this paper, we study features of the dynamics of the alpha rhythm during bistable visual processing of information of varying complexity.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123499467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Accuracy Analysis of a Ground Reaction Predictor-based Feedforward Control 基于地面反作用力预测器的前馈控制精度分析
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290230
S. Savin
{"title":"Accuracy Analysis of a Ground Reaction Predictor-based Feedforward Control","authors":"S. Savin","doi":"10.1109/NIR50484.2020.9290230","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290230","url":null,"abstract":"Robots with contact interactions can use machine learning-based reaction predictors to build local linear reaction models and use them in feedback and feedforward control. In this paper, a study of effects of noisy and biased reaction predictors on the feedforward control is considered. The paper presents a model of the predictor with exact accuracy, and a simplified model of a noisy and biased predictor. Distributions of the control errors and prediction errors based on the linearized contact model are demonstrated for two robots: a bipedal walking robot and an in-pipe four legged robot. The proposed procedure can be used to find stopping criteria for the training process of the predictors.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128548808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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