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

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LMI-Based Design of Output Robust Controller with Static Anti-Windup* 基于lmi的静态抗绕组输出鲁棒控制器设计*
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290158
M. Kakanov, O. Borisov, A. Pyrkin
{"title":"LMI-Based Design of Output Robust Controller with Static Anti-Windup*","authors":"M. Kakanov, O. Borisov, A. Pyrkin","doi":"10.1109/NIR50484.2020.9290158","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290158","url":null,"abstract":"The article discusses the development of a robust algorithm for controlling the system output in the presence of restrictions on the input signals. The nominal controller contains an integral component to compensate for the external disturbance. Undesired effects of saturation of the input signals are compensated by the static anti-windup correction sheme. An approach is proposed for adjusting the coefficient of anti-windup correction based on the tools of linear matrix inequalities. The effectiveness of the proposed approach is illustrated by the example of an autopilot system by surface vessel.","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":"130081396","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
Adaptive Nonlinear Tracking Approach for Motion Tracking Applications 自适应非线性跟踪方法在运动跟踪中的应用
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290163
V. Gromov, Aleksei V. Meshkov, A. Pyrkin
{"title":"Adaptive Nonlinear Tracking Approach for Motion Tracking Applications","authors":"V. Gromov, Aleksei V. Meshkov, A. Pyrkin","doi":"10.1109/NIR50484.2020.9290163","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290163","url":null,"abstract":"The problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed. The control law for a nonlinear trajectory is proposed with the design of an adaptive internal model. The efficiency of the proposed algorithm was proved by experiments using the setup that includes an articulated robot. The experimental results are presented.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"62 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":"132303710","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
Mathematical modeling and dynamic processes in chemistry: the game theory approach to the synthesis of polyimides 化学中的数学建模和动态过程:聚酰亚胺合成的博弈论方法
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290213
E. Marchuk, Maria Nakhod, Y. Kalinin
{"title":"Mathematical modeling and dynamic processes in chemistry: the game theory approach to the synthesis of polyimides","authors":"E. Marchuk, Maria Nakhod, Y. Kalinin","doi":"10.1109/NIR50484.2020.9290213","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290213","url":null,"abstract":"The article presents an approach of mathematical modeling in chemical dynamic processes. There are observed differential games methods with reference to polyimides synthesis reactions.","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":"134107322","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 rotations of a rigid body with a fixed point by periodic perturbations 用周期扰动稳定有固定点的刚体的旋转
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290224
E. V. Vetchanin
{"title":"Stabilization of rotations of a rigid body with a fixed point by periodic perturbations","authors":"E. V. Vetchanin","doi":"10.1109/NIR50484.2020.9290224","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290224","url":null,"abstract":"The dynamics of a body with a fixed point is considered in the case where the moments of inertia of the system depend periodically on time. A stability of permanent rotations is estimated by a numerical approach. In a neighborhood of permanent rotations the linearization of equations of motion results in Hill's equation, and the stability is determined by the eigenvalues of a monodromy matrix. It is shown that stable rotations may be destabilized by periodically changing the moments of inertia due to parametric resonance.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"55 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":"117144541","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
Hand-eye calibration using a single image and robotic picking up using images lacking in contrast 手眼校准使用单个图像和机器人拾取使用缺乏对比度的图像
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290197
R. A. Boby
{"title":"Hand-eye calibration using a single image and robotic picking up using images lacking in contrast","authors":"R. A. Boby","doi":"10.1109/NIR50484.2020.9290197","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290197","url":null,"abstract":"This article proposes a hand-eye calibration using a new and easy method suitable for a camera mounted on the end-effector of an industrial robot using only a single image. The hand-eye calibration information could be used in robotic picking up of cubes using a monocular camera. Images captured from a particular pose of the camera have been segmented using a fusion of multiple methods such that the object information is obtained even in cases when there is less contrast between the object and the background, or in the presence of variation in lighting. The edge information, and subsequently the pose of the object was estimated using minimum number of images. In some of the cases a single image was sufficient but in case only a single edge edge is obtained, an additional image is grabbed after aligning the camera with the detected edge. An additional edge is estimated using a directional thresholding operation. The edge information in 3-D obtained using the calibration information was then used to calculate the pose of the object to facilitate robotic pick up. To ensure safety; a verification of the estimate was done using projection of the computed coordinates, and final pick up was done while monitoring the force to avoid damage due to collisions. The proposed approaches were physically implemented and experimentally validated.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"37 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":"115497587","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
Analysis of information perception and processing during long-term and intense cognitive load using combined EEG and NIRS 脑电和近红外光谱联合分析长时和高强度认知负荷下的信息感知和加工
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290234
V. Grubov, Artem Badarin, V. Maksimenko
{"title":"Analysis of information perception and processing during long-term and intense cognitive load using combined EEG and NIRS","authors":"V. Grubov, Artem Badarin, V. Maksimenko","doi":"10.1109/NIR50484.2020.9290234","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290234","url":null,"abstract":"This work is devoted to the analysis of information perception and processing during long-term and intense cognitive load using combined EEG + NIRS. We consider changes in the reaction time during long-term and intense cognitive load and a comparison of brain activity with behavioral characteristics. We found the establishment of a characteristic mode in the brain corresponding to a routine cognitive task.","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":"122682734","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
Dynamics of a spherical robot with periodically changing moments of inertia 具有周期性转动惯量变化的球形机器人动力学
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290229
I. Mamaev, E. V. Vetchanin
{"title":"Dynamics of a spherical robot with periodically changing moments of inertia","authors":"I. Mamaev, E. V. Vetchanin","doi":"10.1109/NIR50484.2020.9290229","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290229","url":null,"abstract":"The motion of a spherical robot with periodically changing moments of inertia and gyrostatic momentum is considered. Equations of motion are derived within the framework of the model of \"rubber\" rolling (without slipping and twisting). The stability of partial solutions of the system is studied numerically. It is shown that the system is nonconservative, and, as a consequence, limit cycles and strange attractors exist in the phase space of the system.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"11 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":"128709820","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
Real noise in quantum link 量子链路中的真实噪声
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290210
N. Perminov, A. Litvinov, K. Melnik, O. Bannik, L. Gilyazov, N. Arslanov, D. Tarankova, M. Amirhanov, S. Moiseev
{"title":"Real noise in quantum link","authors":"N. Perminov, A. Litvinov, K. Melnik, O. Bannik, L. Gilyazov, N. Arslanov, D. Tarankova, M. Amirhanov, S. Moiseev","doi":"10.1109/NIR50484.2020.9290210","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290210","url":null,"abstract":"In this paper, for the first time, we analyze real noise in a 143 km intercity quantum line which is based on the original technical solution for subcarrier wave quantum key distribution system. The result of fundamental statistical analysis of the quantum bit error rate is presented. We draw initial conclusions on the stability and security of quantum communications and provide recommendations on online noise monitoring to increase communication security.","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":"115553987","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
Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor 带内转子的水生机器人控制简化物理模型的实验评价
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290211
A. Klekovkin, Y. Karavaev, I. Mamaev, E. V. Vetchanin, V. Tenenev
{"title":"Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor","authors":"A. Klekovkin, Y. Karavaev, I. Mamaev, E. V. Vetchanin, V. Tenenev","doi":"10.1109/NIR50484.2020.9290211","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290211","url":null,"abstract":"This paper is devoted to investigations of the motion of an aquatic propeller-less robot. The robot motion implemented by rotation of internal rotor. A simple finite-dimensional mathematical model to describe the motion of the robot is proposed. Experiments with control actions providing the motion along a straight line and a circle have been conducted.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"42 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":"115703628","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
Companion AI for Starbound Game Using Utility Theory 基于效用理论的《星际之界》同伴AI
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290164
E. Lebedeva, J. A. Brown
{"title":"Companion AI for Starbound Game Using Utility Theory","authors":"E. Lebedeva, J. A. Brown","doi":"10.1109/NIR50484.2020.9290164","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290164","url":null,"abstract":"Starbound is a popular video game that has player companions as one of its features, but its AI lacks awareness about the player’s state, the enemies’ state and its own. This study aims to solve it by implementing a new companion AI which is based on utility theory. The AI was developed, and the user study was conducted to evaluate its ability to assist the player. The fighting ability was assessed by measuring AI’s ability to stay alive during the battle and dealing damage to enemies without the player’s interaction. As a result, the majority of user study participants did not notice the difference between the built-in AI and the one developed in this study. The participants that noticed the difference enjoyed each type of companion in equal measure. However, the fighting ability test showed that the utility-based AI stays alive longer and deals more damage compared to the built-in agent within the game currently.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"39 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":"125791340","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
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