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

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Continuation Analysis of Memristor-Based Modified Chua's Circuit 基于忆阻器的改良蔡氏电路的延拓分析
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290157
V. Ostrovskii, A. Tutueva, V. Rybin, A. Karimov, D. Butusov
{"title":"Continuation Analysis of Memristor-Based Modified Chua's Circuit","authors":"V. Ostrovskii, A. Tutueva, V. Rybin, A. Karimov, D. Butusov","doi":"10.1109/NIR50484.2020.9290157","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290157","url":null,"abstract":"Multistability in chaotic systems is a recently emerged topic in nonlinear dynamics. One of powerful tools for studying it is continuation bifurcation diagrams. In this paper we investigate multistability in the memristor-based modified Chua's circuit. In addition to one-parameter continuation bifurcation diagrams and two-parametric continuation diagrams with row- and column-wise parameter change, we introduce a new type of two-parametric continuation diagrams with simultaneous parameter change. This allows identifying parameter regions of coexisting attractors. As the result, we found that the coexisting attractors in the modified Chua's circuit exist in a wider parameter range that it was previously found by using standard tools.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"2013 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":"125680484","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: 6
Network Structure of Children’s Brain During Schulte Table Task 舒尔特表任务中儿童大脑网络结构的研究
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290228
A. Hramov, N. Frolov, V. Grubov, E. Pitsik, V. Maksimenko
{"title":"Network Structure of Children’s Brain During Schulte Table Task","authors":"A. Hramov, N. Frolov, V. Grubov, E. Pitsik, V. Maksimenko","doi":"10.1109/NIR50484.2020.9290228","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290228","url":null,"abstract":"We have analyzed the neuronal interactions in the children’s brain cortex associated with the cognitive activity during simple cognitive task (Schulte table) evaluation in two distinct frequency bands – alpha (8–13 Hz) and beta (15–30 Hz) ranges using linear Pearsons correlation-based connectivity analysis. We observed the task-related suppression of the alpha-band connectivity in the frontal, temporal and central brain areas, while in the parietal and occipital brain regions connectivity exhibits increase. We also demonstrated significant task-related increase of functional connectivity in the beta frequency band all over the distributed cortical network.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"44 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":"123413600","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
Desing of a Chattering-Free Sliding Mode Control System for Robust Position Control of a Quadrotor 四旋翼飞行器鲁棒位置控制的无抖振滑模控制系统设计
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290206
Aydin Can, Harry Efstathiades, A. Montazeri
{"title":"Desing of a Chattering-Free Sliding Mode Control System for Robust Position Control of a Quadrotor","authors":"Aydin Can, Harry Efstathiades, A. Montazeri","doi":"10.1109/NIR50484.2020.9290206","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290206","url":null,"abstract":"In this paper, the major components of an unmanned aerial vehicle (UAV), including the flight control system, mechanical design, as well as the embedded electronic systems are reported. The ultimate aim is to use the developed platform in nuclear environments for decommissioning applications. Due to the hazards and uncertainties present in these nuclear environments, a more basic control system may be unable to reliably control the UAV. Therefore, the main focus of this study is on the development of a robust multi-channel control system, based on sliding mode control (SMC), for nested position and attitude control of a quadrotor UAV in 3D space. The robustness of the control systems is evaluated under parameter disturbance in the form of payload uncertainties. The final developed platform shall be capable of autonomous Simultaneous Localisation and Mapping (SLAM), however, this will be the subject of a separate study.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"34 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":"124918377","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: 4
Dynamics and control of a three-link wheeled vehicle 三连杆轮式车辆的动力学与控制
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290222
E. Artemova, A. Kilin
{"title":"Dynamics and control of a three-link wheeled vehicle","authors":"E. Artemova, A. Kilin","doi":"10.1109/NIR50484.2020.9290222","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290222","url":null,"abstract":"In this paper we consider the controlled motion of a symmetric wheeled three-link vehicle on a plane without slipping. Similar systems have been considered in [1] – [6] . We assume that the vehicle consists of three identical platforms (links). The platforms are connected to each other by joints, and a wheel pair is rigidly fastened to the center of mass of each platform. By a wheel pair we mean two wheels rotating independently on the same axis.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"69 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":"116237201","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
Improving Pseudo-random Number Generators in a Floating-point Implementation 浮点实现中伪随机数生成器的改进
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290195
A. Tutueva, A. Karimov, Petr Fedoseev, L. Moysis, C. Volos, D. Butusov
{"title":"Improving Pseudo-random Number Generators in a Floating-point Implementation","authors":"A. Tutueva, A. Karimov, Petr Fedoseev, L. Moysis, C. Volos, D. Butusov","doi":"10.1109/NIR50484.2020.9290195","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290195","url":null,"abstract":"Chaotic systems are prospective for secure data transfer and processing. Over the past decades, many chaos-based encryption schemes have been proposed. It was shown that such cryptosystems are faster than traditional approaches. In this study, we consider a technique for improving pseudo-random sequence generators based on a binary representation of chaotic sequences calculated using a floating-point data type. We show that we can extract more than 40 bits from the binary representation of each real number and use them as the output of the generator in stream ciphers. Moreover, we show that the features of floating-point calculations lead to pseudo-random properties of the least significant bits of the mantissa of numbers obtained by solving the simple systems of linear and nonlinear differential equations without chaotic behavior as well. The obtained results can be used to reconsider and improve chaos-based cryptographic algorithms.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"41 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":"126558002","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
A ROS-based swing up control and stabilization of the Pendubot using virtual holonomic constraints 利用虚拟完整约束的基于ros的摆机器人上摆控制与稳定
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290190
Sami Sellami, Shamil Mamedov, R. Khusainov
{"title":"A ROS-based swing up control and stabilization of the Pendubot using virtual holonomic constraints","authors":"Sami Sellami, Shamil Mamedov, R. Khusainov","doi":"10.1109/NIR50484.2020.9290190","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290190","url":null,"abstract":"This paper presents swing up control and stabilization of the Pendubot using Robot Operating System (ROS). We employed virtual holonomic constraints framework to realize periodic motions that lead to the closed loop swing up of the non-actuated link into the mid-up unstable position. Then, we switched to a linear quadratic regulator to balance the system about the equilibrium position. The control was successfully implemented in simulation and in real experiment in three consecutive steps: periodic motion, propeller motion and, finally, stabilization about unstable equilibrium point.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"25 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":"129666267","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
Drone Cinematography System Design and New Guideline Model for Scene Objects Interaction 无人机摄影系统设计与场景对象交互新指导模型
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290236
A. Sabirova, R. Fedorenko
{"title":"Drone Cinematography System Design and New Guideline Model for Scene Objects Interaction","authors":"A. Sabirova, R. Fedorenko","doi":"10.1109/NIR50484.2020.9290236","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290236","url":null,"abstract":"A small Unmanned Aerial Vehicles (UAV) aircraft with an attached camera is a tool for cinematographers rapidly became popular. Nowadays, robotic cinematography technologies allow users to create precise aerial filming plans by intuitively placing keyframes in the 3D world. However, aerial filming in action scenes is difficult due to understanding the dynamic scenarios and operating the quadrotor and camera simultaneously in the dependence of the scenarios.The paper proposes a complex program system that allows generating trajectory of the quadrotor according to cinematographic aspects, to simulate a flight in a virtual environment and to perform the flight in real-world scenarios. Moreover, the paper considers a new guideline model for drone camera and scene object interactions in real-world scenarios.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"61 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":"126246187","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: 5
Trajectory control of vehicles with a discrete linearized model 基于离散线性化模型的飞行器轨迹控制
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290191
I. Shapovalov, S. Gafurov
{"title":"Trajectory control of vehicles with a discrete linearized model","authors":"I. Shapovalov, S. Gafurov","doi":"10.1109/NIR50484.2020.9290191","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290191","url":null,"abstract":"Developing of qualitative planning and control systems for self-driving vehicles is one of the most crucial scientific and technical issues. Solution of this issue will allow promoting self-driving technologies to urban areas with critical demands to driving safety, smoothness and efficiency. Here we propose the hybrid approach consisting of planning and control algorithms working together to drive a vehicle through complex environments with uncertainties. For efficient and fast work of this system we provide a vehicle model in a form of discrete transfer functions that are easily integrated into the control process.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"14 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":"128117633","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
Design and Validation of Two-Stage Motion Control System for By-Air Quantum Key Distribution* 空中量子密钥分配两级运动控制系统的设计与验证*
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290198
K. Artemov, S. Kolyubin
{"title":"Design and Validation of Two-Stage Motion Control System for By-Air Quantum Key Distribution*","authors":"K. Artemov, S. Kolyubin","doi":"10.1109/NIR50484.2020.9290198","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290198","url":null,"abstract":"In this paper, we present a dynamic visual servo control for receiver and transmitter positioning in a by-air quantum key distribution network using a robot manipulator. We discuss the positioning system with pre-alignment and fine-positioning stages. At the pre-alignment stage, the use of image-based visual servoing and dynamic controllers with payload variation is considered. We consider the use of two classical controllers (PD+ gravity and computed-torque controller) and an additional simple time-delay controller. As a fine-positioning stage, we describe approaches that can be used for precise adjustment of a transmitter. We conclude the paper with simulation results using a model of 5-dof robot manipulator KUKA youBot.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"76 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":"128176805","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 Research of the Robotic Assembly Process Using the Effect of Rotation and Low-Frequency Vibration 旋转和低频振动作用下机器人装配过程的实验研究
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290201
M. Vartanov, S. L. Petukhov, T. T. Tran
{"title":"Experimental Research of the Robotic Assembly Process Using the Effect of Rotation and Low-Frequency Vibration","authors":"M. Vartanov, S. L. Petukhov, T. T. Tran","doi":"10.1109/NIR50484.2020.9290201","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290201","url":null,"abstract":"The main stage of automated assembly is the process of parts mating. At this stage, there are problems related to the probability of jamming the parts. The process of parts mating depends on many factors, which are concerned with the assembly methods. The article deals with the assembly method using rotational movement effect in combination with the vibration effect. A parameter design of experiment was carried out to find the mathematical model, describing the forces acting on the assembly parts in dependence with the given factors. Description of the experimental equipment using the ABB IRB140 industrial robot equipped with a force/torque sensor is presented. An experimental mathematical model on the assembly process was built.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"25 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":"130675530","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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