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

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Modeling and Simulation of Spherical Parallel Manipulators in CoppeliaSim (V-REP) Robot Simulator Software CoppeliaSim (V-REP)机器人仿真软件中球面并联机器人的建模与仿真
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290227
I. Tursynbek, A. Shintemirov
{"title":"Modeling and Simulation of Spherical Parallel Manipulators in CoppeliaSim (V-REP) Robot Simulator Software","authors":"I. Tursynbek, A. Shintemirov","doi":"10.1109/NIR50484.2020.9290227","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290227","url":null,"abstract":"This paper presents a new methodology for modeling and simulation of spherical parallel manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with coaxial input shafts as the case study, the steps for the robot SolidWorks CAD model importing, modeling in CoppeliaSim and interfacing with MATLAB for external control of the robot model are described in detail. The SPM motion simulation results are then presented and verified on an experimental 3D-printed system prototype.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"13 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":"115349816","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: 8
Unmanned Aerial Vehicle Path Planning for Exploration Mapping 面向勘探测绘的无人机路径规划
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290232
Victor Massagué Respall, D. Devitt, R. Fedorenko
{"title":"Unmanned Aerial Vehicle Path Planning for Exploration Mapping","authors":"Victor Massagué Respall, D. Devitt, R. Fedorenko","doi":"10.1109/NIR50484.2020.9290232","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290232","url":null,"abstract":"This paper presents a new path planner for the exploration of previously unknown environments. The proposed algorithm uses a Next-Best-View (NBV) fashion to decide the movements ahead. A Rapidly-Exploring Random Tree (RRT) is built and the node with the highest gain is the next configuration to execute, based on the amount of unmapped volume in the field of view (FoV) of the sensor employed. The proposed planner is able to send online a 3D occupancy map of the volume and work with a variety of different depth sensors. The performance is analyzed in various challenging simulations, such as exploration of a city street or a narrow tunnel. Moreover, real experiments indoor and outdoor were conducted to further validate the proposed approach results. In cases with large scale volumes, it can cover a wide range in affordable flight time.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"43 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":"114400762","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
Chimera-like state in ensemble of bistable neurons 双稳态神经元集合中的嵌合体状态
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290204
A. Andreev, N. Frolov, Natalija A. Alexandrova, Marija A. Chaban
{"title":"Chimera-like state in ensemble of bistable neurons","authors":"A. Andreev, N. Frolov, Natalija A. Alexandrova, Marija A. Chaban","doi":"10.1109/NIR50484.2020.9290204","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290204","url":null,"abstract":"We investigate the nonlinear dynamics of a neural network. As a model of a neuron, we use Hodgkin-Huxley mathematical model. We choose the neuron’s parameters corresponding to a bistable region in which both fixed point and limit cycle are coexisting. We discover that depending on external current and coupling strength we can achieve a chimera-like state when one part of the neurons is in the resting state, while the other one is in the oscillatory regime in a certain area of coupling strength and external current amplitude.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"119 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":"115752339","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
Network analysis of electrical activity in brain motor cortex during motor execution and motor imagery of elderly 老年人运动执行和运动想象过程中脑运动皮层电活动的网络分析
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290219
E. Pitsik, N. Frolov, Artem Badarin, V. Grubov
{"title":"Network analysis of electrical activity in brain motor cortex during motor execution and motor imagery of elderly","authors":"E. Pitsik, N. Frolov, Artem Badarin, V. Grubov","doi":"10.1109/NIR50484.2020.9290219","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290219","url":null,"abstract":"We performed connectivity analysis of the brain motor-related electrical activity corresponding to the motor execution and motor imagery in the group of elderly subjects aged 55-76. The goal of the current study is to infer the the differences and similarities of brain motor cortex functional connectivity during executive and mental motor tasks. Particularly, we observed significant event-related desynchronization (ERD) in β-band (15-30 Hz) over the motor cortex during both motor execution and motor imagery tasks. We applied linear correlation analysis to explore functional connectivity and found that motor execution and motor imagery share the similar connectivity pattern in the β-band at the beginning of the motor-task. We conclude, that motor preparation preceding motor execution reflects the mechanisms of the motor imagery process.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"13 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":"117353706","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
Analysis and Modeling of Galloping Robot With Actuated Tail for Balance* 带驱动尾部的奔跑机器人平衡分析与建模*
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290192
O. Borisova, I. Borisov, S. Kolyubin
{"title":"Analysis and Modeling of Galloping Robot With Actuated Tail for Balance*","authors":"O. Borisova, I. Borisov, S. Kolyubin","doi":"10.1109/NIR50484.2020.9290192","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290192","url":null,"abstract":"In the rapidly evolving field of mobile galloping robots, there is a problem of stabilizing underactuated systems because they face an unknown dynamical environment during high-speed motion. Nevertheless, using the principles of biomimetics, we can implement a way to preserve a galloping robot’s equilibrium in the same manner as land animals with long tails do. Our task is to understand how the tail works to balance and turn in nature and transfer this to the construction, taking into account the mechanics and control system’s features and advantages. It is also highly important to solve the tail’s control problem, which should not complicate the entire robot’s control system. We considered the tail influences of two types of galloping robots: quadrupedal locomotion robot and one-leg hopper. Using the active tail, we can ensure that the galloping robot can move over uneven and unknown terrain without losing its balance even if there is an external disturbance. The study includes analytical modeling and simulation results.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"83 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":"124927302","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
Features of real and imaginary human motor activity with EEG and fNIRS 用脑电图和近红外光谱分析真实和想象的人体运动特征
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290202
V. Grubov, Artem Badarin, N. Frolov, E. Pitsik
{"title":"Features of real and imaginary human motor activity with EEG and fNIRS","authors":"V. Grubov, Artem Badarin, N. Frolov, E. Pitsik","doi":"10.1109/NIR50484.2020.9290202","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290202","url":null,"abstract":"Experimental design for recording of EEG and fNIRS during performance of real and imaginary movement was proposed. Set of experiments was conducted in accordance with this design and obtained EEG and fNIRS dataset was analyzed. Analysis allowed to introduce certain features in time-frequency domain that can be used to separate real motor activity from motor imagery.","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":"123331569","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
Modeling dynamic of tripod manipulator considering mass of actuating links 考虑作动杆质量的三脚架机械臂动力学建模
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290240
V. Zhoga, V. Dyashkin-Titov, I. Nesmiyanov, N. Vorob’eva, A. Dyashkin
{"title":"Modeling dynamic of tripod manipulator considering mass of actuating links","authors":"V. Zhoga, V. Dyashkin-Titov, I. Nesmiyanov, N. Vorob’eva, A. Dyashkin","doi":"10.1109/NIR50484.2020.9290240","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290240","url":null,"abstract":"The paper presents a mathematical model of manipulator dynamics with the consideration of the mass of actuating links and a dynamic characteristics of actuating motors. The authors obtained the dependences of programmed forces of actuating links. The parameters of the equations characterizing the character of dynamic errors change allow to change the characteristics of manipulator controlled movements.","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":"128415106","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
Method for measuring differences in the neuronal responses to social stimuli 测量神经元对社会刺激反应差异的方法
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290233
A. Gainutdinov
{"title":"Method for measuring differences in the neuronal responses to social stimuli","authors":"A. Gainutdinov","doi":"10.1109/NIR50484.2020.9290233","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290233","url":null,"abstract":"Monkeys, as well as humans, can recognize faces fast and precise. The information about the face must have a crucial role in the monkeys' social interaction. Therefore, Brain’s neurons interactions must differ concerning the type of shown stimuli Here we demonstrate the method to distinguish monkey’s neuronal responses to various objects. First of them was monkey babies, and the second one was hiding animals. Among recorded neurons, in some cases, neurons were activated almost simultaneously. But ones fired before some others. The first neuron we determine as a leader, the second one as its follower. In the results, we represent which neurons were mostly leaders and -which are their followers, in respect of objects shown inpictures.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"28 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":"126682852","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
An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle 一种无人机未知参数估计的自适应方法
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-09-01 DOI: 10.1109/NIR50484.2020.9290205
I. H. Imran, A. Montazeri
{"title":"An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle","authors":"I. H. Imran, A. Montazeri","doi":"10.1109/NIR50484.2020.9290205","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290205","url":null,"abstract":"This paper deals with tracking control problem for six degrees of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV). A virtual control design using PD controller is proposed for tracking control position. The rotational dynamics of UAV is considered to have several unknown parameters such as propeller inertia, rotational drag coefficient and an external disturbance parameter. To handle this issue, an adaptive scheme using the certainty equivalence principle is developed. The basic idea behind this scheme is to cancel the nonlinear term by applying a similar nonlinear structure in the feedback control design. The unknown parameters are replaced by estimated parameters generated by adaptation law. The rigorous theoretical design and simulation results are presented to demonstrate the effectiveness of the controller.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131995353","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
Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs) 基于运动学平滑的多旋翼飞行器路径规划
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-08-29 DOI: 10.1109/NIR50484.2020.9290162
Geesara Kulathunga, D. Devitt, R. Fedorenko, S. Savin, A. Klimchik
{"title":"Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)","authors":"Geesara Kulathunga, D. Devitt, R. Fedorenko, S. Savin, A. Klimchik","doi":"10.1109/NIR50484.2020.9290162","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290162","url":null,"abstract":"We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \"RRT*\" for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131321616","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: 10
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