2021 International Conference "Nonlinearity, Information and Robotics" (NIR)最新文献

{"title":"Subresonant solutions of the linear oscillator equation","authors":"P. Astafyeva, O. Kiselev","doi":"10.1109/NIR52917.2021.9666062","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666062","url":null,"abstract":"The behavior of a linear oscillator under the action of an external almost periodic force is investigated. The constructed solutions grow more slowly than the resonant ones. The dependence of the amplitude of growing solutions on the parameters of an almost periodic perturbation is calculated.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126551982","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}

{"title":"Smart Parking Solution for Enterprise on Ethereum","authors":"Gerald B. Imbugwa, M. Mazzara, Salvatore Distefano","doi":"10.1109/NIR52917.2021.9666126","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666126","url":null,"abstract":"This research proposes a smart parking system that is geared towards business entities. The system focuses on privacy, scalability, and performance for an enterprise system on a decentralized network(Blockchain). In a business setup, performance, scalability, and privacy should be at the centre stage. This research aims to improve on already existing work on smart parking using blockchain. Most of the research done focuses on single entity privacy, single point of failure for systems deployed on cloud databases, and geographical censorship. This research proposes a smart parking system with a decentralized network where six entities will interact and trade value with ease. The research focuses on privacy, performance, scalability, and multiple entity interaction in the system in a decentralized network.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"1 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132285415","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}

{"title":"Dynamics of interacting two vortex N-gons in BECs","authors":"E. Artemova, A. Kilin","doi":"10.1109/NIR52917.2021.9666121","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666121","url":null,"abstract":"Equations governing the motion of vortex N-gons in a Bose-Einstein condensate enclosed in a harmonic trap are obtained. It is shown that these equations have two first integrals: the integral of energy and the integral of the moment. The reduction on the fixed level set of the integral of moment is carried out. The equilibrium positions of the system considered are found. Phase portraits of the system of two vortex N-gons, each of which consists of two vortices, are constructed.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124197271","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}

{"title":"[NIR 2021 Copyright notice]","authors":"","doi":"10.1109/nir52917.2021.9666100","DOIUrl":"https://doi.org/10.1109/nir52917.2021.9666100","url":null,"abstract":"","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122152740","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}

{"title":"Multisensor fusion in Reconfigurable Robots using Adaptive Transformation","authors":"A. Povendhan, A. A. Hayat, Lim Yi, J. C. C. Hoong, M. R. Elara","doi":"10.1109/NIR52917.2021.9666081","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666081","url":null,"abstract":"Multisensor fusion is essential for various applications like accurate autonomous navigation, object detection, and perception. The calibration approach for getting accurate and meaningful results utilizes the intrinsic and extrinsic calibration of sensors, given that the sensors are fixed relative to each other. The robots with the ability to change their morphology are referred to as reconfigurable robots. The reconfigurable robot named Panthera is taken as a use case to showcase the need and practical application where the relative change in the position of the sensors occurs. The proposed approach account for the adaptive transformation, which captures the change in the relative pose of the sensors in real-time. The scheme presented is demonstrated using multiple stereo cameras and three-dimensional LiDARs. Moreover, the result for the effectiveness of the adaptive transformation for two cases is presented and discussed. The framework is generic and suitable for a multisensor fusion where each sensor is subjected to change in relative pose.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129490407","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}

{"title":"Robot description formats and approaches: Review","authors":"M. Ivanou, S. Mikhel, S. Savin","doi":"10.1109/NIR52917.2021.9666120","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666120","url":null,"abstract":"Modern robotics represents a collaboration between industry and scientific community, with interdisciplinary research being at its forefront. This leads to wide variation in the requirements for robotic systems, which encourages the development and use of different description formats. Currently, some of the existing formats are gaining wide recognition; at the same time, their individual limitations become more apparent. The goal of this work is to generalize the idea of a robot description format, putting together different approaches to representing a robot, including formats that rely on human-readable and binary data representation, formats tied to specific software, and ones that exist independently, and others. We outline the main advantages and limitations of the existing formats, with the aim to make the following efforts at standardization or development more informed.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128369978","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}

{"title":"The study of the self-similar nature of human neuromagnetic responses when exposed to flickering light stimuli","authors":"V. Yunusov, S. Demin, I. Rusanova, N. Demina","doi":"10.1109/NIR52917.2021.9666068","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666068","url":null,"abstract":"In this work, we investigate the self-similar properties of the neuromagnetic responses of healthy subjects and a patient with photosensitive epilepsy in response to flickering light stimuli of different color combinations (red-blue, red-green, blue-green). The calculation of the fractality index for different areas of the human cerebral cortex is performed by the modified Higuchi method. Areas were identified in which spatio-temporal scaling is manifested to the greatest extent in photosensitive epilepsy. In addition, changes in the fractal structure of magnetoencephalograms of healthy subjects were found after exposure to flickering light stimuli. In the future, the use of machine learning methods for recognizing the images of topographic maps of the obtained numerical indicators will contribute to the search for new diagnostic criteria for neurological diseases and mental disorders (various forms of epilepsy, multiple sclerosis, obsessive-compulsive disorders). The results obtained will be useful for specialists working in the field of neurosciences, physics of complex systems and cognitive psychology.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128251868","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}

{"title":"Fast and Memory-Efficient Planning in C-space: Modified Bi-directional RRT* Algorithm for Humanoid Robots","authors":"I. Dovgopolik, K. Artemov, S. Zabihifar, A. Semochkin, S. Kolyubin","doi":"10.1109/NIR52917.2021.9666083","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666083","url":null,"abstract":"In this paper we address the problem of faster and memory-efficient path planning for anthropomorphic manipulators with multi-link collision avoidance. As a solution, we present a modification of the intelligent bi-directional RRT* algorithm working in a C-space, where we don’t generate excess vertices of a tree by estimating their locations. Suggested algorithm is validated for grasping task with iCub humanoid robot. Comparison with others RRT* modifications demonstrate that we find the similar-length path with the significant improvement in a planning time, reduced amount of the memory to be allocated and show 100% success rate for the cases, where others planners will likely fail.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129036481","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}

{"title":"Robotic Pick and Assembly Using Deep Learning and Hybrid Vision/Force Control","authors":"K. Almaghout, R. A. Boby, Mostafa Othman, A. Shaarawy, A. Klimchik","doi":"10.1109/NIR52917.2021.9666138","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666138","url":null,"abstract":"Pick up of featureless cylinders using deep learning and assembly using combination of visual and force feedback is discussed in this article. Object detection using YOLO technique is used to detect the object for robotic pick up. It was possible to identify the object even in cluttered environments. The assembly of the cylindrical object in a hole with tight clearance is also discussed. The method involves hybrid control i.e., position control along the assembly plane and force control along the direction of normal to the plane. The method is implemented using KUKA iiwa robot and the results are presented.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123796454","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}

{"title":"Development of a tool for gaining relevant skills for a solid career in native Android development, focusing on today’s industry","authors":"Enombe Thierry Ewane, M. Mazzara","doi":"10.1109/NIR52917.2021.9665811","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9665811","url":null,"abstract":"The purpose of this study is to evaluate and appraise the required skills that segues native Android app developers from any level to experts levels. It takes a deep dive into industry demands for Android developer roles in terms of technical skills and mindset. This evaluation is supported by the opinions and experiences of expert native developers coupled with the mindset and discipline mostly worn to ensure a healthy and certain journey to expertise as far as native (that is non-cross-platform android app development in the context of this research) Android application is concerned. To complement this research, a native Android application was built. The aim of this application is to provide useful resources for every tool/skill revealed by our research. With such a system, we believe Android enthusiasts would be able to get a better view into the mind of the industry as well as get a better sense on how to obtain certain talents pertaining to Android development. The journey from developing a ‘hello world’ program to sophisticated applications such as ‘gmail, ‘spotify’, ‘yandex taxi’ just to name a few requires an exquisite set of skills, discipline, and mindset something which this research seeks to expose. This study is limited to native Android app development today and reflects a clearer perspective as to what today’s mobile industry demands in terms of technical skills, discipline and mindset. Our results contained data such as skills and tools mostly used in Android developer roles according to our respondents (Android developers, recruiters and team leaders) as well as those occasionally used. Mostly used skill contained skills like Kotlin, MVVM, XML, Glide, Material design just to name a few while skills occasionally used include Firebase, Sqlite, Unit testing, Dagger2. Also, skills where categorised into what respondent’ believed to be beginner, intermediate and expert levels. In addition to this, various personal opinions were got from respondents about how they would prefer to go about learning a new skill and more than 70% of them thought that they do via building on some small Android project.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122696036","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}