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

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Mathematical Modeling of Eight-Cable-Driven Parallel Robot 八缆驱动并联机器人的数学建模
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9665802
E. Marchuk, Y. Kalinin, A. Maloletov
{"title":"Mathematical Modeling of Eight-Cable-Driven Parallel Robot","authors":"E. Marchuk, Y. Kalinin, A. Maloletov","doi":"10.1109/NIR52917.2021.9665802","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9665802","url":null,"abstract":"A mathematical model of a parallel eight-cable-driven robot for use in the mobile construction complex is proposed. The dynamic loads on the cable system are studied. Deviations of the mobile platform of the robot are estimated by linear and angular coordinates. A method is proposed for including activation functions in the mathematical model of the cable system, which provides a representation of the structural nonlinearity of the cable-driven robot.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"19 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":"127576151","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
Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping 全轮式移动机器人设计特点对无滑移运动可能性的影响
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666137
V. Shestakov, I. Mamaev, Y. Karavaev
{"title":"Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping","authors":"V. Shestakov, I. Mamaev, Y. Karavaev","doi":"10.1109/NIR52917.2021.9666137","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666137","url":null,"abstract":"In this paper, the object of study is a highly maneuverable mobile robot with omni wheels. The paper presents the investigation of the dynamics of omni wheels as part of a mobile platform. The design of a mobile platform with omni wheels is analyzed, taking into account the dynamics of an individual wheel as a part of a mobile platform. The equations of dynamics are presented in the form of Lagrange equations of the second kind with undetermined multipliers. As a result, several conditions of design constraints were identified, under which the omnidirectional motion of the mobile platform is impossible.","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":"132563962","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
ROS-like framework using modern development concepts and microservices 使用现代开发概念和微服务的类ros框架
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666141
M. Ivanou, S. Mikhel, A. Maloletov
{"title":"ROS-like framework using modern development concepts and microservices","authors":"M. Ivanou, S. Mikhel, A. Maloletov","doi":"10.1109/NIR52917.2021.9666141","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666141","url":null,"abstract":"The Robot Operating System (ROS) has established itself as a useful set of software libraries and tools that can help to build robot applications. It provides services such as hardware abstraction, low-level device management, implementation of frequently used functions, inter-process message passing, and package management. ROS is good for small static research environments, however, it does not scale so well to large real-world applications. Besides, there is no security model, the test approach is unclear, the library versions can be incompatible. The paper presents a survey, the results of which show that many ROS users have problems with such modern programming techniques as testing or automatic deployment. Nowadays, many systems based on modern programming paradigms are developed by leading companies, and there is a lot of good open-source software out there. An application can be built without writing a lot of code, one just needed to combine high-quality libraries with necessary functionality. This paper intends to show how to build a ROS-like system using modern technologies, such as microservices and message queues, in a simple way with high quality and functionality using an example of the RhoMBus framework.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"27 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":"134293291","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
Meta-analytical Comparison Of SVM and KNN for Text Classification SVM与KNN文本分类的元分析比较
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666133
Gcinizwe Dlamini, Zamira Kholmatova, A. Kruglov, G. Succi, Herman Tarasau, Aidar Valeev
{"title":"Meta-analytical Comparison Of SVM and KNN for Text Classification","authors":"Gcinizwe Dlamini, Zamira Kholmatova, A. Kruglov, G. Succi, Herman Tarasau, Aidar Valeev","doi":"10.1109/NIR52917.2021.9666133","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666133","url":null,"abstract":"Text classification is a crucial method for Intelligent and AI based systems as the amount of text data increases from year to year. As sentiment analysis which is a prominent technique used by many companies and governments to understand the societies, it has become important to select the efficient and accurate text analysis algorithm to be used the text classification system. In this paper we present a meta-analytical study aimed at comparing two text classification machine learning algorithms namely KNN and SVM in terms of F-score. In addition to the meta-analytical study, our study presents a literature review for machine learning based text classification algorithms. For the meta-analysis, random and fixed models were used. The results of the meta-analysis using 95%-CI proved that there is no significant f1 performance difference between KNN and SVM in text classification tasks.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"1 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":"115783280","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
Extremal Trajectories of a Spherical Robot on Inhomogeneous Surfaces 球面机器人在非均匀曲面上的极值轨迹
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666107
Alexey Pavlovich Mashtakov
{"title":"Extremal Trajectories of a Spherical Robot on Inhomogeneous Surfaces","authors":"Alexey Pavlovich Mashtakov","doi":"10.1109/NIR52917.2021.9666107","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666107","url":null,"abstract":"We consider a kinematic model of a spherical robot on an inhomogeneous surface. We study a problem of the optimal motion of the robot from a given initial configuration to a given final one. The problem is formulated as the problem of optimal rolling of a sphere on a plane with a given external cost. The external cost describes the landscape and encodes the inhomogeneity of the surface. We apply a necessary optimality condition — Pontryagin maximum principle, and characterize the extremals. Finally, we present an example of the rolling along the extremal trajectory, obtained via an interface developed in Wolfram Mathematica.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"158 7 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":"125928396","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 depth camera-based system to enable touch-less interaction using hand gestures 一个基于深度摄像头的系统，可以使用手势进行非触摸交互
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666090
R. Damindarov, C. A. Fam, R. A. Boby, M. Fahim, A. Klimchik, T. Matsumaru
{"title":"A depth camera-based system to enable touch-less interaction using hand gestures","authors":"R. Damindarov, C. A. Fam, R. A. Boby, M. Fahim, A. Klimchik, T. Matsumaru","doi":"10.1109/NIR52917.2021.9666090","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666090","url":null,"abstract":"Touch-less interaction is an active area of research due to its numerous applications ranging from medical systems to gaming. In this paper we propose a novel interactive system based on RealSense camera to track the pose of hand and to recognize gestures. Our approach is based on MediaPipe model introduced by Google to detect the landmarks of the hand. The system utilizes the camera calibration information and user actions to get the geometry of the deployed environment, which shows high accuracy in measurement of hand position. The touch-less interaction is demonstrated using a graphical user interface for painting.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"02 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":"129958307","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
Modelling of optimal parking for a wheeled robot 轮式机器人最优停车建模
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666064
A. Ardentov, I. Gubanov
{"title":"Modelling of optimal parking for a wheeled robot","authors":"A. Ardentov, I. Gubanov","doi":"10.1109/NIR52917.2021.9666064","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666064","url":null,"abstract":"We consider a kinematic model for a differential wheeled robot. The corresponding optimal control problem is stated in the general form with an arbitrary domain for the controls and an arbitrary minimized functional. The known specifications of the problem lead to the classical models given by Markov-Dubins problem, Reeds-Shepp problem, Euler’s elastic problem and the sub-Riemannian problem on the rototranslation group. We describe the algorithms for constructing optimal trajectories of the robot for the given boundary conditions. These algorithms are implemented in an interface software developed in Wolfram Mathematica system. Additionally, we allow to equip the robot with a trailer. Trailer trajectories are computed for each model. We assume that the robot stays at the initial and final positions with zero velocities and accelerates to the given maximum linear velocity along the way. The interface program animates the movement of the robot (with a trailer) along the chosen optimal paths.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"186 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":"116288960","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
Effects of Mindfulness meditation on software developers’ performance 正念冥想对软件开发人员绩效的影响
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666104
Vitaly Volobuev, Polina Turischeva, Azat Gainutdinov, Ruslan Sahibgareev, M. Mazzara, Mirko Farina
{"title":"Effects of Mindfulness meditation on software developers’ performance","authors":"Vitaly Volobuev, Polina Turischeva, Azat Gainutdinov, Ruslan Sahibgareev, M. Mazzara, Mirko Farina","doi":"10.1109/NIR52917.2021.9666104","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666104","url":null,"abstract":"Many IT giants like Google, Apple, Yandex, etc., find mindfulness helpful and offer their employees the opportunity to spend time on practising mindfulness. Nevertheless, claims of performance improvement with meditation have met certain criticism. In this study, we analyse whether meditation causes short-term positive effects on software engineers performance. Our research proposes a novel metric to measure their performance during programming. Our results suggests that meditation does not lead to positive effects on their programming performance. We also measure the possible negative effects of meditation on software engineers’ performance.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"55 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":"125764003","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
Motion Planning of Quadruped Robot Using Potential Field 基于势场的四足机器人运动规划
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666127
Yong Ann Voeurn, Muhammad Ilyas Raza
{"title":"Motion Planning of Quadruped Robot Using Potential Field","authors":"Yong Ann Voeurn, Muhammad Ilyas Raza","doi":"10.1109/NIR52917.2021.9666127","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666127","url":null,"abstract":"In motion planning, there are two main emerged directions which are inverse kinematics and control. In this paper, we present the derivation of motion control for a quadruped robot. We proposed inverse kinematics for obstacle avoidance trajectory planning using potential fields. The proposed inverse kinematics is capable of solving a wide range of complex movement skills to quadruped and provides robustness to the singularity configuration. In the control part, we derived LQR control of linearized inverse dynamics with constraints. The proposed algorithm is tested in various experiment cases in both fixed and free moving of center mass(CoM).","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"1 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":"130672790","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
Toward Faster Parameter-Tuning of Sampling-Based Motion Planners 基于采样的运动规划器参数快速整定研究
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666096
A. Jaroukh, S. Kolyubin
{"title":"Toward Faster Parameter-Tuning of Sampling-Based Motion Planners","authors":"A. Jaroukh, S. Kolyubin","doi":"10.1109/NIR52917.2021.9666096","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666096","url":null,"abstract":"This paper provides an alternative parametertuning method for sampling-based motion planners, while handling case studies of global path planning for multi–Degrees Of-Freedom DOF manipulators. Observations of the behavior of average-planning-time as function to parameters’ values are presented for the Open Motion Planning Library OMPL bidirectional planners. Based on the presented observations, recommendations are made of which parameters are worth to be tuned. It is also discussed how time-efficient is to move the parameter tuning problem from searching for multiple parameters together, to be searching for a single parameter at a time. Moreover, an alternative single-parameter-tuning method is proposed depending on polynomial interpolation of a pre-chosen performance-estimation function. The proposed method has been formulated using average-planning-time as a performance-estimation function, and has been tested in tuning bidirectional planners’ parameters in three different scenarios equipped with three different manipulators (LBR IIWA 14 R820, KUKA KR3 R540, and Kinova JACO). The proposed method was compared and outperformed tuning results of the Sequential Model-based Algorithm Configuration SMAC where it is used as a multiple-parameter- tuning method.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"2 1 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":"124184354","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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