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

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A deep learning based robot positioning error compensation 基于深度学习的机器人定位误差补偿
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666097
Sami Sellami, A. Klimchik
{"title":"A deep learning based robot positioning error compensation","authors":"Sami Sellami, A. Klimchik","doi":"10.1109/NIR52917.2021.9666097","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666097","url":null,"abstract":"Robot position accuracy plays a very important role in advanced industrial applications, nowadays, most of the industrial robots have excellent repeatability, however, it still always remain some absolute position error that are due to non geometric calibration parameters that are hard to model and identify. The present work studied a method to reduce the absolute position error of robots using conventional identification procedures as well as neural networks.In order to increase the robot accuracy, we propose to first identify determinable error sources (geometric errors and joint deflection errors), then, use deep learning based methods to identify the non-geometric error sources such as link compliance, gear backlash, and others, which are difficult to model correctly and completely. The algorithm is tested on simulation with the UR-10 robot and is able to identify some predefined parameters with a high level of accuracy using only measurements data and deep learning methods.","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":"134442584","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: 3
Building a robust and compact search index 构建健壮且紧凑的搜索索引
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666087
Vladislav Savchuk, Stanislav Protasov
{"title":"Building a robust and compact search index","authors":"Vladislav Savchuk, Stanislav Protasov","doi":"10.1109/NIR52917.2021.9666087","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666087","url":null,"abstract":"With exponential data growth search engines require more memory for storage and time for search. The data is indexed to increase search speed, which requires additional memory. In this study we develop a fully functional search engine for Wikipedia articles and compare different indexing techniques. Using vector quantization for compression we fit an index into a single machine’s RAM. Moreover, we show that by using metadata and additional search for the out-of-vocabulary words we improve the overall system’s quality.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"50 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":"116800566","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
NIR 2021 Index NIR 2021指数
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/nir52917.2021.9666125
{"title":"NIR 2021 Index","authors":"","doi":"10.1109/nir52917.2021.9666125","DOIUrl":"https://doi.org/10.1109/nir52917.2021.9666125","url":null,"abstract":"","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":"115486806","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
Automatic reparking of the robot trailer along suboptimal paths 机器人拖车沿着次优路径自动重新停车
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666086
A. Ardentov, K. Yefremov
{"title":"Automatic reparking of the robot trailer along suboptimal paths","authors":"A. Ardentov, K. Yefremov","doi":"10.1109/NIR52917.2021.9666086","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666086","url":null,"abstract":"The work investigates the experimental problem of reparking trailer for a wheeled robot with a trailer. The geometric model with kinematic constraints leads to the sub-Riemannian problem. We solve this problem via nilpotent approximation. The corresponding solution is close to optimal and locally minimizes the total kinetic energy of the driving wheels. A full-scale model is designed in a way to avoid phase constraints usually appearing in trailer systems. We perform 64 different experiments with reparking trailer and obtain the satisfactory accuracy: for one maneuver we repark the trailer with maximum angle error equal to 4 degrees.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"2 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":"115432996","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
Dynamic Object Grasping in Human-Robot Cooperation Based on Mixed-Reality 基于混合现实的人机协作中动态物体抓取
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9665812
A. Demian, M. Ostanin, A. Klimchik
{"title":"Dynamic Object Grasping in Human-Robot Cooperation Based on Mixed-Reality","authors":"A. Demian, M. Ostanin, A. Klimchik","doi":"10.1109/NIR52917.2021.9665812","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9665812","url":null,"abstract":"Static Object grasping is a challenging task that has been studied for decades. The difficulty of the task comes back to the reason that a grasping attempt can have many solutions or due to the uncertainty about the targeted object’s features and characteristics. This makes the fact about dynamic object grasping with un-modeled dynamics even more challenging. In this paper, an approach for dynamic object grasping is presented. The approach considers human-robot handover operation where the robot should be able to track human’s holding-object hand and plan a successful grasp of the object in hand. The system was implemented with the help of Mixed-Reality using HoloLens glasses for human’s hand tracking. A serial manipulator was used to execute the operation mounted with end-effector-mounted camera to perform computer vision operations for grasp planning and correction. The main task is robot at random configuration can be able to find hand-holding object and plan grasp on object in hand. The implemented system shows success and was able to perform most of the grasping tasks successfully.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"32 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":"125046449","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
NIR 2021 TOC
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/nir52917.2021.9666115
{"title":"NIR 2021 TOC","authors":"","doi":"10.1109/nir52917.2021.9666115","DOIUrl":"https://doi.org/10.1109/nir52917.2021.9666115","url":null,"abstract":"","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"8 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":"129419241","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
[NIR 2021 Front cover] [NIR 2021封面]
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/nir52917.2021.9666055
{"title":"[NIR 2021 Front cover]","authors":"","doi":"10.1109/nir52917.2021.9666055","DOIUrl":"https://doi.org/10.1109/nir52917.2021.9666055","url":null,"abstract":"","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"9 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":"122500980","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
Numerical calculation of the Jacobian derivative 雅可比矩阵导数的数值计算
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9665804
S. Mikhel
{"title":"Numerical calculation of the Jacobian derivative","authors":"S. Mikhel","doi":"10.1109/NIR52917.2021.9665804","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9665804","url":null,"abstract":"The robot’s Jacobian is an important tool since it allows to solve different problems, from calculating the trajectory of motion to modeling dynamics in task space. Here we demonstrate the algorithm that allows calculating the Jacobian and its time derivative simultaneously. The algorithm is focused on numerical computations but can be used to get the analytical expressions as well.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"23 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":"133355044","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
Automating cardiothoracic ratio measurements in chest X-rays 胸部x光胸胸比值测量自动化
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666142
S. Kiselev, B. Maksudov, T. Mustafaev, R. Kuleev, B. Ibragimov
{"title":"Automating cardiothoracic ratio measurements in chest X-rays","authors":"S. Kiselev, B. Maksudov, T. Mustafaev, R. Kuleev, B. Ibragimov","doi":"10.1109/NIR52917.2021.9666142","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666142","url":null,"abstract":"The analysis of the positions, shapes, and sizes of thoracic organs is an internationally established practice for radiologists. The considerable amount of time spent on manual measurements of roentgenographic features reveals the need for a computerized approach for the automation of these measurements. In this work, we introduce a new way for the annotation of the chest x-ray data and evaluation of the most commonly-calculated morphometric parameter - cardiothoracic ratio. The measurement of interest was defined as ratio of line segments outlining the heart and the distance between two most lateral landmarks on lung fields. Using a manually annotated dataset, we developed a hourglass-based deep learning-based model to detect these landmarks and perform the measurement. We found that the predictions of the proposed solution differ from the annotation of an expert radiologist in 9.8mm error measured in terms of the mean Euclidean distance.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"46 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":"115560018","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
Musical Practices in Software Development: Insights from Gary Marcus’s Guitar Zero 软件开发中的音乐实践:来自Gary Marcus的吉他Zero的见解
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666082
Mirko Farina, Marina Ivanova, Maxim Korsunov, Alexander Krivonosov, A. Kruglov, Nataliya Matrosova, G. Succi
{"title":"Musical Practices in Software Development: Insights from Gary Marcus’s Guitar Zero","authors":"Mirko Farina, Marina Ivanova, Maxim Korsunov, Alexander Krivonosov, A. Kruglov, Nataliya Matrosova, G. Succi","doi":"10.1109/NIR52917.2021.9666082","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666082","url":null,"abstract":"Our goal was to read the book “Guitar zero: The new musician and the science of learning” and find out whether any of the ideas that were presented in this book could be applied to the software development process. After a thorough and comprehensive analysis, we singled out six fundamental musical practices that could be adopted by teams of software engineers to improve their development process. For two of them - team code reviews and personal sprint goal - we performed preliminary experiments, which were aimed at gathering feedback about the usefulness of such practices for software developers.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"357 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":"115939508","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
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