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

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Calculation of instability regions of the Liouville problem based on the harmonic balance method 基于谐波平衡法的Liouville问题失稳区域计算
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666094
E. V. Vetchanin
{"title":"Calculation of instability regions of the Liouville problem based on the harmonic balance method","authors":"E. V. Vetchanin","doi":"10.1109/NIR52917.2021.9666094","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666094","url":null,"abstract":"This paper considers the application of the harmonic balance method for calculating the boundaries of the instability region of the Liouville problem. Explicit equations for the boundaries of the first four instability regions are given.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"26 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":"114313449","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
Separatrix splitting in the problem of a spherical top rolling on a vertically vibrating plane 球面顶在垂直振动平面上滚动问题的分离矩阵分裂
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666059
A. Kilin, E. Pivovarova
{"title":"Separatrix splitting in the problem of a spherical top rolling on a vertically vibrating plane","authors":"A. Kilin, E. Pivovarova","doi":"10.1109/NIR52917.2021.9666059","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666059","url":null,"abstract":"This paper investigates the rolling motion of a spherical top with an axisymmetric mass distribution on a smooth horizontal plane performing periodic vertical oscillations. For the system under consideration, equations of motion and conservation laws are obtained. It is shown that the system admits two equilibrium points corresponding to uniform rotations of the top about the vertical symmetry axis. The equilibrium point is stable when the center of mass is located below the geometric center, and is unstable when the center of mass is located above it. The equations of motion are reduced to a system with one and a half degrees of freedom. The reduced system is represented as a small perturbation of the problem of the motion of the Lagrange top. Using Melnikov’s method, it is shown that the stable and unstable branches of the separatrix intersect transversally with each other. This suggests that the problem is nonintegrable. Results of computer simulation of the top dynamics near the unstable equilibrium point are presented.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"160 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":"131685817","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
Walking Robot Control with a Machine Learning-based Ground Reaction Force Predictor and Generated Linear Contact Model* 基于机器学习的地面反作用力预测器和生成的线性接触模型的步行机器人控制*
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666093
S. Savin, S. Golousov, E. Zalyaev, A. Salikhzyanov, A. Klimchik
{"title":"Walking Robot Control with a Machine Learning-based Ground Reaction Force Predictor and Generated Linear Contact Model*","authors":"S. Savin, S. Golousov, E. Zalyaev, A. Salikhzyanov, A. Klimchik","doi":"10.1109/NIR52917.2021.9666093","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666093","url":null,"abstract":"This paper aims to present a comprehensive view on a new control method for legged robot: data-driven ground reaction predictor-based control. The idea of the method is to use machine learning tools to build a reliable predictor for ground reaction forces and then exclude them from the control formulation by building local contact interaction models. The advantage of this approach is twofold: first, it allows to avoid making models for every contact scenario, which become less accurate as the robot changes during its life cycle; instead it relies on the data gathered by the robot’s sensors. Second, it allows the use of the wealth of the control methods designed for the serial robots, as is demonstrated in the paper. The paper shows three experiments: with a planar walking robot, with a simplified three dimensional model tailored for optimization-based control, and with AR-601 humanoid robot.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"3 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":"132639678","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
Introducing Gamification Into Agile Processes Of A Game Development Company 将游戏化引入游戏开发公司的敏捷过程
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666143
Valeriya Vertash, Hamna Aslam, N. Askarbekuly, M. Mazzara
{"title":"Introducing Gamification Into Agile Processes Of A Game Development Company","authors":"Valeriya Vertash, Hamna Aslam, N. Askarbekuly, M. Mazzara","doi":"10.1109/NIR52917.2021.9666143","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666143","url":null,"abstract":"This study considers gamification as a tool for increasing employees’ efficiency and loyalty in the company. Gamification is the application of game mechanics to non-game processes. The article provides an overview of gamification history, as well as its fundamental ideas and practices. This is followed by a demonstration of how gamification is used in the company. Furthermore, we assess the outcomes of the organization’s gamification process. The case study results determine that gamification significantly boosts employee productivity and loyalty to the organization.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"21 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":"117326650","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
On the Control of the Movement of Robots Due To Introducting Holonomic Quasi-Ideal Constraints* 引入完整拟理想约束对机器人运动的控制*
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666117
E. Briskin, L. Smirnaya, N. Sharonov, Y. Kalinin
{"title":"On the Control of the Movement of Robots Due To Introducting Holonomic Quasi-Ideal Constraints*","authors":"E. Briskin, L. Smirnaya, N. Sharonov, Y. Kalinin","doi":"10.1109/NIR52917.2021.9666117","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666117","url":null,"abstract":"A method for studying the dynamics of motion of controlled mechanical systems is proposed. The method is based on the introduction of control actions as functions of the reactions of holonomic nonideal constraints. The physical meaning of the introduced functions is forces, the virtual work of which on virtual displacements of the original mechanical system is equal to zero. The introduction of such forces makes it possible to compose differential equations of motion in the traditional form of Lagrange equations with indefinite factors, and the determination of the optimal control by one criterion or another is reduced to determining the extremum of a function of many variables, in the simplest case, to establishing the coefficients of the linear transformation of the reactions of constraints. An example of a model problem is given.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"20 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":"125529162","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
Parameter Identification in Mechanical Systems with Energy-Based Regressor: Preliminary Study 基于能量回归器的机械系统参数辨识:初步研究
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9665801
A. Sabirova, Simeon Nedelchev, I. Gaponov
{"title":"Parameter Identification in Mechanical Systems with Energy-Based Regressor: Preliminary Study","authors":"A. Sabirova, Simeon Nedelchev, I. Gaponov","doi":"10.1109/NIR52917.2021.9665801","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9665801","url":null,"abstract":"Parameter estimation in physical systems is an important area of modern engineering and robotics. This paper discusses parameter identification in linear, time-invariant mechanical systems based on their energy. The described approach employs system’s regressor derived from the energy equation with subsequent least-squares estimation. This method has been evaluated experimentally on a single degree-of-freedom pendulum and demonstrated high accuracy and quick parameter convergence, while not suffering from the drawbacks of conventional dynamics-based identification.","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":"129039859","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
Can a bifurcation diagram contain loops? 一个分岔图能包含环路吗?
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666072
G. Palshin, P. Ryabov, S. Sokolov
{"title":"Can a bifurcation diagram contain loops?","authors":"G. Palshin, P. Ryabov, S. Sokolov","doi":"10.1109/NIR52917.2021.9666072","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666072","url":null,"abstract":"The bifurcation diagram plays a major role in the study of the phase topology of completely Liouville-integrable Hamiltonian systems. In the works of A.T. Fomenko and A.V. Bolsinov, the problem of the permissible form of bifurcation diagrams is formulated. In particular, can a bifurcation diagram contain loops? The answer is positive. In this paper, the critical set of the integral mapping and the bifurcation diagram, which contains or almost contains a loop, is given by the example of the vortex dynamics problem.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"150 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":"115594894","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
Vision based method for improving position accuracy of four-cable-driven platform 基于视觉的四缆驱动平台定位精度提高方法
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-08-26 DOI: 10.1109/NIR52917.2021.9666080
Mikhail Fadeev, R. A. Boby, A. Maloletov
{"title":"Vision based method for improving position accuracy of four-cable-driven platform","authors":"Mikhail Fadeev, R. A. Boby, A. Maloletov","doi":"10.1109/NIR52917.2021.9666080","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666080","url":null,"abstract":"Reduction of pose errors in large volume cable driven robot is discussed in this article. A monocular camera based system to measure the pose errors and make the corrections is proposed. The corrections were done in the controller and the positioning error before and after calibration is presented. The results show that the proposed method can be used to reduce the errors in positioning deviation in a very significant manner.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"28 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":"133165555","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
Analyzing the Effectiveness of Image Augmentations for Face Recognition from Limited Data 基于有限数据的图像增强人脸识别有效性分析
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-05-18 DOI: 10.1109/NIR52917.2021.9666135
A. Zhuchkov
{"title":"Analyzing the Effectiveness of Image Augmentations for Face Recognition from Limited Data","authors":"A. Zhuchkov","doi":"10.1109/NIR52917.2021.9666135","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666135","url":null,"abstract":"This work presents an analysis of the effectiveness of image augmentations for the problem of face recognition from limited data. We considered basic manipulations, generative methods, and their combinations for augmentations. Our results show that augmentations, in general, can considerably improve the quality of face recognition systems and the combination of generative and basic approaches performs better than the other tested techniques.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120908557","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
On the Fairness of Generative Adversarial Networks (GANs) 论生成对抗网络(GANs)的公平性
2021 International Conference "Nonlinearity, Information and Robotics" (NIR) Pub Date : 2021-03-01 DOI: 10.1109/NIR52917.2021.9666131
Patrik Joslin Kenfack, Daniil Dmitrievich Arapovy, Rasheed Hussain, S. Kazmi, A. Khan
{"title":"On the Fairness of Generative Adversarial Networks (GANs)","authors":"Patrik Joslin Kenfack, Daniil Dmitrievich Arapovy, Rasheed Hussain, S. Kazmi, A. Khan","doi":"10.1109/NIR52917.2021.9666131","DOIUrl":"https://doi.org/10.1109/NIR52917.2021.9666131","url":null,"abstract":"Generative adversarial networks (GANs) are one of the greatest advances in AI in recent years. With their ability to directly learn the probability distribution of data and then sample synthetic realistic data. Many applications have emerged, using GANs to solve classical problems in machine learning, such as data augmentation, class imbalance problems, and fair representation learning. In this paper, we analyze and highlight the fairness concerns of GANs. In this regard, we show empirically that GANs models may inherently prefer certain groups during the training process and therefore they’re not able to homogeneously generate data from different groups during the testing phase. Furthermore, we propose solutions to solve this issue by conditioning the GAN model towards samples’ groups or using the ensemble method (boosting) to allow the GAN model to leverage distributed structure of data during the training phase and generate groups at an equal rate during the testing phase.","PeriodicalId":333109,"journal":{"name":"2021 International Conference \"Nonlinearity, Information and Robotics\" (NIR)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132127264","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: 11
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