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Чепин, Евгений Валентинович

Организационные подразделения

Организационная единица

Институт интеллектуальных кибернетических систем

Цель ИИКС и стратегия развития - это подготовка кадров, способных противостоять современным угрозам и вызовам, обладающих знаниями и компетенциями в области кибернетики, информационной и финансовой безопасности для решения задач разработки базового программного обеспечения, повышения защищенности критически важных информационных систем и противодействия отмыванию денег, полученных преступным путем, и финансированию терроризма.

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Чепин

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Евгений Валентинович

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Теперь показываю 1 - 10 из 14

Только метаданные
Developing a Voice Control System for a Wheeled Robot
(2024) Chepin, E.; Gridnev, A.; Erlou, M.; Чепин, Евгений Валентинович; Гриднев, Александр Александрович
Только метаданные
The Impact of Artifacts on the BCI Control Channel for a Robotic Wheelchair
(2020) Petrova, A. I.; Voznenko, T. I.; Chepin, E. V.; Петрова, Алёна Игоревна; Возненко, Тимофей Игоревич; Чепин, Евгений Валентинович
© 2020, Springer Nature Switzerland AG.There are many ways to control robotic devices. The modern and actual technology of brain-computer interfaces (BCI) is one of the ways to implement a control channel. This way provides additional control options for the operator, such as using facial expressions, mental activity and head movements. However, BCI is far from being used in everyday life conditions in part because of the influence of various noises that provoke changes in the EEG signal, called artifacts. Therefore, it is necessary to evaluate the impact of these noises on control commands executed using BCI and take this impact into account during the control commands design. This is especially true when several commands, that require various types of movements (facial expressions, head movements), are used in a single control configuration, since these commands themselves provoke such noises and guarantee their occurrence in the control process. In this paper, we considered a set of BCI commands for control a robotic wheelchair and propose a system of metrics for assessing the impact of artifacts on these commands. The system of metrics was used to assess the mutual impact of commands to each other and avoid conflicts of commands arising from the occurrence of artifacts.
Только метаданные
Study on the Possibility of Detecting Objects in Real Time on a Mobile Robot
(2020) Verbitsky, N. S.; Chepin, E. V.; Gridnev, A. A.; Чепин, Евгений Валентинович; Гриднев, Александр Александрович
© 2020, Springer Nature Switzerland AG.Today, a task of current interest in the field of artificial intelligence in digital image processing is the detection of objects using a convolutional neural network. The purpose of this work is to study the processing of video stream in real-time with the help of a modified tracking module on the client-server system used in robotic complexes. The modified tracking module proposed in this paper, which is a combination of the KCF and SORT algorithms, eliminates object detection duplicates and levels the low speed of the convolutional neural network. By measuring the operating time of each module in the system, was obtained the frame rate of each module. The obtained time characteristics of the client-server system modules confirm the effectiveness of the proposed modified tracking module. The practical significance of the work consists of the hypothesis confirmation is about reducing the impact of the object detection rate on the overall performance of the system when using the tracking module.
Только метаданные
Reconfigurable Locomotion of Hexapod Robot Based on Inverse Kinematics
(2020) Gumeniuk, V. A.; Chepin, E. V.; Voznenko, T. I.; Gridnev, A. A.; Чепин, Евгений Валентинович; Возненко, Тимофей Игоревич; Гриднев, Александр Александрович
© 2020, Springer Nature Switzerland AG.In our days, robotics development grow and became fast changing industry, robots spread over the world far more than any time before. Most of all, robots have presented by manufacturing robots, but robots capable to move can be more flexible to give a solution to even new kinds of problems. Hexapods are one of those kind of robots. Today they are widely known, but they are not widespread, despite their advantages, and most frequently using in research purposes. One of the main problem is that locomotion can be done by many different gaits. At the same time, hexapods have six legs, that leads to complexity of control algorithm, which must provide correct positioning for all legs at any moment in time. But to simplicity, often only one specific gait is using. In this paper, we propose system that is able to work with multiple gaits simultaneously. This system allows robot to use different methods of locomotion which are more efficient in specific situations. As a proof of concept was implemented control software. It respond for locomotion, saving different gaits and their switching, even in movement. The result of the paper is an automated robot locomotion system.
Только метаданные
The Decomposition Method of Multi-channel Control System Based on Extended BCI for a Robotic Wheelchair
(2020) Voznenko, T. I.; Gridnev, A. A.; Kudryavtsev, K. Y.; Chepin, E. V.; Возненко, Тимофей Игоревич; Гриднев, Александр Александрович; Кудрявцев, Константин Яковлевич; Чепин, Евгений Валентинович
© 2020, Springer Nature Switzerland AG.There are a number of ways to control a mobile robotic device, in particular robotic wheelchair. One of this ways is an extended brain-computer interface (extended BCI) – robotic control system with simultaneous independent alternative control channels (BCI, voice and gesture control channels). Because of each channel has advantages and disadvantages the combination of some channels (multi-channel control) can be used. However, when commands are executed from several control channels, various conflicts may arise: for example, one command comes from one control channel, and some opposite commands (which cannot be executed simultaneously) that come from the other channels. To resolve such conflicts, two methods can be used: coordinated control and decomposition. Both of these methods are based on a quality evaluation of each control channel. To evaluate the quality of those control channels the different parameters can be used. This paper proposes a decomposition method of multi-channel control system based on proposed parameter. This technique allows to choose the best channel-command combinations based on type I and type II errors.
Только метаданные
Gesture recognition system based on Convolutional neural networks
(2019) Chistyakov, I. S.; Chepin, E. V.; Чепин, Евгений Валентинович
© 2019 Published under licence by IOP Publishing Ltd. This article tells about gesture recognition system based on Convolutional neural nets. System consists of two parts: the tracking and detection subsystem and gesture recognition subsystem.
Только метаданные
The Method of Statistical Estimation of the Minimum Number of Tests for Reliable Evaluation of the Robotic Multi-channel Control Systems Quality
(2019) Kudryavtsev, K. Y.; Cherepanov, A. V.; Voznenko, T. I.; Dyumin, A. A.; Gridnev, A. A.; Chepin, E. V.; Кудрявцев, Константин Яковлевич; Возненко, Тимофей Игоревич; Дюмин, Александр Александрович; Гриднев, Александр Александрович; Чепин, Евгений Валентинович
© 2019, Springer Nature Switzerland AG. There is a growth in adoption of multi-channel (tactile, voice, gesture, brain-computer interface, etc.) control systems for mobile robots that help to improve its reliability. But, a complex control system requires a large number of tests to determine the quality of operation. Hence, multi-channel control systems are subjects of rigorous testing process for estimation of the number of successful command recognitions and the number of errors. The more tests will be conducted, the more accurate evaluation of the control channel quality will be. However, in most cases, carrying out the tests is expensive and time-consuming. Therefore, it is necessary to determine the minimum number of tests required to evaluate channel control quality with a given significance level. In this paper we propose a technique for determining the minimum required number of tests. Experimental results of evaluating the multichannel control system of the mobile robotic wheelchair using this technique are presented.
Только метаданные
Comparison Between Coordinated Control and Interpretation Methods for Multi-channel Control of a Mobile Robotic Device
(2021) Voznenko, T. I.; Gridnev, A. A.; Chepin, E. V.; Kudryavtsev, K. Y.; Возненко, Тимофей Игоревич; Гриднев, Александр Александрович; Чепин, Евгений Валентинович; Кудрявцев, Константин Яковлевич
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.Control methods of the mobile robotic device can be divided into single-channel and multi-channel. A single-channel control method is a control method that uses a single data channel. Each control channel has its own operational features that can affect the quality of control. In order to take advantage of multiple control channels, multi-channel control is used. In multi-channel control information comes from different, heterogeneous, independent control channels. The task of the control system is to make a decision and choose valid (the most probable) command. There are two approaches to this problem: coordinated control and decomposition of multi-channel control into single-channel control. The decomposition method implies ignoring of command information from not selected channels and commands. The interpretation method allows using such command information to improve the quality of control of a mobile robotic device. In this paper, we consider coordinated control and interpretation methods and also compare implementations of these control methods for multi-channel control of a mobile robotic device.
Только метаданные
Extending the Intelligence of the Pioneer 2AT Mobile Robot
(2021) Rudy, M. A.; Chepin, E. V.; Gridnev, A. A.; Чепин, Евгений Валентинович; Гриднев, Александр Александрович
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.This paper describes the process of expanding the intellectual capabilities of a Pioneer 2AT skid-steer mobile robot by developing a module that allows using the ROS (Robotic Operating System) and its capabilities. This software and hardware system allow to quickly expand the capabilities of an outdated mobile robot, giving it access to modern algorithms e.g. SLAM. It also granted the support for various attachments - lidars, stereo cameras, etc., autonomous navigation algorithms, data collection for training CNNs, as well as simulating the operation of these algorithms in the Gazebo. The module consists of two parts, the first is launched on the Arduino board, to which the wheelbase with the associated sensors is connected, the second part is the ROS node, which translates all the data coming from the Arduino into a format corresponding to the ROS interface.
Только метаданные
The Research of Distracting Factors Influence on Quality of Brain-Computer Interface Usage
(2019) Cherepanova, A. D.; Petrova, A. I.; Voznenko, T. I.; Dyumin, A. A.; Gridnev, A. A.; Chepin, E. V.; Петрова, Алёна Игоревна; Возненко, Тимофей Игоревич; Дюмин, Александр Александрович; Гриднев, Александр Александрович; Чепин, Евгений Валентинович
© 2019, Springer Nature Switzerland AG. Nowadays, BCI (brain-computer interface) is a perspective human-machine interaction method with a lot of usage concepts, but many practical aspects should be investigated before it can be used in a broader scale. For example, one should spent a lot of time on training, before he or she can achieve sufficient control accuracy through BCI. Moreover, when one is working with BCI, an important factor is distraction that can have a negative impact on training, and then, subsequently, on the quality of control through it. Such factors can occur in normal conditions of BCI usage – that’s why they are need to be taken into account. Distractions can be represented by different external impacts on the operator’s channels of the perception (such as auditory impacts, visual impacts, etc.) or operator’s own internal state. In this paper, we propose the method and software framework for evaluating control quality using BCI in the presence of distracting factors. Also we researched influence of some of them on quality of BCI usage.