Zhao Darisy
Research fellow
PhD in Engineering
Publications:
2025
6.
Skidchenko, Ekaterina; Butorina, Anna; Fedosov, Nikita; Shevtsov, Oleg; Medvedeva, Daria; Zhao, Darisy; Dubynin, Ignat; Fedorov, Maxim; Koshev, Nikolay; Ossadtchi, Alexei (2025). The tale of two rooms: comparison of QuSpin zero-field OPMs’ operation in two magnetically shielded environments. IEEE Transactions on Instrumentation and Measurement. 1-1. https://doi.org/10.1109/tim.2025.3554317
Abstract | PDF (preprint) | BibTeX
@article{Skidchenko2025,
title = {The tale of two rooms: comparison of QuSpin zero-field OPMs’ operation in two magnetically shielded environments},
author = {Ekaterina Skidchenko and Anna Butorina and Nikita Fedosov and Oleg Shevtsov and Daria Medvedeva and Darisy Zhao and Ignat Dubynin and Maxim Fedorov and Nikolay Koshev and Alexei Ossadtchi},
url = {https://www.techrxiv.org/users/781386/articles/937665/master/file/data/The_tale_of_two_rooms_I&M/The_tale_of_two_rooms_I&M.pdf},
doi = {10.1109/tim.2025.3554317},
issn = {1557-9662},
year = {2025},
date = {2025-03-28},
urldate = {2025-00-00},
journal = {IEEE Transactions on Instrumentation and Measurement},
pages = {1-1},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
abstract = {This paper addresses several critical aspects of using optically pumped magnetometers (OPMs), focusing on both metrological issues and the enhancement of signal quality. We present a quantitative methodology for OPM measurements standardization and quality evaluation, which is crucial in biomedical applications like magnetoencephalography (MEG). Additionally, we introduce a novel, cost-effective portable active magnetic shielding system - digital adaptive suppression system (DASS) – that represents a significant advancement over traditional analog active shielding. Through comprehensive experimental research, we evaluate first-and third-generation commercial OPMs from QuSpin Inc. in two distinct magnetic environments. Our results demonstrate that the DASS ensures optimal and reliable OPM performance, even in noisy urban settings, surpassing the effectiveness of conventional analog shielding. These findings highlight the need for advanced magnetic shielding solutions to enhance the accuracy and reproducibility of OPM measurements.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper addresses several critical aspects of using optically pumped magnetometers (OPMs), focusing on both metrological issues and the enhancement of signal quality. We present a quantitative methodology for OPM measurements standardization and quality evaluation, which is crucial in biomedical applications like magnetoencephalography (MEG). Additionally, we introduce a novel, cost-effective portable active magnetic shielding system - digital adaptive suppression system (DASS) – that represents a significant advancement over traditional analog active shielding. Through comprehensive experimental research, we evaluate first-and third-generation commercial OPMs from QuSpin Inc. in two distinct magnetic environments. Our results demonstrate that the DASS ensures optimal and reliable OPM performance, even in noisy urban settings, surpassing the effectiveness of conventional analog shielding. These findings highlight the need for advanced magnetic shielding solutions to enhance the accuracy and reproducibility of OPM measurements.
2024
5.
Yashin, Artem S.; Lavrov, Daniil S.; Melnichuk, Eugeny V.; Karpov, Valery V.; Zhao, Darisy G.; Dubynin, Ignat A. (2024). Robot remote control using virtual reality headset: studying sense of agency with subjective distance estimates. Virtual Reality, 28(3). https://doi.org/10.1007/s10055-024-01028-6
@article{Yashin2024,
title = {Robot remote control using virtual reality headset: studying sense of agency with subjective distance estimates},
author = {Artem S. Yashin and Daniil S. Lavrov and Eugeny V. Melnichuk and Valery V. Karpov and Darisy G. Zhao and Ignat A. Dubynin},
url = {https://megmoscow.ru/wp-content/uploads/pubs/10.1007_s10055-024-01028-6.pdf},
doi = {10.1007/s10055-024-01028-6},
issn = {1434-9957},
year = {2024},
date = {2024-06-24},
urldate = {2024-06-24},
journal = {Virtual Reality},
volume = {28},
number = {3},
publisher = {Springer Science and Business Media LLC},
abstract = {Mobile robots have many applications in the modern world. The autonomy of robots is increasing, but critical cases like search and rescue missions must involve the possibility of human intervention for ethical reasons and safety. To achieve effective human–robot interaction, the operator needs to have a sense of agency (SoA) over the activities of the robot. One possible way to increase one's SoA in remote control could be the use of VR technology. The remote control situation has some important features, so indicators of SoA need to be reproduced there independently. In our study, participants controlled a mobile robot using either a monitor or a VR-headset as an output device. In both cases, active control was contrasted with passive observation of the robot's movement. In each trial, participants estimated the distance traveled by the robot—a putative implicit indicator of SoA. A significant difference between subjective distance estimates was found in the active and passive conditions with the monitor, but not in the active and passive conditions with VR. The effect obtained in the monitor conditions suggests that distance estimates can be used as an implicit indicator of SoA in robot remote control. We believe that the lack of difference between the active and passive conditions in VR was caused by motion sickness due to a mismatch of visual and vestibular sensory cues, leading to a weakened SoA.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Mobile robots have many applications in the modern world. The autonomy of robots is increasing, but critical cases like search and rescue missions must involve the possibility of human intervention for ethical reasons and safety. To achieve effective human–robot interaction, the operator needs to have a sense of agency (SoA) over the activities of the robot. One possible way to increase one's SoA in remote control could be the use of VR technology. The remote control situation has some important features, so indicators of SoA need to be reproduced there independently. In our study, participants controlled a mobile robot using either a monitor or a VR-headset as an output device. In both cases, active control was contrasted with passive observation of the robot's movement. In each trial, participants estimated the distance traveled by the robot—a putative implicit indicator of SoA. A significant difference between subjective distance estimates was found in the active and passive conditions with the monitor, but not in the active and passive conditions with VR. The effect obtained in the monitor conditions suggests that distance estimates can be used as an implicit indicator of SoA in robot remote control. We believe that the lack of difference between the active and passive conditions in VR was caused by motion sickness due to a mismatch of visual and vestibular sensory cues, leading to a weakened SoA.
4.
Yashin, Artem S.; Stolyarova, Anastasiya N.; Melnichuk, Eugeni V.; Arinkin, Nikita A.; Zinina, Anna A.; Zhao, Darisy G.; Kotov, Artemiy A. (2024). When is Human–Robot Joint Agency Effective? The Case of Cooperative Reaction Games. International Journal of Social Robotics, 16(3), 635-644. https://doi.org/10.1007/s12369-023-01089-8
@article{Yashin2024b,
title = {When is Human–Robot Joint Agency Effective? The Case of Cooperative Reaction Games},
author = {Artem S. Yashin and Anastasiya N. Stolyarova and Eugeni V. Melnichuk and Nikita A. Arinkin and Anna A. Zinina and Darisy G. Zhao and Artemiy A. Kotov},
url = {https://megmoscow.ru/wp-content/uploads/pubs/10.1007_s12369-023-01089-8.pdf},
doi = {10.1007/s12369-023-01089-8},
issn = {1875-4805},
year = {2024},
date = {2024-01-06},
urldate = {2024-01-06},
journal = {International Journal of Social Robotics},
volume = {16},
number = {3},
pages = {635-644},
publisher = {Springer Science and Business Media LLC},
abstract = {Here, using a cooperative reaction game, we compared human interaction with an anthropomorphic robot and a computer program. The assistant (either the robot or the program) took over half of the tasks that the participant faced in the game. In half of the game sessions, the assistant reacted slowly, and in the other half, it reacted faster than naive participants. Together with the fast-paced robot, participants scored significantly more points, than with the fast-paced program. This difference was made by the players, as there was no difference in performance between the robot and the program. In addition, human reaction time varied with the pace of the robot, but not the program. We believe that the participants played better with the robot and adopted its pace because they perceived it as a real co-agent. According to the survey, the participants preferred to play with the robot. Together, these results suggest promising prospects for joint human–robot agency and the use of anthropomorphic robots.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Here, using a cooperative reaction game, we compared human interaction with an anthropomorphic robot and a computer program. The assistant (either the robot or the program) took over half of the tasks that the participant faced in the game. In half of the game sessions, the assistant reacted slowly, and in the other half, it reacted faster than naive participants. Together with the fast-paced robot, participants scored significantly more points, than with the fast-paced program. This difference was made by the players, as there was no difference in performance between the robot and the program. In addition, human reaction time varied with the pace of the robot, but not the program. We believe that the participants played better with the robot and adopted its pace because they perceived it as a real co-agent. According to the survey, the participants preferred to play with the robot. Together, these results suggest promising prospects for joint human–robot agency and the use of anthropomorphic robots.
2022
3.
Yashin, Artem S.; Zhao, Darisy G.; Stolyarova, Anastasiya N.; Moscowsky, Anton D.; Yakovlev, Dmitry S.; Nazhestkin, Ivan A.; Shishkin, Sergei L.; Dubynin, Ignat A. (2022). Subjective Distance Estimates and Sense of Agency in Robotic Wheelchair Control. Applied Sciences, 12(12), 6217. https://doi.org/10.3390/app12126217
@article{Yashin2022,
title = {Subjective Distance Estimates and Sense of Agency in Robotic Wheelchair Control},
author = {Artem S. Yashin and Darisy G. Zhao and Anastasiya N. Stolyarova and Anton D. Moscowsky and Dmitry S. Yakovlev and Ivan A. Nazhestkin and Sergei L. Shishkin and Ignat A. Dubynin},
url = {https://megmoscow.ru/wp-content/uploads/pubs/10.3390_app12126217.pdf},
doi = {10.3390/app12126217},
issn = {2076-3417},
year = {2022},
date = {2022-06-18},
urldate = {2022-06-18},
journal = {Applied Sciences},
volume = {12},
number = {12},
pages = {6217},
publisher = {MDPI AG},
abstract = {Sense of agency (SoA) refers to an individual’s awareness of their own actions. SoA studies seek to find objective indicators for the feeling of agency. These indicators, being related to the feeling of control, have practical application in vehicle design. However, they have not been investigated for actions related to the agent’s body movement inherent to steering a vehicle. In our study, participants operated a robotic wheelchair under three conditions: active control by a participant, direct control by the experimenter and remote control by the experimenter. In each trial, a participant drove the wheelchair until a sound signal occurred, after which they stopped the wheelchair and estimated the travelled distance. The subjective estimates were significantly greater when participants operated the wheelchair by themselves. This result contrasts with observations under static settings in previous studies. In an additional study on the electroencephalographic response to a sound presented at a random time after movement onset, the observed latencies in the N1 component implied that participants might have a higher sense of control when they drove the wheelchair. The proposed methodology might become useful to indirectly assess the degree of operator control of a vehicle, primarily in the field of rehabilitation technologies.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Sense of agency (SoA) refers to an individual’s awareness of their own actions. SoA studies seek to find objective indicators for the feeling of agency. These indicators, being related to the feeling of control, have practical application in vehicle design. However, they have not been investigated for actions related to the agent’s body movement inherent to steering a vehicle. In our study, participants operated a robotic wheelchair under three conditions: active control by a participant, direct control by the experimenter and remote control by the experimenter. In each trial, a participant drove the wheelchair until a sound signal occurred, after which they stopped the wheelchair and estimated the travelled distance. The subjective estimates were significantly greater when participants operated the wheelchair by themselves. This result contrasts with observations under static settings in previous studies. In an additional study on the electroencephalographic response to a sound presented at a random time after movement onset, the observed latencies in the N1 component implied that participants might have a higher sense of control when they drove the wheelchair. The proposed methodology might become useful to indirectly assess the degree of operator control of a vehicle, primarily in the field of rehabilitation technologies.
2021
2.
Zhao, Darisy G; Vasilyev, Anatoly N; Kozyrskiy, Bogdan L; Melnichuk, Eugeny V; Isachenko, Andrey V; Velichkovsky, Boris M; Shishkin, Sergei L (2021). A passive BCI for monitoring the intentionality of the gaze-based moving object selection. Journal of Neural Engineering, 18(2). https://doi.org/10.1088/1741-2552/abda09
@article{Zhao2021,
title = {A passive BCI for monitoring the intentionality of the gaze-based moving object selection},
author = {Darisy G Zhao and Anatoly N Vasilyev and Bogdan L Kozyrskiy and Eugeny V Melnichuk and Andrey V Isachenko and Boris M Velichkovsky and Sergei L Shishkin},
url = {https://megmoscow.ru/wp-content/uploads/pubs/10.1088_1741-2552_abda09.pdf},
doi = {10.1088/1741-2552/abda09},
issn = {1741-2552},
year = {2021},
date = {2021-03-04},
urldate = {2021-03-04},
journal = {Journal of Neural Engineering},
volume = {18},
number = {2},
publisher = {IOP Publishing},
abstract = {Objective. The use of an electroencephalogram (EEG) anticipation-related component, the expectancy wave (E-wave), in brain–machine interaction was proposed more than 50 years ago. This possibility was not explored for decades, but recently it was shown that voluntary attempts to select items using eye fixations, but not spontaneous eye fixations, are accompanied by the E-wave. Thus, the use of the E-wave detection was proposed for the enhancement of gaze interaction technology, which has a strong need for a mean to decide if a gaze behavior is voluntary or not. Here, we attempted at estimating whether this approach can be used in the context of moving object selection through smooth pursuit eye movements. Approach. Eighteen participants selected, one by one, items which moved on a computer screen, by gazing at them. In separate runs, the participants performed tasks not related to voluntary selection but also provoking smooth pursuit. A low-cost consumer-grade eye tracker was used for item selection. Main results. A component resembling the E-wave was found in the averaged EEG segments time-locked to voluntary selection events of every participant. Linear discriminant analysis with shrinkage regularization classified the intentional and spontaneous smooth pursuit eye movements, using single-trial 300 ms long EEG segments, significantly above chance in eight participants. When the classifier output was averaged over ten subsequent data segments, median group ROC AUC of 0.75 was achieved. Significance. The results suggest the possible usefulness of the E-wave detection in the gaze-based selection of moving items, e.g. in video games. This technique might be more effective when trial data can be averaged, thus it could be considered for use in passive interfaces, for example, in estimating the degree of the user's involvement during gaze-based interaction.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Objective. The use of an electroencephalogram (EEG) anticipation-related component, the expectancy wave (E-wave), in brain–machine interaction was proposed more than 50 years ago. This possibility was not explored for decades, but recently it was shown that voluntary attempts to select items using eye fixations, but not spontaneous eye fixations, are accompanied by the E-wave. Thus, the use of the E-wave detection was proposed for the enhancement of gaze interaction technology, which has a strong need for a mean to decide if a gaze behavior is voluntary or not. Here, we attempted at estimating whether this approach can be used in the context of moving object selection through smooth pursuit eye movements. Approach. Eighteen participants selected, one by one, items which moved on a computer screen, by gazing at them. In separate runs, the participants performed tasks not related to voluntary selection but also provoking smooth pursuit. A low-cost consumer-grade eye tracker was used for item selection. Main results. A component resembling the E-wave was found in the averaged EEG segments time-locked to voluntary selection events of every participant. Linear discriminant analysis with shrinkage regularization classified the intentional and spontaneous smooth pursuit eye movements, using single-trial 300 ms long EEG segments, significantly above chance in eight participants. When the classifier output was averaged over ten subsequent data segments, median group ROC AUC of 0.75 was achieved. Significance. The results suggest the possible usefulness of the E-wave detection in the gaze-based selection of moving items, e.g. in video games. This technique might be more effective when trial data can be averaged, thus it could be considered for use in passive interfaces, for example, in estimating the degree of the user's involvement during gaze-based interaction.
2020
1.
Zhao, Darisy G.; Karikov, Nikita D.; Melnichuk, Eugeny V.; Velichkovsky, Boris M.; Shishkin, Sergei L. (2020). Voice as a Mouse Click: Usability and Effectiveness of Simplified Hands-Free Gaze-Voice Selection. Applied Sciences, 10(24), 8791. https://doi.org/10.3390/app10248791
@article{Zhao2020,
title = {Voice as a Mouse Click: Usability and Effectiveness of Simplified Hands-Free Gaze-Voice Selection},
author = {Darisy G. Zhao and Nikita D. Karikov and Eugeny V. Melnichuk and Boris M. Velichkovsky and Sergei L. Shishkin},
url = {https://megmoscow.ru/wp-content/uploads/pubs/10.3390_app10248791.pdf},
doi = {10.3390/app10248791},
issn = {2076-3417},
year = {2020},
date = {2020-12-09},
urldate = {2020-12-09},
journal = {Applied Sciences},
volume = {10},
number = {24},
pages = {8791},
publisher = {MDPI AG},
abstract = {Voice- and gaze-based hands-free input are increasingly used in human-machine interaction. Attempts to combine them into a hybrid technology typically employ the voice channel as an information-rich channel. Voice seems to be “overqualified” to serve simply as a substitute of a computer mouse click, to confirm selections made by gaze. It could be expected that the user would feel discomfort if they had to frequently make “clicks” using their voice, or easily get bored, which also could lead to low performance. To test this, we asked 23 healthy participants to select moving objects with smooth pursuit eye movements. Manual confirmation of selection was faster and rated as more convenient than voice-based confirmation. However, the difference was not high, especially when voice was used to pronounce objects’ numbers (speech recognition was not applied): Score of convenience (M ± SD) was 9.2 ± 1.1 for manual and 8.0 ± 2.1 for voice confirmation, and time spent per object was 1269 ± 265 ms and 1626 ± 331 ms, respectively. We conclude that “voice-as-click” can be used to confirm selection in gaze-based interaction with computers as a substitute for the computer mouse click when manual confirmation cannot be used.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Voice- and gaze-based hands-free input are increasingly used in human-machine interaction. Attempts to combine them into a hybrid technology typically employ the voice channel as an information-rich channel. Voice seems to be “overqualified” to serve simply as a substitute of a computer mouse click, to confirm selections made by gaze. It could be expected that the user would feel discomfort if they had to frequently make “clicks” using their voice, or easily get bored, which also could lead to low performance. To test this, we asked 23 healthy participants to select moving objects with smooth pursuit eye movements. Manual confirmation of selection was faster and rated as more convenient than voice-based confirmation. However, the difference was not high, especially when voice was used to pronounce objects’ numbers (speech recognition was not applied): Score of convenience (M ± SD) was 9.2 ± 1.1 for manual and 8.0 ± 2.1 for voice confirmation, and time spent per object was 1269 ± 265 ms and 1626 ± 331 ms, respectively. We conclude that “voice-as-click” can be used to confirm selection in gaze-based interaction with computers as a substitute for the computer mouse click when manual confirmation cannot be used.