Intelligent Robotics and Applications : Third International Conference, ICIRA 2010, Shanghai, China, November 10-12, 2010. Proceedings, Part I

by Liu, Honghai; Ding, Han; Xiong, Zhenhua; Zhu, Xiangyang

• ISBN13: 9783642165832
• ISBN10: 3642165834
• Edition: 1st
• Format: Paperback
• Copyright: 2010-11-17
• Publisher: Springer-Verlag New York Inc

Summary

This volume constitutes the refereed proceedings of the Third International Conference on Intelligent Robotics and Applications, ICIRA 2010, held in Shanghai, China, in November 2010. The 140 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on bionic dexterous hand; modeling and control systems involving hysteresis; control system modeling and applications; intelligent control and their applications; robot and automation in tunneling; robot mechanism and design; service robotics; computer vision and applications; sensor design, multi-sensor data fusion; industrial process control, manufacturing processes, and automation; mobile robotics; theory applications of heavy manipulators; robot vision; biomedical and rehabilitation engineering, and medical robotics; human-friendly robot partners; surface inspection, modeling and machining; modeling for robotics and manufacturing automation; robot and investigation.

Table of Contents

Bionic Dextrous Hand
Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint	p. 1
Changeable Grasping Force Unit for Under-Actuated Gripper with Self-adaptive Grasping	p. 13
Efficient Grasp Planning with Reachability Analysis	p. 26
Development of an Anthropomorphic Prosthetic Hand for Man-Machine Interaction	p. 38
Dexterous and Self-adaptive Under-Actuated Humanoid Robot Hand: GCUA Hand II	p. 47
A Novel Coupled and Self-adaptive Under-Actuated Grasping Mode and the COSA-DTS Hand	p. 59
Empirical Copula Driven Hand Motion Recognition via Surface Electromyography Based Templates	p. 71
A Continuous Control Scheme for Multifunctional Robotic Arm with Surface EMG Signal	p. 81
Modeling and Control of Systems Involving Hysteresis
On the Robust Control of Systems Preceded by Differential Equation-Based Hysteresis Nonlinearities	p. 92
A Generalized Play Operator for Modeling and Compensation of Hysteresis Nonlinearities	p. 104
Hysteresis Modeling of Piezoelectric Actuators Using the Fuzzy System	p. 114
On PSO Based Bouc-Wen Modeling for Piezoelectric Actuator	p. 125
Operator-Based Robust Nonlinear Control for Ionic Polymer Metal Composite with Uncertainties and Hysteresis	p. 135
Modeling of Hysteresis Nonlinearity Based on Generalized Bouc-Wen Model for GMA	p. 147
Control System Modeling and Applications
Motion Dynamics Modelling of an Electric Wheel Robot	p. 159
Sliding Mode Control of Hybrid Joints for Wheeled Mobile Manipulators with Markovian Switching and Bounded Torques	p. 171
Timestamp Based Predictive Robot Control System over Real-Time Industrial Ethernet	p. 183
Design and Experimental Research on a Fast Zero-Finding Algorithm Based on the Incremental Angle Encoder	p. 195
Decentralized Synchronization and Output Tracking Control of Nondiffusively Coupled Complex Dynamical Networks	p. 204
Manipulation of a Mobile Modular Manipulator Interacting with the Environment with the Assistance of Tactile Sensing Feedback	p. 214
An RTC-Based Intelligent Programming System for Service Robots	p. 226
Marine Engine State Monitoring System Using Distributed Precedence Queue Mechanism in CAN Networks	p. 237
Modeling and Fault Tolerant Controller Design for PM Spherical Actuator	p. 246
Intelligent Control and Their Applications
Artificial Neural Network to Predict the Surface Maximum Settlement by Shield Tunneling	p. 257
Applying Grey-Fuzzy-Fuzzy Rule to Machine Vision Based Unmanned Automatic Vehicles	p. 266
AWARE: Autonomous Wireless Agent Robotic Exchange	p. 276
Application of Wearable Miniature Non-invasive Sensory System in Human Locomotion Using Soft Computing Algorithm	p. 288
The Mathematical Model and Control Scheme of a Four-Legged Robot Based on GZ-I and Note Module	p. 300
Robot and Automation in Tunneling
Electromechanical Coupling Model for Cutterhead Driving System of Shield Machines	p. 310
Dimension Optimization of an Orientation Fine-Tuning Manipulator for Segment Assembly Device	p. 318
Rotation and Gate Movement Compound Control of Screw Conveyor Hydraulic System with Disturbance Compensation	p. 329
Applications of the Overlapping Nodes Method in Simulating Crack-Expansion under the Action of TBM Cutter	p. 341
The Simulation Analysis of the TBM Disc Cutter Phase Angle	p. 348
The Design of Shield Tunnelling Machine Cutter Header's Cutting Performance Test Bed	p. 356
The Effect of TBM Hydraulic Piping System Parameters on FSI Vibration	p. 363
Station Point Optimization of Total Station in Shield Tunneling Method Based on Set-Covering	p. 372
Study on Earth Pressure Acting on Cutter Face Based on Nonlinear Optimization	p. 383
Incident Angle Measurement of Collimated Laser Based on the Pinhole Principle	p. 392
Robot Mechanism and Design
A Novel Design for the Self-reconfigurable Robot Module and Connection Mechanism	p. 400
The Forward Kinematics Analysis of 6-3 Stewart Parallel Mechanisms	p. 409
Portable Multi-axis CNC: A 3-CRU Decoupled Parallel Robotic Manipulator	p. 418
Carton Motion-Moment Diagram and Stiffness Characteristics	p. 430
Flexible Foot Design for Biped Walking on Uneven Terrain	p. 442
4WD Skid-Steer Trajectory Control of a Rover with Spring-Based Suspension Analysis: Direct and Inverse Kinematic Parameters Solution	p. 453
Topology and Analysis of Three-Phalanx COSA Finger Based on Linkages for Humanoid Robot Hands	p. 465
Design of a Bionic Saltatorial Leg for Jumping Mini Robot	p. 477
Asymmetrical Prototype of a Five-Wheeled Robot and Maneuver Analysis	p. 488
Development of Controllable Two-Way Self-locking Mechanism for Micro In-Pipe Robot	p. 499
Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot	p. 509
Service Robotics
Automatic Cooking Robot with a Novel Feeding System	p. 519
Multi-sensor Based Autonomous Underwater Manipulator Grasp	p. 530
The Targets Pursuit for Multi-robot System with Hybrid Wireless Sensor Networks	p. 538
A Fast Robot Path Planning Algorithm Based on Image Thinning	p. 548
Automatic Micro-manipulation Based on Visual Servoing	p. 558
Self-calibration of a Stewart Parallel Robot with a Laserranger	p. 570
Real-Time Binaural Sound Source Localization Using Sparse Coding and SOM	p. 582
Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation	p. 590
Computer Vision and Applications
Globally Optimal and Region Scalable CV Model on Automatic Target Segmentation	p. 600
The Registration of UAV Down-Looking Aerial Images to Satellite Images with Image Entropy and Edges	p. 609
Fast 3D Time of Flight Data Segmentation Using the U-V-Histogram Approach	p. 618
Scale Invariant Feature Transform (SIFT) Parametric Optimization Using Taguchi Design of Experiments	p. 630
Robust Visual Monitoring of Machine Condition with Sparse Coding and Self-Organizing Map	p. 642
An Evolving Machinery Fault Diagnosis Approach Based on Affinity Propagation Algorithm	p. 654
Closed Form Solution for the Scale Ambiguity Problem in Monocular Visual Odometry	p. 665
Recognizing 3D Human Motions Using Fuzzy Quantile Inference	p. 680
Evaluating the Fuzzy Coverage Model for 3D Multi-camera Network Applications	p. 692
Emotion Recognition in Facial Image Sequences Using a Combination of AAM with FACS and DBN	p. 702
Sensor Design, Multi-sensor Data Fusion
An Analysis of Node Localization Error Behavior in Wireless Sensor Networks	p. 713
Consensus Target Tracking in Multi-robot Systems	p. 724
A Decentralized Junction Tree Approach to Mobile Robots Cooperative Localization	p. 736
Optimized Particles for 3-D Tracking	p. 749
Design of a Finger-Tip Flexible Tactile Sensor for an Anthropomorphic Robot Hand	p. 762
Author Index	p. 775
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