Next Wave in Robotics

Name: Next Wave in Robotics | 14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011 Proceedings
Brand: Springer
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14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011 Proceedings

Tzuu-Hseng S. Li Kuo-Yang Tu Ching-Chih Tsai Chen-Chien Hsu Chien-Cheng Tseng Prahlad Vadakkepat Jacky Baltes John Anderson Ching-Chang Wong Norbert Jesse Chung-Hsien Kuo Haw-Ching Yang(Herausgeber*in)

Springer (Verlag)

Erschienen am 25. August 2011

XIII, 292 Seiten

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978-3-642-23147-6 (ISBN)

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Inhalt

Title
Preface
Organization
Table of Contents
A Motion Tutoring System by Using Virtual-Robot and Sensors
Introduction
TutoringSystem
Structure of Virtual Robot
Judgment System
Implementation
Expression of Data
Implementation of Rotation
Sensors
Filter
Overall System Flow
Miscellaneous Things
Experiments
Conclusion
References
An Adaptive Component Model for Autonomous Mobile Robots
Introduction
Related Work
MiniROS Architecture
Component Model
Component Interface
Atomic Unit
Composite Unit
Application of MiniROS
Building the Atomic Units
Construction of Composite Unit
Conclusions
References
Toward Safe Human Robot Interaction: Integration of Compliance Control, an Anthropomorphic Hand and Verbal Communication
Introduction
Interaction Scenario
Grasping Controller for an Anthropomorphic Hand
Spoken Language Interface and High Level Control
Model Reference Adaptive Compliance Control for BERT2 Arm
Results and Discussion
Conclusion
References
Gait Planning of Humanoid Robots Walking on Stairs
Introduction
SCUT-I Humanoid Robot Model
The Planning of Climbing Stairs Movement
The Parameterization of Climbing Stairs
Constraint Condition of Climbing Stairs
The Parameters of Constraint Condition for Climbing Stairs
Trajectory Generation of Climbing Stairs
Hip Trajectory of Swing Leg
Ankle Trajectory of Swing Leg
Simulation and Results
Conclusion
References
3D Collision-Free Trajectory Generation Using Elastic Band Technique for an Autonomous Helicopter
Introduction
Real-Time Trajectory Generation Using Elastic Band Technique
Simulations and Discussion
Dynamic Obstacle Avoidance
Terrain Following
Conclusion
References
A Versatile Kit for Teaching Intelligent Mobile Robots
Introduction
The Versatile Robot Kit
An Interrupt Driven Real-Time Control Firmware
A Simple Maze-Solving Algorithm
Calibration of Optical Sensor Outputs
Line Detection via Interpolation Techniques
Motion Control of dc Servo Motors with Home-Made Encoders
Micromouse, Robotrace and Line Maze Contests
Conclusions
References
A Novel Approach of Robust Active Compliance for Robot Fingers
Introduction
Controller Design
Integral Sliding Mode Controller (ISMC)
Compliance
Computation of Compliance Levels
Experimental Setup
Compliance Level for Different Stiffness
Results for Grasping Objects
Conclusions and Future Work
References
Facial Expression Generation Using Fuzzy Integral for Robotic Heads
Introduction
Robotic Head
Facial Expression Generation
Fuzzy Measure and Fuzzy Integral
Weight Assignment
Fuzzy Measure Identification
Partial Evaluation
Computer Simulation and Experiment
Simulation
Experiment
Conclusion
References
Implementations and Controls of a 3-DOF Parallel Link Joint Module
Introduction
Mechanical Design
Kinematics and Trajectory Control
Implementations and Interactive Sensor Integrations
Controller Implementations
Interactive Sensor Integrations
Experiments and Results
Pen Drawing Path Experiments
Human's 3-DOF Joint Motion Following
Conclusion
References
Motion Recognition in Wearable Sensor System Using an Ensemble Artificial Neuro-Molecular System
Introduction
Ensemble Artificial Neuro-Molecular System
Artificial Neuro-Molecular System (ANM)
Ensemble ANM System
Wearable Sensor System
Hardware Structure
Data Collection
Pre-processing
Experiments
Experimental Setup
Experimental Results
Conclusions
References
A SoPC-Based Surveillance System
Introduction
System Architecture
System Hardware Design
RGB to Gray
Blocks of Image
Block Difference
RGB to HSV
Color Detection and Binarization
Image Dilation
System Software Design
System Integration
Design Result and Performance
Conclusion and Future Work
References
Intelligent Motion Control for Four-Wheeled Omnidirectional Mobile Robots Using Ant Colony Optimization
Introduction
Kinematic Control
Kinematic Model
Kinematic Control
Intelligent Motion Control Using ACO
Ant Colony Optimization
Application to Intelligent Motion Control
Simulation Results and Discussion
Point Stabilization
Elliptic Trajectory Tracking
Conclusion
References
Adaptive Sliding-Mode Speed Control for Electric Unicycle
Introduction
Uncertain System Model
Adaptive Controller Synthesis
Adaptive Aggregated Hierarchical Sliding-Mode Speed Control
Stability Analysis
Simultaions and Discussion
Conclusions
References
Dynamic Patrol Planning in a Cooperative Multi-robot System
Introduction
Research Background
Dynamic Patrol Planning
DPP When Some Working Robots Drop Out of the Patrol Task
DPP When Other Robots Join the Patrol Task
Simulations and Discussion
Conclusion
References
Vision-Based Robot Manipulator Design
Introduction
System Description of the Robot
Kinematics for Manipulator
Forward Kinematics
Inverse Kinematics
Visual Servoing System
Experiments
Conclusions
References
Planar Robot Position and Orientation Measurement Using a Monocular Vision
Introduction
Monocular Vision Sensor
Visual Sensor Model
Speeded Up Robust Features (SURF)
Robot Pose Measurement
Focus Length
Ray Vector of Feature Point
Experimental Results
Conclusion
References
Robot Pose and Velocity Estimation Using a Binocular Vision
Introduction
Binocular Visual Surveillance System
EKF-Based Estimator
Binocular Sensor Model
Speeded Up Robust Features (SURF)
Integrated System
Experimental Results
Conclusion
References
Learning of Facial Gestures Using SVMs
Introduction
Related Work
Design
Conversion of Images into Instance Vectors
Pre-processing
Evaluation
Pre-processing
Number of Training Instances
Difference Representation
Conclusion
References
Simulation-Based Analysis and Experimental Verification of Chaotic Circuits
Introduction
Characteristics of Low Loss Chaotic Circuit
Proposed Chaotic Circuits with Lossless Inductor
Frequency Analysis of Low Lost Chaotic Circuit
Comparison of Low Lost and Lossless Chaotic Circuits
Conclusion
References
Codebook Model for Real Time Robot Soccer Recognition: A Comparative Study
Introduction
Codebook Based Background Subtraction
Codebook
Our Modified Codebook
The YUV Color Model
Experiment and Result
Conclusion
References
Threaded C and Freezer OS
Introduction
Motivation
Threads
Freezer OS
Threaded C
Conclusion
References
Taguchi Method Optimization for PCB Lamination Process
Introduction
System Description
Taguchi Experiments
Conclusions and Further Development
References
Parameter Estimation of Potential Field Method with Fuzzy Control for Motion Planning of Soccer Robot
Introduction
Potential Field Method for Motion Planning
Determination of the Attractive Factor and Repulsive Factor with Fuzzy Control
Simulation Results
Conclusions
References
A Fast Identification Algorithm with Skewness Noises under Box-Cox Transformation-Based Annealing Robust Fuzzy Neural Networks
Introduction
The Box-Cox Transformation-Based ARFNNs
The Main Results
Simulation Results
References
A Fuzzy PID Controller Based on Hybrid Optimization Approach for an Overhead Crane
Introduction
Fuzzy PID Controllers
A Simulation Example
Dynamic of an Overhead Crane
GA-PSO Tuning Fuzzy PID Controller
Fitness
Integration of PSO and GA
Particle Representations
Evolutionary Algorithms
Simulation Results
Conclusions
References
Design of High Power Density DC-DC Converter for Robots
Introduction
Miniaturization of DC-DC Converter on Application of Planar Transformer
Design of Conventional Wire Wound Transformer
Design of Planar Transformer
Experimental Result
Conclusions
References
Applications of Fuel Cell Power Management System for Robot Vehicles
Introduction
The Fuel Cell Power Management System for Robot Vehicles Profile
Software Design
Combination of Software and Hardware Test Results
Conclusions
References
A Study on Control of a Small Fuel Cell Power Supply System for Robots
Foreword
Introduction of Fuel Cells
The Internal Structure of Fuel Cells
The System of the Fuel Cell Power Supply
Power Control Loop
Gas Loop Controls
Experimental Result
Conclusion
References
Development of Simulator for AndroSot in FIRA
Introduction
System Architecture
User Guide of the Proposed Simulator
Basic Settings of the Ball and the Robots
The Basic Functions
Strategy Decision System
Extended Mode - Master Level
Simulation Result
Conclusions
References
Design and Implementation of Big Humanoid Robot Walking Patterns Based on Inverted Pendulum Approach
Introduction
Kinematics Model of a Big Humanoid Robot
Walking Pattern Design
Walking Pattern Implementation
Experimental Results
Conclusions and Further Development
References
Optimum Iris Opening for Soccer Robot Detection under Un-uniform Lighting
Introduction
HSL Color System
Lens Iris
Un-uniform Lighting
Experimental Method
Experimental Results and Analysis
Conclusion
References
Framework for Measuring Effectiveness of Preventive Maintenance for Velocity of Robot Soccer
Introduction
Literature Review
Methodology of Research
Propose Preventive Maintenance Framework
Propose Standards Procedure of Preventive Maintenance
Results
Conclusion
Future Works
References
Optimal Features and Classes for Estimating Mobile Robot Orientation Based on Support Vector Machine
Introduction
State of the Art
Methodology
Experimental Results and Discussion
Conclusions
References
Multiple Robots Coordination and Shooting Strategy in Robotic Soccer Game
Introduction
State of the Art
The Proposed Strategy
Result and Discussion
Conclusion
References
Author Index

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