
Intelligent Robotics and Applications
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The two volume set LNAI 7101 and LNAI 7102 constitutes the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011.
The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.
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Content
- Intro
- Title
- Preface
- Organization
- Table of Contents
- Progress in Indoor UAV
- On the Way to a Real-Time On-Board Orthogonal SLAM for an Indoor UAV
- Introduction
- Introductive System Description
- SLAM Algorithm
- Indoor Navigation
- Experimental SLAM Results
- Conclusion
- References
- Quadrocopter Localization Using RTK-GPS and Vision-Based Trajectory Tracking
- Introduction
- Characteristics of the Flight Platform
- Sensors and Hardware Equipment
- Software
- Differential GPS
- Real Time Kinematic GPS
- Measurements
- Position Control and Trajectory Tracking
- Position Controller
- Trajectory Controller
- Conclusions and Future Research
- References
- Five-Axis Milling Simulation Based on B-rep Model
- Introduction
- Geometric Description of Ball-End Tool
- Tool Swept Volume Generation
- Swept Profiles of Cylinder Surface
- Swept Profiles of Hemisphere Surface
- Realization of Five-Axis Milling Simulation
- Determining and Solving Self-intersection
- Conclusions
- References
- Robotics Intelligence
- Exploration Strategies for Building Compact Maps in Unbounded Environments
- Introduction
- Related Work
- Greedy Exploration
- Compact Exploration Strategies
- Spiral Exploration
- Distance-Penalized Exploration
- Evaluation
- Experiment 1: Low Obstacle Density
- Experiment 2: High Obstacle Density
- Experiment 3: Elongated Obstacles
- Conclusions
- References
- The Basic Component of Computational Intelligence for KUKA KR C3 Robot
- Introduction
- Kinematics
- Workspace
- Example of Calculations
- Conclusions
- References
- An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator
- Introduction
- System Description
- Model-Free Control Strategies
- Proportional-Integral-Derivative
- Robust Tracking with Control Vector Constraints
- Active Disturbance Rejection Control
- The Experiment
- Study Preparation
- Experimental Results
- Conclusions and Future Work
- References
- Industrial Robots
- Research on Modular Design of Perpendicular Jointed Industrial Robots
- Introduction
- Modular Division and Conceptual Design
- Subdivision and Detailed Design of Execute Module
- Conclusions
- References
- Online Path Planning for Industrial Robots in Varying Environments Using the Curve Shortening Flow Method
- Introduction
- Problem
- State of the Art
- Curve Shortening Flow Method
- Basic Principle
- Equation
- Numerical Solution
- Extension to Three Dimensions
- Results
- Summary and Outlook
- References
- Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots
- Introduction
- Formulation of Cubic Polynomial Joint Trajectory
- PGA1 Formulation
- PGA2 Formulation
- Optimization Technique Using GA
- Application Examples
- Example 1: Comparison with lin83 and tse98
- Example 2: With Dynamic Constraints
- Conclusions
- References
- Robotics Assembly Applications
- Integrative Path Planning and Motion Control for Handling Large Components
- Introduction
- Motivation
- Path Planning and Motion Control for Robots
- Integrative Path Planning and Control Concept
- Implementation
- Application
- Summary and Outlook
- References
- Automatic Configuration of Robot Systems - Upward and Downward Integration
- Introduction
- Scope of the Paper
- Existing Approaches
- Conceptual Design
- Paradigm Shift
- Characteristics of Modules
- Function Modelling
- Experimental Setup
- Conclusions and Outlook
- References
- Process and Human Safety in Human-Robot-Interaction - A Hybrid Assistance System for Welding Applications
- Introduction
- State of the Art in Human-Robot-Interaction (HRI) and Legal Requirements for Industrial Application
- Human Safety and Ergonomics
- Workspace Monitoring
- Ergonomics
- Process Safety
- Conclusion
- References
- Operation Simulation of a Robot for Space Applications
- Introduction
- A Space Service Robot
- Adams Model
- Simulation Results
- Conclusion
- References
- Re-grasping: Improving Capability for Multi-Arm-Robot-System by Dynamic Reconfiguration
- Introduction
- Handling Concept
- Robot Architecture
- Reconfiguration
- Re-grasp Planning
- Conclusion
- References
- A Parallel Kinematic Concept Targeting at More Accurate Assembly of Aircraft Sections
- Introduction
- Related Work
- Scenario and Concepts
- Kinematic Modelling
- Tripod
- Hexapod
- Jacobian Matrices
- Criteria for the Benchmark of Kinematics
- Optimization Algorithm
- Numerical Results, Benchmark and Discussion
- Conclusion
- References
- Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices
- Introduction
- Typical Design Requirements
- Workspace and Kinetostatic Performance Evaluation
- Position and Jacobian Analysis of the Manipulator:
- Direction-Dependent Kinetostatic Performance Indices:
- Geometric Interpretation of the Derived Performance Indices:
- Dimensional Synthesis
- Conclusion
- References
- Rehabilitation Robotics
- EMG Classification for Application in Hierarchical FES System for Lower Limb Movement Control
- Introduction
- System Structure
- EMG Signal Processing
- EMG Acquisition
- Algorithms
- Results of Intention Recognition
- Preliminary FES Experiments
- Conclusion and Future Work
- References
- Situated Learning of Visual Robot Behaviors
- Introduction
- Related Work
- Behavior Representative Features
- Modeling Situatedness
- Scenario Classification
- Scenario Modeling
- Experimental Results
- Conclusions
- References
- Humanoid Motion Planning in the Goal Reaching Movement of Anthropomorphic Upper Limb
- Introduction
- Method
- Twists and Wrenches
- Second Order Kinematic Model
- Numerical Simulation
- Discussion and Conclusion
- References
- Human Sitting Posture Exposed to Horizontal Perturbation and Implications to Robotic Wheelchairs
- Introduction
- Biomechanics and Motor Control of Sitting Posture
- Vibrational Analysis of Sitting Posture
- Biomechanics and Control Model
- Implications to Robotic Wheelchairs
- Conclusions
- References
- Automatic Circumference Measurement for Aiding in the Estimation of Maximum Voluntary Contraction (MVC) in EMG Systems
- Introduction
- Background
- Design of Automatic Circumference Armband
- Experimental Results and Analysis
- Discussion
- Conclusion and Future Work
- References
- Classification of the Action Surface EMG Signals Based on the Dirichlet Process Mixtures Method
- Introduction
- Methods
- Dirichlet Process Mixture Model
- Feature Extraction
- Materials
- Analysis and Results
- Conclusions
- References
- Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device
- Introduction
- Stewart-Platform-Type Ankle-Foot Assist Device
- Control the Posture (Inverse Kinematics)
- Measure the Posture (Forward Kinematics)
- Rotation Axis Estimation of Ankle Joint
- Ankle Joint
- Rotation Axis Estimation
- Experiment and Result
- Conclusions
- References
- Mechanisms and their Applications
- Inverse Kinematics Solution of a Class of Hybrid Manipulators
- Introduction
- Overview of Kinematic Configuration and Modeling
- Inverse Kinematics Solution
- A Numerical Example
- Discussion and Conclusion
- References
- Stiffness Analysis of Clavel's DELTA Robot
- Introduction
- Inverse Kinematics
- Static Force Transmission
- Stiffness Model
- Relevant Structural Stiffness Effects
- Results
- References
- Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy
- Introduction
- Mechanism Description and Inverse Kinematics
- Optimum Kinematic Design
- Indices Definition
- Normalization of the Geometric Parameters
- Optimum Kinematic Design
- Performance Comparison between Redundant and Non-redundant Manipulators
- Conclusions
- References
- Integrated Structure and Control Design for a Flexible Planar Manipulator
- Introduction
- Dynamic Modeling of a Flexible Five-Bar Linkage
- Kinetic and Potential Energy of a Five-Bar Linkage
- Boundary and Constraint Conditions
- Dynamic Equation Using Lagrangian Formulation
- Integrated Design Problem Formulation
- Controller, Performance Indices and Design Variables
- Problem Formulation
- Simulation and Discussion
- Conclusion
- References
- Effects of Clearance on Dynamics of Parallel Indexing Cam Mechanism
- Introduction
- Modelling Indexing Cam Mechanism
- Profile of Parallel Indexing Cam Based on Exponential Product Formula
- Unilateral Contact Model and Clearance Model
- Simulation of Parallel Indexing Cam Mechanism with Clearance
- Dynamics Response
- Effects of Change of Clearance on Responses of Turret and Rotary Table
- Conclusion
- References
- Design and Compliance Experiment Study of the Forging Simulator
- Introduction
- Design of the Forging Simulator
- Kinematic Analysis
- Performance Analysis
- Optimal Work Space
- Building of Forging Simulator Platform
- Compliance Experiment Study of the Forging Simulator
- Calibration of the Overflow Valve's Value
- Reproducing of Forging Process
- Conclusion of Experiments
- Conclusion
- References
- Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars
- Introduction
- Problem Definition
- Methods
- Moment
- Optimization
- Results and Discussion
- Conclusion
- References
- Multi Robot Systems
- DynaMOC: A Dynamic Overlapping Coalition-Based Multiagent System for Coordination of Mobile Ad Hoc Devices
- Introduction
- Problem Definition
- Related Work
- Description of DynaMOC
- DynaMOC Data Structure
- Decision Support Module
- Coordination Module
- Case Study
- Area Coverage and the Application of the System
- Performance Tests
- Conclusions
- References
- Design of a High Performance Quad-Rotor Robot Based on a Layered Real-Time System Architecture
- Introduction
- Related Work
- Outline
- MAV System Architecture
- System Layers
- Real-Time Software Framework
- Hardware Setup
- Computer Board
- Sensors
- Wireless Communication
- Flight Frame and Actuators
- Performance Benchmark
- System Identification of the Roll and Pitch Axis
- An H Controller Design for the Roll and Pitch Axis
- Conclusion and Future Work
- References
- Simple Low Cost Autopilot System for UAVs
- Introduction
- Problem Statement and Requirements
- Path Planning System
- Environment Creation - MATLABTM GUIs, GIS System Integration and Data Interaction
- Waypoints for Path Planning
- Proposed Path Planning Algorithm
- Development of Joint Architecture for Unmanned Systems (JAUS) Based Intelligent Messaging Architecture(IMA)
- A* Algorithm Implementation
- Performance of the Developed Algorithm
- Testing and Simulation of Flight Path
- Matlab Simulation
- Google Earth Simulation
- Limitations and Future Improvement
- Conclusion
- References
- A Marsupial Relationship in Robotics: A Survey
- Introduction
- The Marsupial Relationship and Its Definition
- The Roles of the Marsupial Members
- The Container Roles
- The Passenger Roles
- Discussion
- Application of Marsupial Robots
- Space
- Aerial
- Ground
- Underground
- Underwater
- Summary and Open Issues
- References
- Multi-objective Robot Coalition Formation for Non-additive Environments
- Introduction
- Related Work
- Problem Definition and Solution Strategy
- Multi-objective Approaches
- Experiments
- Conclusion and Future Work
- References
- Development of a Networked Multi-agent System Based on Real-Time Ethernet
- Introduction
- Network Architecture
- Design and Development
- Hardware Design
- Real-Time Communication Protocol
- Real-Time Analysis
- Experimental Results
- Real-Time Performance
- Servo-Control Performance
- Conclusions and Future Work
- References
- A Conceptual Agent-Based Planning Algorithm for the Production of Carbon Fiber Reinforced Plastic Aircrafts by Using Mobile Production Units
- Introduction
- Application Scenario
- Related Literature
- Requirements
- A Concept for Agent-Based Planning and Control of the Assembly of Carbon Fiber Reinforced Aircrafts
- The Proposed Architecture
- The Conceptual Planning Algorithm
- The Scientific Contributions
- Outlook
- Conclusion
- References
- Robot Mechanism and Design
- Trajectory Tracking and Vibration Control of Two Planar Rigid Manipulators Moving a Flexible Object
- Introduction
- Kinematics and Dynamics of Beam
- Kinematics of Beam
- Dynamics of Beam
- Manipulator Dynamics and Combined Dynamics
- Manipulators Dynamics
- Combined Dynamics
- Singular Perturbation Model
- Slow Subsystem
- Fast Subsystem
- Composite Control
- Robust Controller Design for Slow Subsystem
- Control Design for Fast Subsystem
- Stability Analysis
- Simulation Studies
- Conclusion
- References
- Concept and Design of the Modular Actuator System for the Humanoid Robot MYON
- Introduction
- Concept of MYON's Actuator System
- Realization and Implementation
- Realization of the Components
- Implementation of the Components
- Conclusion and Outlook
- References
- Design of a Passive, Bidirectional Overrunning Clutch for Rotary Joints of Autonomous Robots
- Introduction
- Construction and Functional Principle
- Overview
- Basic Components
- Description of the Internal Structure
- Mechanical Grounding
- Operational Modes and Coupling Sequences
- Experimental Validation
- Conclusion and Outlook
- References
- DeWaLoP-Monolithic Multi-module In-Pipe Robot System
- Introduction
- Common In-Pipe Robot Systems
- DeWaLoP - Developing Water Loss Prevention Robot System
- In-Pipe Multi-module Robot System
- In-Pipe Robot Size
- DeWaLoP Monolithic Multi-module Robot System
- Conclusion
- References
- Design and Control of a Novel Visco-elastic Braking Mechanism Using HMA
- Introduction
- Hot Melt Adhesive and Braking
- HMA Thermodynamics
- HMA Bonding Strength
- Standard Brake Design and Mechanism
- Experiment and Results
- Holding Torque and Deflection
- Heating and Cooling
- Results
- Conclusion and Future Work
- References
- Parallel Kinematics, Parallel Kinematics Machines and Parallel Robotics
- Topological Design of Weakly-Coupled 3-Translation Parallel Robots Based on Hybrid-Chain Limbs
- Introduction
- Basic Theory[6]
- The Motion Output Matrix of a Parallel Robot
- The Motion Output Equation of Parallel Robot
- Degree of Freedom
- Design of Hybrid Chain Limb
- Hybrid-Chain Limb
- Design Steps of HCL
- The Design Procedures for 3-Translation Parallel Mechanisms
- Topological Structure Classification
- Conclusions
- References
- Working Space and Motion Analysis on a Novel Planar Parallel Manipulator with Three Driving Sliders
- Introduction
- Innovative Design and Kinematic Model
- Innovative Design
- Direct Kinematics
- Inverse Kinematics
- Workspace Analysis
- Maximal Range of Swing Angle under Given Position
- Maximal Range of Position (X, Y) under Given Orientation
- Application and Experimental Prototype
- Conclusions
- References
- Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision
- Introduction
- Singular Perturbation Standard Model
- Dynamics
- Dynamics with Ideal Cables
- Dynamics with Real Cables
- Singular Perturbation Model
- Control
- Control Law for the Rigid Model
- Control Law for the Elastic Model
- Simulation Study
- Conclusions
- References
- CAD-2-SIM - Kinematic Modeling of Mechanisms Based on the Sheth-Uicker Convention
- Introduction
- Preliminaries
- Terminology
- Transformations and Displacements
- Mechanisms and Graph Theory
- Kinematic Notation Conventions
- The Convention by Denavit and Hartenberg
- The Convention by Gupta
- Sheth and Uicker's Two-Frame Convention
- Computation of Forward Kinematics
- Automated FK-Computation for Frames in the Spanning Tree
- Embedding FK-Computations for Parallel Substructures
- Remarks
- Generation of the Mechanism Specification
- Conclusion and Outlook
- References
- Handling and Manipulation
- Non-rigid Object Trajectory Generation for Autonomous Robot Handling
- Introduction
- Generic Representation of Clothes
- Garment Handling Sequence
- Concluding Remarks
- References
- Robotized Sewing of Fabrics Based on a Force Neural Network Controller
- Introduction
- The Robotized Sewing Problem and Its Difficulties
- The Experimental Setup and the Neural Network Control Scheme
- Discussion of Sewing Results
- Conclusion
- References
- Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points
- Introduction
- Insertion of Bendable Flat Cables
- Shape Returning Points
- Guidance of Cable Tip
- Experiments on Cable Guidance and Insertion
- Concluding Remarks
- References
- A Vision System for the Unfolding of Highly Non-rigid Objects on a Table by One Manipulator
- Introduction
- Basic Observations /Characteristics
- A Brief Description of the Unfolding Procedure
- The Cloth's Regions of Interest
- The Vision System
- Experimental Results
- Conclusion
- References
- Tangibility in Human-Machine Interaction
- Optimizing Motion of Robotic Manipulators in Interaction with Human Operators
- Introduction
- Optimization-Based Robotic Manipulation for HRI
- Determination of Safety-Relevant Regions
- Solution of the Motion Planning Problem
- Application Results
- A Human-Robot-Interaction Scenario
- Generation of the Safety-Relevant Regions Using Probabilities
- Optimized Trajectories of the Robot Using MPC
- Conclusions and Current Work
- References
- Haptic Display of Rigid Body Contact Using Generalized Penetration Depth
- Introduction
- Related Work
- Haptic Display Using GPD
- Pre-computed C-Space for Planar 3-DoF Rigid Body
- Implementation
- Results
- Local Construction of C-Space for Spacial 6-DoF Rigid Body
- Algorithm
- Results and Discussion
- Conclusions
- References
- Assistive Robots in Eldercare and Daily Living: Automation of Individual Services for Senior Citizens
- Introduction
- Related Work and Lessons Learned in Developing Service Robots
- Care-O-bot 3
- Examples for Service Robot Application Scenarios
- Evaluation of Care-O-bot 3 in an Eldercare Facility
- Evaluation of Target-Group Specific Human-Robot Interfaces
- Information Input for People Suffering from Kinetic Tremor
- Conclusion
- References
- Key Factors for Freshmen Education Using MATLAB and LEGO Mindstorms
- Introduction
- Educational Project Environment
- Programming Software
- Educational Robotics
- MATLAB-Mindstorms NXT Interface
- Hands-on Project "MATLAB Meets LEGO Mindstorms
- Educational Key Factors
- Follow-Up Projects
- University of Cambridge, UK
- Other Projects
- Conclusions
- References
- Navigation and Localization of Mobile Robot
- Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot
- Introduction
- Dynamic Modeling
- Formulation Problem and Controllers Design
- Formulation Problem
- Controllers Design
- Experimental Results
- Conclusions
- References
- A Study on Localization of the Mobile Robot Using Inertial Sensors and Wheel Revolutions
- Introduction
- Localization
- Localization Using Inertial Sensors
- Localization Using Rotor Encoders
- The Kalman Filter
- The Experiment Results
- Conclusions
- References
- Robust and Accurate Genetic Scan Matching Algorithm for Robotic Navigation
- Introduction
- Previous Solutions to the Scan Matching Problem
- ICP Based Scan Matching
- Metric Based ICP
- Genetic Based Scan Matching
- GLASM Genetic Algorithm
- Hybrid Solution
- The Proposed Hybrid Scan Matching Algorithm
- Experimental Results
- Final Remarks and Conclusions
- References
- Beacon Scheduling Algorithm for Localization of a Mobile Robot
- Introduction
- Introduction to iGS(indoor GPS System)
- Multi-block Localization Using iGS
- Distance Measurement and Calculation of the Absolute Location
- Multi-block Localization System
- Beacon Scheduling
- Experiments
- Conclusions
- References
- Position Estimation Using Time Difference of Flight of the Multi-coded Ultrasonic
- Introduction
- Signal Processing of Multi-coded Ultrasonic
- Position Estimation Using TDOF
- Experiment
- Conclusion
- References
- Detecting Free Space and Obstacles in Omnidirectional Images
- Introduction
- System Architecture
- Image Segmentation
- Classification
- Fuzzy Preference Structures
- Experimental Results
- Conclusion
- References
- A Composite Random Walk for Facing Environmental Uncertainty and Reduced Perceptual Capabilities
- Introduction
- Methods
- Random Searches
- Systematic Searches
- Composite Random Walk
- Simulations
- Results
- Conclusions and Future Work
- References
- Motion Design for Service Robots
- Introduction
- Motion Design Problem: General Assumptions and Notations
- The Workspace Model
- Optimal Motion Design
- Motion Design in Static Environment
- Avoiding Moving Obstacles
- Manipulator Motion Planning
- Experiments
- Conclusions
- References
- Author Index
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