Intelligent Robotics and Applications

Name: Intelligent Robotics and Applications | 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part I
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4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part I

Sabina Jeschke Honghai Liu Daniel Schilberg(Editor)

Springer (Publisher)

Published on 3. December 2011

XXIV, 643 pages

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978-3-642-25486-4 (ISBN)

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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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Intelligent Robotics and Applications

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