Intelligent Robotics and Applications

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

Sabina Jeschke Honghai Liu Daniel Schilberg(Editor)

Springer (Publisher)

Published on 3. December 2011

XXIV, 623 pages

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978-3-642-25489-5 (ISBN)

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Content

Intro
Title page
Preface
Conference Organization
Table of Contents
A Body for the Brain: Embodied Intelligence in Bio-inspired Robotics
Biomechatronics for Embodied Intelligence of an Insectoid Robot
Introduction
Biomechatronic Transfer of Morphological Features
Bio-inspired Drive Technology for Leg and Body Joints
Lean Communication on the Robot
Discussion
References
Novel Approaches for Bio-inspired Mechano-Sensors
Introduction
Inspiration from Biology
Related Work
Approaches for Developing Tactile Sensors for Static Stimuli
Building Tactile Sensor Arrays Using Piezoresistive Materials
Flexible Tactile Array Sensor Using Conductive Thread Electrodes
Flexible Tactile Array Sensor Using Conductive Polymer Electrodes
Approaches for Developing Tactile Sensors for Dynamic Stimuli
Experimental Results and Applications
Data Acquisition
Classification of Fruits and Vegetables Using Haptic Feedback
Determination of Tactile Contact Profile of Small Objects
Determination of Gentle Contact and Vibrations
Conclusions
References
Helping a Bio-inspired Tactile Sensor System to Focus on the Essential
Introduction
Previous Work
Sensor Hardware
Interpreting Sensor Readings
Results
Conclusion
References
Robust Dataglove Mapping for Recording Human Hand Postures
Introduction
The Human Hand Model
Mapping from Cyberglove to Human Hand Model
The Thumb Abduction / Roll Sensor Mapping
The Finger Spread Sensor Mapping
The Abduction Sensor Dependency
Evaluation of the Mapping
Conclusion
References
Software/Hardware Issues in Modelling Insect Brain Architecture
Introduction
Insect Brain Model
Software/Hardware Framework
Robotic Platforms and Experiments
Definition of Scenarios
Conclusion
References
Higher Brain Centers for Intelligent Motor Control in Insects
Introduction
Learning and Memory in the Central Complex for Approaching Objects
Experimental Evidence
The Central Complex Model
Intelligent Motor Control beyond the Current Model
An Integrator for the Orientation in Gradients
Motor Learning
A Representation of Body Size in the Brain
Termination of Inappropriate Behavior
Conclusion
References
An Insect-Inspired, Decentralized Memory for Robot Navigation
Introduction
The Model
Results
Discussion
References
Models of Visually Guided Routes in Ants: Embodiment Simplifies Route Acquisition
Introduction
Background
Overview of Our Approach
Detailed Methods
Results
Summary
References
Intelligent Visual Systems
Robust Object Tracking for Resource-Limited Hardware Systems
Introduction
Overview of Tracking System
Dominant Color-Spatial Based Object Representation
Dominant Color Mode Extraction
Spatial Layout of the Dominant Color
Similarity Measure for Matching
Cross Bin-Ratio Based Color Similarity Measure
Spatial Similarity Measure
Swarm Intelligence Based Searching Method
Annealed Particle Swarm Optimization
Integral Image of Model Parameters
Experimental Results
Different Object Representations
Different Similarity Measure
Different Searching Methods
Conclusion
References
Adaptive Rank Transform for Stereo Matching
Introduction
Adaptive Rank Transform
The Motivation Behind Adaptive Rank Transform
Adaptive Rank Window
New Transform Rules
Comparison between Adaptive and Original Rank Transform
Obtaining the Match Window from Multiple Rank Windows
Experiments
Conclusion
References
Real Time Vision Based Multi-person Tracking for Mobile Robotics and Intelligent Vehicles
Introduction
Related Work
System Overview
System Realization
Visual Odometry
Object Detection
Tracking
Experimental Results
Conclusion
Acknowledgments.
References
A Method for Wandering Trajectory Detection in Video Monitor
Introduction
Algorithm Description
Target Detection
Determine the Initial Half-Line
Calculate the Angle
Judge the Type of Trajectory
Experimental Results and Analysis
Conclusion
References
The Design of a Vision-Based Motion Performance System
Introduction
Related Work
System Overview
Initialization
Feature Detection
Feature Tracking
3D Point Reconstruction and Display
Experiments and Analysis
Conclusion
References
Window Function for EEG Power Density Estimation and Its Application in SSVEP Based BCIs
Introduction
Experiment Setting
Subjects
EEG Recording
Experimental Paradigms
EEG Signal and Window Function
Application in SSVEP
Method
Result
Conclusion
References
Efficient Multi-resolution Plane Segmentation of 3D Point Clouds
Introduction
Related Work
Efficient Multi-resolution Segmentation into Planar Segments
Efficient Normal Estimation through Multiple Resolutions
Pre-segmentation in Hough-Space
Segmentation into Connected Components
Accurate Segmentation through RANSAC
Coarse-to-Fine Segmentation
Post-Processing
Experiments
Conclusion and Future Work
References
3D Body Pose Estimation Using an Adaptive Person Model for Articulated ICP
Introduction
Related Work
Basic Algorithm
Human Body Model
Articulated Iterative Closest Point Algorithm
Proposed Extensions
Data Segmentation
Data Assignment
Model Adaption
Self-collision Checking
Model Initialization
Experiments
Conclusions
References
Self-optimising Production Systems
Artificial Cognition in Autonomous Assembly Planning Systems
Introduction
Definitions
Cognition
Self-optimization
State of the Art
Software Architectures for Cognitive Technical Systems
Cognitive Technical Systems in Production Engineering
Assembly Planning Systems
The Project "Cognitive Planning and Control System for Production"
Objectives and Approach
Cognitive Capabilities of the CCU
Conclusion and Outlook
References
Self-optimization as an Enabler for Flexible and Reconfigurable Assembly Systems
Introduction
Self-optimizing Functions for Assembly Systems
Grasp Planning and Configuration
Quick Automated Commissioning of Assembly Systems after Reconfiguration
Planar Alignment for a Bonding Process
Summary and Outlook
References
Flexible Assembly Robotics for Self-optimizing Production
Introduction
Self-optimizing Assembly Systems
Research Results
Intermediate Conclusion
Research Roadmap
Enablers for Flexibility
Enablers for Cognition
Enablers for Autonomy
Conclusion
References
Meta-modeling for Manufacturing Processes
Introduction
Meta-modeling - Definition of Process-Independent Method
Definition of Process Properties and Model Requirements (B1)
Selection of Parameters (B2)
Determination of Process Domain (B3)
Selection of Data Source (B4)
Design and Setup of Experiment (B5)
Generation of Data (B6)
Selection of Model Class and Structure (B7)
Implementation of Model (B8)
Evaluation of Model Quality (B9)
Conclusion
References
Computational Intelligence
Control Architecture for Human Friendly Robots Based on Interacting with Human
Introduction
Intelligent Human Friendly Robot System
Control Software Architecture for the Service Robot
Experimental Result of a Control Software Architecture
The Experiment for Clearing Table
The Addition of a New Function to the Software Architecture
Conclusion
References
Multi-modal Communication Interface for Elderly People in Informationally Structured Space
Introduction
Monitoring System for Elderly People
Universal Remote Controller
Problem of Usability
Input Interface
Information Visualization
Experimental Result
Evaluation Result of Screen Design
Evaluation Result on Handling Ability
Summary
References
Motion Control Strategies for Humanoids Based on Ergonomics
Introduction
Simulating Anthropomorphic Multiagent Systems
Modeling Anthropomorphic Kinematics as Kinematic Trees
Controlling Anthropomorphic Kinematics as Multiagent Systems
Processing RULA
Connecting RULA to Anthropomorphic Kinematics
RULA Only Considers one Arm at a Time, in Its Original Form It Is Not Assessed for Both Arms at Once
RULA Is Only Assessed for Single Work Postures, in Its Original Form It Is Not Calculated Continuously
RULA Only Considers Postures Feasible for Humans, but Humanoids Are Typically Not Restricted to Human Joint Limits
Motion Control Strategies from RULA
Interpretation of RULA Scores as ``ergonomic stress
Reduction of RULA Scores with Nullspace Motions
Inversion of RULA to Identify Favorable Joint Configurations
Results
Conclusion
References
Fuzzy Representations and Control for Domestic Service Robots in Golog
Introduction
The Situation Calculus and Golog
Qualitative Fluents and Fuzzy Controllers in Golog
Fuzzy Fluents
Fuzzy Controller in Readylog
Applications in a Domestic Service Robotics Domain
A Domestic Service Robotics Domain (RoboCup@Home)
Qualitative Representations for Domestic Environments
Qualitative Notions in High-level Programs
Domestic Golog Fuzzy Controllers
Conclusions
References
Robot Control Systems
Minimum Jerk-Based Control for a Three Dimensional Bipedal Robot
Introduction
The Three dimensional Bipedal Robot
Morphology
Kinematic Model
Dynamic Model
Minimum Jerk-Based Control
Simulation Results
Conclusion
References
Development of a Smart Motion Control Card with an IEEE-1394 Interface
Introduction
Overview of IEEE 1394
System Design
IEEE-1394 Interface
DSP Module
FPGA Module
DAC Interface
Operation of Communication
Experimental Tests
Conclusion
References
Control System by Observer for a Hyper-redundant Robot
Introduction
Technological and Theoretical Preliminaries
Dynamic Model
Control by Boundary Observer
Problem 1: q(t,0) Is Available for Measurement (Fig.4)
Problem 2: q(t, l ) Is Available for Measurement (Fig.5)
Problem 3: q(t,l) and q(t,0) Are Available for Measurement (Fig.6)
Simulation
Experimental Results
Conclusions
References
Towards a Multi-peclet Number Pollution Monitoring Algorithm
Introduction
Technical Approach
Diffusion Based Controller
A Flow Information Controller
Experimental Setup
Results
Diffusion Based (Low Peclet Number) Environment
Medium to High Peclet Environment
Combining Controllers
Conclusion
References
Self-balancing Controllable Robots in Education: A Practical Course for Bachelor Students
Introduction
Realization of the Inverted Pendulum
Hardware
Firmware
Essential Requirements
Aims of the Software Project Programming Course
Simple Controller Design
Evaluation and Summary
References
Intelligent Control Design in Robotics and Rehabilitation
Introduction
Computer Modelling of Human Body or Humanoid Robots
Control Structure Design and Optimal Motor Learning
Design of Optimal Stabilizing Controllers
Case-Studies
Standing-Up Motion
Upward Standing Stabilization
Steps Performing
On Designing Active Orthoses
On Design Optimization of Biomechatronic Systems
Discussion
References
Human-Robot Interaction
Behavior Based Approach for Robot Navigation and Chemical Anomaly Tracking
Introduction
Subsumption Architecture for Robot Navigation and Chemical Anomaly Tracking
Navigation Based on Computer Vision System
Close Proximity Navigation
Chemical Sensors
Conclusion
References
Detection of Lounging People with a Mobile Robot Companion
Introduction
Related Work
Detection of Lounging People at Places
Definition of Places
Color-Based User Detection
HOG-Based User Detection
Experiments
Color-Based User Detection
HOG-Based User Detection
Conclusion and Future Works
References
Autonomous Control for Human-Robot Interaction on Complex Rough Terrain
Introduction
Mobile Manipulator Modeling
Kinematics of the Wheeled Mobile Robot
Kinematic Modeling of the Robot Arm
Control Architecture
Simulation and Results
Conclusions
References
A Modular Approach to Gesture Recognition for Interaction with a Domestic Service Robot
Introduction
A Multi-step Approach
Related Work
Hand Detection and Posture Recognition
Hand Detection
Hand Verification and Posture Recognition
Deictic Gestures
Tracking and Gesture Recognition
Hand Tracking
Gesture Recognition
Conclusion
References
Safety System and Navigation for Orthopaedic Robot (OTOROB)
Introduction
Architecture
Flexible Robotic Arm Vision System Architecture
Navigation System Architecture
Experimental Results
Flexible Robotic Arm Vision System Experimental Results
Navigation System Experimental Results
Conclusion
References
Approaching a Person in a Socially Acceptable Manner Using a Fast Marching Planner
Introduction
The ALIAS Robot and the Navigation System
State of the Art
The Dynamic Window Approach
Model of the Personal Space
Planning with Fast Marching and the Dynamic Window Approach
Fast Marching and the Cost Function
Extracting the Target Region
Experiments
Conclusions
References
Manipulators and Applications
Stiffness Identification for Serial Robot Manipulator Based on Uncertainty Approach
Introduction
Derivation of Enhanced Stiffness Model
Estimating the Joint Stiffness
Identification of Joint Stiffness
Simulating the Uncertainties of D-H Parameters
Probability Method of Estimating the Joint Stiffness
Experimental Setup and Results
Prediction of Joint Stiffness and Results
Summary
References
Serial Comanipulation in Beating Heart Surgery Using a LWPR-Model Based Predictive Force Control Approach
Introduction
A Hand-Held Instrument for Motion Compensation
Model
Modeling the Disturbance
Model-Based Predictive Force Control
Error Feedback Force Control Scheme with Anticipation Term
General Idea of MPC
Identification of Interaction Forces with LWPR
LWPR
Tuning LWPR for the Application
Results
Discussion
Overview and Conclusions
References
Application of Wavelet Networks to Adaptive Control of Robotic Manipulators
Introduction
Wavelet Networks
Robot Manipulators Dynamics
Control Design
Simulation Results
Conclusion
References
Development of a Deep Ocean Master-Slave Electric Manipulator Control System
Introduction
Manipulator System Overview
Hardware and Software of the Control System
Structure of Control System Hardware
Structure of Control System Software
Sensor System
Ultra-Sonic Sensor
Underwater Vision
Experiments
Ultra-Sonic Underwater Experiment
Grasp Experiment
Conclusion
References
Modelling of Flexible Link Manipulators
Introduction
Kinematic Equations
Hamiltonian Equations of Motion
Application to a Single-Link Manipulator
Conclusion
References
An Outline for an Intelligent System Performing Peg-in-Hole Actions with Flexible Objects
Introduction
State of the Art and Own Contributions
The Four Modules of the System
Sensing of Object Shape
Sensing of Material Properties
Modeling and Prediction
Execution and Learning
Discussion
References
Stability, Dynamics and Interpolation
Framework for Use of Generalized Force and Torque Data in Transitional Levels of Autonomy
Introduction
Generalized Force Data
Force Data Collection
Framework for Use of Generalized Force Data
Safety
Task Completion
Operator Burden
Framework
Demonstration and Implementation
Conclusions
References
A New Solution for Stability Prediction in Flexible Part Milling
Introduction
Mathematical Model of Milling Dynamics
Full-Discretization Method
Simulation and Experimental Verification
Discussion and Conclusions
References
A Practical Continuous-Curvature B´ezier Transition Algorithm for High-Speed Machining of Linear Tool Path
Introduction
Definition of $G^2$ Continuous Transition Curve
$G^2$ Continuous Blending of a Linear Tool Path
$G^2$ Continuity Condition
Analytical Solution of the Maximal Curvature of the Transition Curve
Upper Bound Curvature under the Constraint of Approximation Error
Global Optimization of Curvature Radii in Transition Curves
Computational Example
Conclusion
References
Design of a FPGA-Based NURBS Interpolator
Introduction
NURBS Interpolation Algorithm
Look-Ahead Algorithm and Hardware-Interpolator
Look-Ahead Algorithm
Hardware-Interpolator
System Description
Experiments and Conclusions
Experiments
Conclusions
References
Iso-scallop Trajectory Generationfor the 5-Axis Machining of an Impeller
Introduction
Tool Path Planning
Tool Orientation Determination
Case Study
Conclusions and Future Work
References
Evolutionary Robotics
Swarm Robot Flocking: An Empirical Study
Introduction
Modeling and Realization of Robots
Triangular Formation Algorithm (TFA)
Experiments and Discussion
Conclusions
References
Self-reconfiguration Path Planning Design for M-Lattice Robot Based on Genetic Algorithm
Introduction
Analysis of Self-reconfiguration Progress in M-Lattice Modular Robot System
Introduction of M-Lattice Modular Robot System
Math Representation of Self-Reconfiguration Problem
Path Planning Based on Genetic Algorithm
Introduction of Genetic Algorithm
Application of Genetic Algorithm
Simulation Experiments
Conclusions
References
Mobile Robot Controller Design by Evolutionary Multiobjective Optimization in Multiagent Environments
Introduction
Mobile Robots for Navigation
Basic Behaviors
Behavior Coordination
Sensory Network
Application of an EMO Algorithm
Computational Experiments
Experimental Setting
Experimental Results for Four Mobile Robots
Experimental Results for Situation Change
Conclusions
References
Learning Intelligent Controllers for Path-Following Skills on Snake-Like Robots
Introduction
Description of PIKo Robot
Path-Following Learning Algorithm
Example-Based Learning Stage
Tuning Stage
Results
Simulation Setup
Path-Following
Conclusions
References
Bio-inspired Robotics
Modular Behavior Controllerfor Under water Robot Teams: A Biologically Inspired Concept for Advanced Tasks
Introduction
Recent Research Directions
Goal of the Work
Biological Inspiration
3-Layer Behavior Control Architecture
Sensing Module
Swarming Module
Mission Module
Hierarchical Allocation of the Modules
Conclusion and Outlook
References
BioMotionBot - A New 3D Robotic Manipulandum with End-Point Force Control
Introduction
Design
Specification
Design Overview
Kinematics and Actuation
Sensor and Electronics
Control System
User Interface
Results
Conclusion
References
Adaptive Control Scheme with Parameter Adaptation - From Human Motor Control to Humanoid Robot Locomotion Control
Introduction
Dynamic Reduction in Modeling
Control Scheme Design
Basic Control Scheme
Additional Parameter Adaptation
Humanoid Robot Control Application
Conclusion
References
Online Walking Gait Generation with Predefined Variable Height of the Center of Mass
Introduction
Dynamical Modeling
Gait Generation
Model Predictive Control
Constraints
Results
Walking Underneath an Obstacle
Extending Kinematic Limits
References
Image-Processing Applications
Visual Control of a Remote Vehicle
Introduction
The Vision System
Why Euler?
The Figure and Its Raison d'"705Eetre
Algorithm
Relative Pose
Spatial Location
Constrains
Practical Application
The Vehicle
Filtering the Data
Car Control
The Hardware
The Results
References
Longitudinal and Lateral Control in Automated Highway Systems: Their Past, Present and Future
Introduction
The Platoon System Based on the Project KONVOI
The Past and Present of Automated Highway Systems
Future: The Automated Highway System to Be Developed
Possible Solutions for Heterogeneous Platoons and Unstructured Environment
Conclusion
References
Surface Defects Classification Using Artificial Neural Networks in Vision Based Polishing Robot
Introduction
Related Works
System Design
Material and Defects Classification
Sensor and Actuator
Surface Defects Classification
Image Acquisition
Image Adjusting and Filtering
Multilevel Threshold and Contour Region
Classification Using Artificial Neural Networks (ANN)
Parameters Selection
Network Architecture
Result and Discussion
Conclusion
References
Efficient Skin Detection under Severe Illumination Changes and Shadows
Introduction
Related Work
Proposed Method
Log-Chromaticity Color Space Properties
Skin Detection in Log-Chromaticity Color Space
Experimental Results
Skin Detection in Log-Chromatic Color Space
Comparative Results
Robustness against Illumination Variation and Shadow
Conclusion
References
Author Index

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Intelligent Robotics and Applications

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