Robot Intelligence Technology and Applications 5

Name: Robot Intelligence Technology and Applications 5 | Results from the 5th International Conference on Robot Intelligence Technology and Applications
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Results from the 5th International Conference on Robot Intelligence Technology and Applications

Jong-Hwan Kim Hyun Myung Junmo Kim Weiliang Xu Eric T. Matson Jin-Woo Jung Han-Lim Choi(Editor)

Springer (Publisher)

1st Edition

Published on 31. May 2018

XI, 579 pages

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978-3-319-78452-6 (ISBN)

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Content

Intro
Preface
Contents
Artificial Intelligence
Artificial Intelligence Approach to the Trajectory Generation and Dynamics of a Soft Robotic Swallowing Simulator
1 Introduction
2 Generating Different Peristalsis Pattern in the Swallowing Robot
2.1 Matsuoka Oscillator
2.2 Problem Formulaton for the Parameter Estimation
3 Optical Motion Tracking and System Identification of the Swallowing Robot
3.1 Swallowing Robot's Motion Capture by Vicon
3.2 Processing the Captured Time-Series Data
3.3 State Initialisation
3.4 Defining Regression Problem
4 Results
4.1 Parameter Estimation Results
4.2 Preprocessing Results
4.3 Regression Results
5 Conclusion
References
Reinforcement Learning of a Memory Task Using an Echo State Network with Multi-layer Readout
1 Introduction
2 Method
2.1 Network
2.2 Learning
3 Experiment
4 Result
5 Conclusion
References
Selective Filter Transfer
1 Introduction
2 Method
2.1 Pretraining
2.2 Evaluating the Pre-trained Filters
2.3 Isolated Fine-Tuning and Re-initialization
2.4 Whole Network Fine-Tuning
3 Experiment
3.1 Database
3.2 Modified AlexNet
3.3 Transfer Learning
4 Discussion
4.1 An Ablation Study
5 Conclusion
References
Improving Deep Neural Networks by Adding Auxiliary Information
1 Introduction
2 The Effect of Additional Information
3 Model Architecture
4 Some Examples of Auxiliary Information
5 Experimental Results
6 Conclusion and Future Works
References
5 Improved InfoGAN: Generating High Quality Images with Learning Disentangled Representation
Abstract
1 Introduction
2 Motivation
3 Model Description
4 Experiments
4.1 Varying Code c and Fixed Noise z
4.2 Comparison of the Results with the Proposed Model to InfoGAN Results
5 Conclusion
References
Task-related Item-Name Discovery Using Text and Image Data from the Internet
1 Introduction
2 Related Works
3 Proposed Method
3.1 Text Data Mining
3.2 Images Collection
3.3 Item-Name Likelihood Measurement
4 Experimental Results
4.1 Text Data Mining
4.2 Item-Name Likelihood Measurement Experiment
5 Conclusion
References
An Exploration of the Power of Max Switch Locations in CNNs
1 Introduction
2 Related Work
3 The Power of Max Switch Locations
3.1 Image Reconstruction
3.2 Image Classification
4 Future Work and Discussion: Knowledge Transfer
4.1 The Max Transfer Pool
4.2 The Max Encourage Pool
5 Conclusion
References
An Empirical Study on the Optimal Batch Size for the Deep Q-Network
1 Introduction
2 Optimal Batch Size
3 Experiment
3.1 Environment
3.2 Result
4 Discussion
4.1 Completion Rate
4.2 Mean Training Time, Steps, and Time/Step
5 Conclusion
References
9 Design and Development of Intelligent Self-driving Car Using ROS and Machine Vision Algorithm
Abstract
1 Introduction
2 Mechanical Design
3 Electrical Design
3.1 RaspiCam Video Camera
3.2 Master Control Unit: Raspberry Pi B3 Microprocessor
3.3 Slave Control Unit: Arduino Development Platform
3.4 Wireless Serial Peripheral Interface Communication: nRF24L01 Module
3.5 Ping Sensors (Ultrasonic Sensor)
3.6 Adafruit Motor Drive Shield
3.7 Power Source: Lithium Polymer Battery
3.8 ROS: Robot Operating System
4 Algorithm Explanation
4.1 Resizing of Image Frame
4.2 Gaussian Blur Algorithm
4.3 Conversation from BGR (Blue, Green, Red) to HSV (Hue, Saturation, Value)
4.4 Removing Unwanted Area from Image Frame
4.5 Dynamic Threshold Parameter
4.6 Dynamic Threshold Setting
4.7 Masking Based on Dynamic Threshold Parameters
4.8 Applying Erosion, Opening, and Closing
4.9 New Regions of Interest for Turning Decisions/Taking Decisions for Motor Commands
4.10 Sending Commands to Arduino Through SPI
5 Conclusion
Acknowledgements
References
10 Intelligent Smart Glass for Visually Impaired Using Deep Learning Machine Vision Techniques and Robot Operating System (ROS)
Abstract
1 Introduction
1.1 Related Work
1.2 Total Servable Market
1.3 Working Principle
2 Design and Fabrication of Smart Glass
3 Proposed Framework
3.1 Ultrasonic Hand Device
3.2 Computer Vision Glasses (Real-Time Object Detection Using Deep Learning)
3.2.1 Single Shot Detection
3.2.2 MobileNets
3.3 Emergency Situation
4 Result and Discussion
4.1 Obstacle Detection in the Environment
4.2 Validation from Visually Impaired People
5 Application
6 Conclusion and Future Discussion
References
A Proactive Robot Tutor Based on Emotional Intelligence
1 Introduction and Related Work
2 Proposed Model
3 Flowchart Mechanism of ECS
4 Scenario and Results
5 Conclusion
References
12 Reusability Quality Metrics for Agent-Based Robot Systems
Abstract
1 Introduction
2 Component-Based Software Engineering
2.1 Fenton and Melton Software Metric
2.2 Dharma Coupling Metric
3 Service-Oriented Architecture
3.1 Service-Oriented Device Architecture (SODA)
3.2 Business Commonality Metrics
3.3 Modularity Metrics
3.4 Adaptability Metrics
3.5 Standard Conformance Metrics
3.6 Discoverability Metrics
3.7 Reusability Metric
4 Case Study
4.1 Drone-Based Building Inspection System
4.2 Metric Measurement
5 Conclusion
References
Autonomous Robot Navigation
SVM-Based Fault Type Classification Method for Navigation of Formation Control Systems
1 Introduction
2 Formation Control Algorithm
2.1 Networked Multi-Agent Model
2.2 Formation Control Law
3 Support Vector Machine Based Fault Classification with Fault Detection
3.1 Fault Detection
3.2 Fault Type Learning and Classification
4 Simulation
4.1 Simulation Setup
4.2 Simulation Results
5 Conclusion
References
Indoor Magnetic Pose Graph SLAM with Robust Back-End
1 Introduction
1.1 Basic Formulation
1.2 Design of Constraints
2 Magnetic Field Constraints
2.1 Magnetic Pivoting
2.2 Sequence-Based Loop Closing
3 Robust Back-End
3.1 Switchable Constraint
3.2 Max-Mixture
4 Experiments
4.1 Experimental Setup
4.2 Results
5 Conclusion
References
Multi-robot SLAM: An Overview and Quantitative Evaluation of MRGS ROS Framework for MR-SLAM
1 Introduction
2 Simultaneous Localization and Mapping
2.1 Mathematical Formulation
2.2 Online Versus Offline
2.3 SLAM Approaches
2.4 Map Representation
3 Multi-robot SLAM
3.1 Centralization Versus Decentralization
3.2 Communication and Information Sharing
3.3 Map Fusion
3.4 Mutli-robot SLAM Implementations
4 mrgs ROS Stack
4.1 SLAM Packages Used
4.2 Map Fusion
4.3 Technical Overview of ROS Implementation
5 Experimental Results
5.1 Experiment Setup
5.2 Evaluation Metrics
5.3 Results and Discussion
6 Conclusion
References
16 A Reinforcement Learning Technique for Autonomous Back Driving Control of a Vehicle
Abstract
1 Introduction
2 Vehicle Dynamics
3 Reinforcement Learning Algorithm
4 Simulation Results
5 Conclusions
Acknowledgements
References
Rapid Coverage of Regions of Interest for Environmental Monitoring
1 Introduction
2 Problem Formulation
3 Adaptive Hierarchical Area Decomposition and Coverage
3.1 Adaptive Hierarchical Area Decomposition
3.2 Finding Subregions
3.3 Utility Function Design
4 Finding ROIs
5 Simulation Results
5.1 Finding Coverage Path that Connects the Desired Number of ROIs
5.2 Performance Comparison
6 Conclusion
References
Intelligent Robot System Design
Embedded Drilling System Using Rotary-Percussion Drilling
1 Introduction
2 Locomotion Unit
2.1 Leg Mechanism
2.2 Caterpillar Gait
3 Drilling Unit
3.1 Drilling Methods
3.2 Mechanism of the Drilling Unit
4 Simulation
5 Conclusion
References
19 Design and Development of Innovative Pet Feeding Robot
Abstract
1 Introduction
2 Mechanical Design
2.1 Chassis
2.2 Mechanism
2.3 Finite Element Analysis
3 Pet Feeding Robot System
3.1 Graphical User Interface
3.2 Raspberry Pi-Arduino RF-SPI Communication
3.3 Camera Feedback
3.4 Mechanical Layer and Power Management
4 Result and Discussion
5 Modification with Robotic Arm
6 Problems and Challenges
7 Conclusion and Future Discussion
Acknowledgements
References
20 SignBot, Sign-Language Performing Robot, Based on Sequential Motion of Servo Motor Arrays
Abstract
1 Introduction
2 System Design and Structure
2.1 Mechanical Design of SignBot
2.2 Servo Mechanism
2.3 Robot Hands' Movements
3 Result and Discussion
4 Conclusion
References
21 Isolated Bio-Regenerative System for Vertical Farming Through Robots in Space Explorations
Abstract
1 Introduction
1.1 Need for Exploring Extra-Terrestrial Life Support
1.2 Challenges of Extraterrestrial Life Support
2 Challenges in Bioregenerative System in Space
2.1 Effect of Gravity on Such System
2.2 Elevated Microbial Concentration in a Closed System
3 Proposed Solution for Such System
3.1 Isolated Chamber
3.2 Dimensions of the Isolated Chamber with Respect to the Dragon Spacecraft
3.3 Stress Analysis of the Isolation Chamber During the Launch. Physical Properties of the Material
3.4 Use of Robots
4 Control of Robots in the Absence of Human Intervention
5 Conclusion
References
22 A Mobile Social Bar Table Based on a Retired Security Robot
Abstract
1 Introduction
2 Before and After
3 How does a Bar Table Behave?
4 Designed to Wait
5 Preliminary Testing
6 Conclusion
References
I Remember What You Did: A Behavioural Guide-Robot
1 Introduction
2 Background and Motivation
3 Memory and Experience in EEGS
4 Evaluation
4.1 Experiment Design
5 Conclusion
References
24 Robot Supporting for Deaf and Less Hearing People
Abstract
1 Introduction
2 Structures of Robot
3 Communication of Robot for the Deaf People
4 Technical Solution of Gesture Recognition
5 Conclusions
Acknowledgements
References
25 The Use of Machine Learning for Correlation Analysis of Sentiment and Weather Data
Abstract
1 Introduction
2 Big Data
3 Sentiment Analysis on Social Media Data
4 The Sentimental Analysis with Weather Data
5 Twitter Dataset
6 Sentiment Pattern Analysis
7 Experimental Results
8 Conclusion
Acknowledgements
References
Design and Analysis of a Novel Sucked-Type Underactuated Hand with Multiple Grasping Modes
1 Introduction
2 Sucked-Type Underactuacted Hand
2.1 Mechanical Structure
2.2 Vacuum System
2.3 Three Grasping Modes
3 Modeling and Analysis
3.1 Kinematic Model
3.2 Mechanical Equilibrium
4 Experiment
4.1 Model Validation
4.2 Effective Suction Cups
4.3 Grasping Modes Test
5 Conclusion
References
27 Robotizing the Bio-inspiration
Abstract
1 Introduction
1.1 The Maiden Companionship
1.2 The Contemporary Apprehension
1.3 Outfit of a Soft Robot
1.4 Paper Organization
2 Soft Robotics Design Techniques and Materials
3 Sensors and Actuators in Soft Robotics
4 Discussion
5 Conclusion, Key Challenges and the Future Work
References
Intelligent Sensing and Control
28 An Observer Design Technique for Improving Velocity Estimation of a Gimbal System
Abstract
1 Introduction
2 Configuration of a CMG
3 Review of a Velocity Observer
4 Experiment
4.1 Experimental Setup
4.2 Experimental Results
5 Conclusion
Acknowledgements
References
29 Voice Controlled Multi-robot System for Collaborative Task Achievement
Abstract
1 Introduction
2 Framework for Machine Cooperation and Interaction
2.1 System Overview
2.2 Voice User Interaction
2.2.1 Voice Interaction Overview
2.2.2 Voice Interaction Design
2.3 Robot Navigation
2.3.1 Map Construction
2.3.2 Localization
2.3.3 Path Planning
2.4 Task Achievement
3 Experiments
3.1 Map Generation
3.2 Navigation
3.3 Task Achievement
4 Conclusion
References
30 The Control of an Upper Extremity Exoskeleton for Stroke Rehabilitation by Means of a Hybrid Active Force Control
Abstract
1 Introduction
2 Control Architecture
3 Results and Discussion
4 Conclusion
Acknowledgements
References
31 Intellectual Multi Agent Control of Tripod
Abstract
1 Introduction
2 Statement of the Problem
3 Decupling of the Model Tripod
4 Solution of the Design Task
5 Control Algorithm of Tripod
6 Conclusion
Acknowledgements
References
32 Estimation and Recognition of Motion Segmentation and Pose IMU-Based Human Motion Capture
Abstract
1 Introduction
2 Node Architecture
3 Kinematics
4 Communications
5 Experiments and Discussions
6 Conclusion
Acknowledgements
References
33 Fault Diagnosis of a Robot Manipulator Based on an ARX-Laguerre Fuzzy PID Observer
Abstract
1 Introduction
2 Problem Statements
3 ARX-Laguerre Fuzzy PID Observation Method
3.1 Dynamic Modeling Based on ARX-Laguerre
3.2 Fault Diagnosis
4 Results and Discussion
4.1 Case 1 (Normal Condition)
4.2 Case 2 (Actuator Fault Condition)
4.3 Case 3 (Sensor Fault Condition)
4.4 Case 4 (Actuator and Sensor Fault Condition)
5 Conclusions
Acknowledgements
References
A Two-Level Approach to Motion Planning of Soft Variable-Length Manipulators
1 Introduction
2 Motion Planning Algorithm
2.1 Problem Formulation
2.2 Algorithm Overview
2.3 Interim Target Generator
2.4 Configuration Generator
2.5 Heuristic Motion Selection in Task Space
3 Simulation Results
3.1 Setup
3.2 Comparison Experiments
3.3 Performance Evaluation
3.4 Extensional Experiments
4 Discussions
5 Conclusion
References
A Grasp Strategy for Polygonal Objects Using a Honeycomb Pneumatic Network Soft Gripper
1 Introduction
2 Honeycomb Pneumatic Network Soft Gripper
3 Grasp Planning of Soft Gripper
3.1 Grasp Planning
3.2 Feasible Grasping Solution
3.3 Evaluation Function
3.4 Solution Procedure of Grasping
3.5 Relative Form Closure Theory
4 Experimental Verification
4.1 Simulated Environment
4.2 Experimental Result and Discussion
5 Conclusion
References
A Parameterized Description of Force Output of Soft Arms in Full Workspace
1 Introduction
2 Load Ability and Workspace
2.1 Workspace-Load Cloud
3 Simulation Result
3.1 Setup
3.2 Fitting and Prognosis Experiments
4 Conclusion
References
37 Intelligent Multi-fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)
Abstract
1 Introduction
2 Design and Manufacturing of Hand/Forearm
3 Working Principle
4 Electrical System and Control of the Robotic Arm
4.1 Master Control Unit
4.2 Slave Control Unit
5 Result and Discussion
5.1 Application
5.2 Conclusion and Future Discussion
Acknowledgements
References
FEA Evaluation of Ring-Shaped Soft-Actuators for a Stomach Robot
1 Introduction
2 FEA Design and Experimental Methods
2.1 Basic Structure and Working Principle
2.2 FEA Method
3 Results
3.1 Experiment with a Fixed Pressure for the Four Models
3.2 Experiment with a Maximum Applied Pressure Without a Distortion on the Actuators
4 Discussion
5 Conclusion
References
Machine Vision
39 Detection and Classification of Vehicle Types from Moving Backgrounds
Abstract
1 Introduction
2 VRDI Dataset
3 Offline Learning
3.1 Training Sample Selections
3.2 HOG Feature Extraction and Classification
4 Online Training
4.1 Initial ROIs Detection
4.1.1 Object Extraction Using Background Subtraction
4.1.2 Background Updating
4.1.3 Object Localisation
4.2 ROI Tracking and Updating
5 Experiment and Discussion
5.1 Performance Metrics
5.2 Experimental Results
6 Conclusion
References
Multi-object Tracking with Pre-classified Detection
1 Introduction
2 Proposed Method
2.1 Detection Classification
2.2 Track Tree Updating
2.3 High Uncertainty Tree Pruning
3 Experimental Evaluation
3.1 Comparison of Our Tracker with Two or Three Categories
3.2 MOT16 Result Comparison
4 Conclusion
References
Autonomous 3D Model Generation of Unknown Objects for Dual-Manipulator Humanoid Robots
1 Introduction
1.1 Related Work
1.2 Basic Methodology
2 Tracking the Gripper's Movements
3 Model Creation
3.1 Disabling Collision Checking
3.2 Selecting Poses
3.3 Filtering of Sensor Data and Robot Links
3.4 Transforming Points to the Gripper Frame
3.5 Normal Iterative Closest Point (NICP) Registration
3.6 Changing Hands
3.7 Merging Both Partial Models
3.8 Building the Mesh of Model
4 Experimental Results
5 Conclusions
6 Future Work
References
42 Adaptive Planar Vision Marker Composed of LED Arrays for Sensing Under Low Visibility
Abstract
1 Introduction
2 Materials and Methods
2.1 Image Processing Algorithms for the LED Marker Detection
2.2 Experiments Under the Low Visibility Conditions
3 Result and Discussion
3.1 Reconstruction of LED Matrix Displayed Markers
3.2 Detection Under the Low Visibility Environments
4 Conclusions and Future Work
Acknowledgements
References
Development of Robust Recogintion Algorithm of Retro-reflective Marker Based on Visual Odometry for Underwater Environment
1 Introduction
2 Methodology
2.1 Retro-reflective Marker
2.2 Marker Recognition Algorithm
3 Result
3.1 Experiment
3.2 Conclusion
References
44 A Robust Estimation of 2D Human Upper-Body Poses Using Fully Convolutional Network
Abstract
1 Introduction
2 Related Research Trends
2.1 Skeleton Extraction Using Depth Information
2.2 Skeleton Extraction Using RGB Image Information
3 Pose Estimation Algorithm
3.1 Fully Convolutional Network
3.2 Pose Estimation Using Joint Confidence Map
4 Evaluation
4.1 Datasets for Experiments
4.2 Training and Testing Method
4.3 Experimental Results
5 Conclusion
Acknowledgements
References
45 Surface Crack Detection in Concrete Structures Using Image Processing
Abstract
1 Introduction
2 Proposed Crack Detection Algorithm
2.1 Image Preprocessing
2.2 Noise Filtering
3 Discussion and Conclusions
References
46 Evaluation of High-Speed Image Processing for Low Latency Control of a Mechatronic System
Abstract
1 Introduction
2 Background
2.1 Semi-automated Foosball Table Control System
2.2 Latency in Control Systems
2.3 Related Work
3 Experiment Design
3.1 Aim
3.2 Methodology
3.3 Test Platforms
3.4 Data Analysis
4 Results
5 Discussion
5.1 Immediate Usefulness of Results
5.2 Comparison of Performance
5.3 Automated Foosball
6 Conclusions
References
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Robot Intelligence Technology and Applications 5

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