Next Wave in Robotics
14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011 Proceedings
Published on 25. August 2011
XIII, 292 pages
978-3-642-23147-6 (ISBN)
Description
This book constitutes the refereed proceedings of the 14th RoboWorld Cup and Congress of the Federation of International Robosoccer Association, FIRA 2011, held in Kaohsiung, Taiwan in August 2011.
The 34 revised papers presented were carefully reviewed and selected for inclusion in the proceedings out of a total of 110 contributed papers presented at FIRA 2011. The papers address a broad variety of current topics in robotics research, particularly in robot soccer.
More details
Series
Language
English
Place of publication
Berlin
Germany
Publishing group
Springer Berlin
Target group
Professional and scholarly
Illustrations
XIII, 292 p. 266 illus., 199 illus. in color.
File size
10,51 MB
ISBN-13
978-3-642-23147-6 (9783642231476)
DOI
10.1007/978-3-642-23147-6
Schweitzer Classification
Other editions
Additional editions
Tzuu-Hseng S. Li | Kuo-Yang Tu | Ching-Chih Tsai
Next Wave in Robotics
14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011 Proceedings
Book
08/2011
1st Edition
Springer
€53.49
Shipment within 7-9 days
Content
- 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
