
Intelligent Robotics and Applications
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The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
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Content
- Intro
- Preface
- Organization
- Contents - Part IV
- Novel Mechanisms, Robots and Applications
- Optimal Design of Cam Curve Dedicated to Improving Load Uniformity of Bidirectional Antagonistic VSA
- 1 Introduction
- 2 Overall Structural Design
- 3 Stiffness Adjustment Principle and Nonlinear Compensation
- 3.1 Stiffness Adjustment Principle and Nonlinear Analysis
- 3.2 Stiffness Nonlinear Compensation
- 4 Optimization Design of Cam Drive Profile
- 4.1 Constraint Analysis of Cam Curve Design Parameters
- 4.2 Cam Curve Design Optimization and Result Analysis
- 5 Conclusion
- References
- Research on Foot Slippage Estimation of Mammal Type Legged Robot
- 1 Introduction
- 2 Foot Terrain Interaction for Slippage
- 3 Data Fusion Method Based on EKF
- 3.1 Calibration for Sensor Data
- 3.2 State Estimation by Data Fusion
- 4 Slippage Estimation and State Determination
- 4.1 Acceleration Model of Foot Slippage for Mammal Type Walking
- 4.2 Foot Slippage State Analysis Based on EKF
- 5 Experimental Verification
- 6 Conclusion
- References
- Design of Deformable Flapping Structure of Bat-Like Flapping Air Vehicle
- 1 Introduction
- 2 Structural Design
- 2.1 Flapping Mechanism
- 2.2 Deformable Mechanism
- 2.3 Coupling Design Mechanism
- 3 Simulation
- 4 Conclusion
- References
- An Autonomous Flight Control Strategy Based on Human-Skill Imitation for Flapping-Wing Aerial Vehicle
- 1 Introduction
- 2 Control Strategy
- 2.1 Manual Control
- 2.2 Human-Skill Imitation
- 3 Experiment
- 3.1 Takeoff
- 3.2 Cruise
- 3.3 Landing
- 4 Conclusions
- References
- A New Moving Target Interception Algorithm for an AUV in the Ocean Current Environment
- 1 Introduction
- 2 The Basic Model for an AUV Intercepting Moving Target
- 2.1 The Overview of Interception Problem
- 2.2 A Model of the Underwater Environment
- 3 The Proposed APF-VS-KF Algorithm
- 3.1 Planning Intercept Path of the AUV
- 3.2 Update Moving Position of Target Based on KF
- 4 Simulation Results and Analysis
- 4.1 The AUV Intercepts a Target Moving Along a Constant Straight Line in a 2-D Environment with Ocean Vurrent of 90
- 4.2 The AUV Intercepts a Target Moving Along a Constant Straight Line in a 2-D Environment with Ocean Current of 180
- 5 Conclusion
- References
- Design and Control of In-Pipe Inspection Robot forPre-commissioning
- 1 Introduction
- 2 Kinematic Properties of HL-6 Robot in Pipes
- 2.1 Overview of the LH-6 Robotic System
- 2.2 Kinematics of HL-6 Robot in Pipes
- 3 Dynamical Model of HL-6 Robot in Pipes
- 4 Control of HL-6 Robot Based on Kinetic Model
- 4.1 Control of CoM's Position and Trunk's Orientation
- 4.2 Computation of the Desired Supporting Force
- 4.3 Details of Control
- 5 Experiments
- 6 Conclusions
- References
- Research on Technology of Pipeline Detection Robot Based on Spiral Propulsion
- 1 Introduction
- 2 Pipeline Robot Design
- 2.1 Structure Composition of Pipeline Robot
- 2.2 Robot Travel Method
- 3 Robot Control System
- 4 Pipeline Inner Wall Scanning Detection Strategy
- 4.1 Point Cloud Data Acquisition
- 4.2 Poisson Surface Reconstruction
- 4.3 Pipe Roundness Detection
- 5 Experimental Verification
- 5.1 Robot Pipeline Travel Test
- 5.2 Point Cloud Surface Reconstruction
- 6 Conclusion
- References
- Dynamic Characteristics of Two-Mass Inertial Pipeline Robot Driven by Noncircular Gears
- 1 Introduction
- 2 Mechanism Principle of Two-Mass Inertial Pipeline Robot
- 3 Dynamic Modeling of Two-Mass Inertial Pipeline Robot
- 3.1 Transmission Ratio of Non-circular Gear
- 3.2 Dynamic Equation
- 4 Simulation Results and Discussion
- 4.1 System Parameters and Motion Characteristics
- 4.2 Influence of System Parameters on Average Speed
- 5 Conclusion
- References
- Kinematic Performance Analysis and Optimization of a 3-DOF Parallel Mechanism for Ankle Rehabilitation
- 1 Introduction
- 2 Ankle Equivalent Model and Mechanism Design
- 2.1 Ankle Structure and Equivalent Model
- 2.2 Structure of the Ankle Rehabilitation Mechanism
- 3 Kinematic Analysis
- 3.1 Inverse Kinematic Analysis
- 3.2 The Workspace Analysis
- 4 Performance Analysis and Optimization
- 4.1 The Motion/Force Transmissibility
- 4.2 Parameter Optimization
- 5 Conclusions
- References
- Configuration Synthesis of Multi-mode Ankle Rehabilitation Robot
- 1 Introduction
- 2 The Ankle Joint Structure and The Axis LBAs Configuration
- 2.1 The Ankle Joint Structure
- 2.2 The LBAs Configurations
- 3 The Configurations of Constraint Limb and the LBAs Mechanisms
- 3.1 The Configuration of the Constraint Limb of the LBA 1
- 3.2 The Configurations of Constraint Limbs of Other LBAs Mechanisms
- 4 The Overall Configurations of Mechanisms and Calculation of Coupling Degree k
- 4.1 The Configurations of Driving Limbs
- 4.2 The Coupling Degree Analysis of the Multi-mode Parallel Mechanism
- 5 Conclusions
- References
- Hydrodynamic Coefficient Estimation of Small Autonomous Underwater Vehicle
- 1 Introduction
- 2 Fluid Dynamics Model
- 2.1 Fluid Flow Model
- 2.2 3D Modeling and Meshing
- 2.3 Calculation Results
- 3 Simulation Experiment
- 3.1 Initial Conditions and Force Analysis
- 3.2 Analysis of Simulation Results
- 4 Conclusion
- References
- Stiffness Modeling of a Novel 2-DOF Solar Tracker with Consideration of Universal Joint Stiffness
- 1 Introduction
- 2 Structure of the Solar Tracker
- 3 Stiffness Modeling of the Solar Tracker
- 3.1 Stiffness of Revolute Joint
- 3.2 Stiffness of Universal Joint
- 3.3 Stiffness of Actuators
- 3.4 Stiffness of the Solar Tracker
- 4 Simulation and Validation of the Stiffness Model
- 4.1 Stiffness Simulation
- 4.2 Stiffness Experiment
- 5 Conclusion
- Appendix
- References
- A Kirigami-Inspired Transformable Robot
- 1 Introduction
- 2 Kirigami Robot
- 3 Kinematic Modeling
- 4 Gait Analysis
- 4.1 Gait I
- 4.2 Gait II and Gait III
- 5 Experiment
- 6 Conclusion
- References
- Design and Simulation Analysis of a Magnetic Adsorption Mechanism for a Wall-Climbing Robot
- 1 Introduction
- 2 Robot Design and Static Analysis
- 2.1 Design of Cargo Hold Cleaning Robot
- 2.2 Static Analysis
- 3 Wall Transition Analysis
- 4 Design of Magnetic Circuit
- 4.1 Design of Magnetic Attraction Mechanism
- 4.2 Installation Position of the Magnet
- 5 Simulation Results
- 6 Conclusion
- References
- Design of a Variable Compliance Mechanism with Changeable Compliance Orientation
- 1 Introduction
- 2 Mechanical Design and Basic Principle
- 2.1 Mechanical Design
- 2.2 Basic Principle
- 3 Finite Element Analysis
- 4 Conclusion
- References
- Design and Analysis of a Rolling Joint Based on Gear Tooth for Continuum Robots
- 1 Introduction
- 2 Design of the Rolling Joint
- 3 Analyses
- 3.1 Kinematics Analysis
- 3.2 Strength Analysis
- 4 Simulations and Experiments
- 4.1 Kinematics Simulation and Test
- 4.2 Statics Simulation
- 4.3 Torsional Stiffness Test
- 5 Conclusions
- References
- Design of Continuum Robot Based on Compliant Mechanism
- 1 Introduction
- 2 Design and Modeling
- 2.1 The Design of Compliant Joint
- 2.2 The Size Design of Leaf
- 3 The Kinematic Analysis
- 3.1 The Joint Bending Angle and Direction
- 3.2 The Continuum Robot Bending Configuration
- 4 Performance Validation
- 4.1 The Compressive Strength
- 4.2 The Joint Stiffness
- 4.3 The Kinematic Performance
- 5 Conclusion
- References
- Biologically Inspired Planning and Optimization of Foot Trajectory of a Quadruped Robot
- 1 Introduction
- 2 Quadruped Robot
- 3 Planning and Optimization of the Foot Trajectory
- 3.1 Biological Observation and Analysis
- 3.2 Foot Trajectory Planning Based on Bézier Curves
- 3.3 Definition of Constraints and Optimization Variables
- 3.4 Parameter Optimization Based on Particle Swarm Optimization
- 4 Simulations
- 5 Conclusions
- References
- Intensity Distribution Estimation of Radiation Source for Nuclear Emergency Robot in 3D Environment
- 1 Introduction
- 2 The Proposed Method
- 2.1 Camera Imaging Model
- 2.2 Environmental Attenuation Model
- 2.3 MLEM Iterative Algorithm
- 3 Simulation Experiment and Results Discussion
- 3.1 Design of the Simulation Experiment
- 3.2 Results and Discussion
- 4 Conclusions
- References
- Design and Development of Multi-arm Cooperative Rescue Robot Actuator Based on Variant Scissor Mechanism
- 1 Introduction
- 2 Design of Robot Actuator
- 3 Kinematics Analysis of the Actuator
- 3.1 Establish the Kinematic Model
- 3.2 Positive Solution of Position
- 3.3 Velocity Analysis
- 3.4 Trajectory Simulation
- 4 Prototype Development
- 5 Conclusion
- References
- WPFBot: A Novel and Highly Mobile Amphibious Robot
- 1 Introduction
- 2 Principle and Preliminary Control Strategy
- 2.1 Thrusting Principle
- 2.2 Underwater Motion
- 2.3 Lift-Up and Descending
- 3 System Design
- 3.1 The Overall Design and Specifications
- 3.2 Shell Sealing Design
- 3.3 Shaft Sealing
- 3.4 Electric System Integration
- 4 Simulation and Experiments
- 4.1 Underwater Simulation
- 4.2 Experiments
- 5 Conclusion and Future Work
- References
- A Class of Double-Delta-Based 6-DOF Pick-and-Place Robots with Integrated Grippers
- 1 Introduction
- 2 Architecture Design
- 2.1 Basic Structures of AMP
- 2.2 Deduction of Delta Robot as Limb
- 2.3 AMPs with Integrated Single-DOF Grippers
- 3 Double-Delta-Based Robots
- 4 Conclusions
- References
- Motion Planning of Docking Process for Underwater Vehicle Based on Manipulator Aided Grasping
- 1 Introduction
- 2 Dynamic Modeling of UVMS
- 3 Kinematics of End Effector and Redundancy Resolution
- 3.1 Possible Task
- 3.2 Joint Limits Constraints and Velocity Saturation
- 3.3 Singularity-Robust Task Priority Redundancy Resolution
- 4 Case Studies
- 4.1 Case l: Direct Pseudoinverse Method
- 4.2 Case ll: Task Priority Method
- 5 Conclusions
- References
- A Novel Control Approach of the Flexible Servo Riveting Gun Based on Self-pierce Riveting Technology
- 1 Introduction
- 2 The Working Principle of Servo Riveting System
- 3 The Force-Displacement Trajectory Planning During Riveting
- 3.1 The Analysis of Riveting Force Trajectory
- 3.2 The Construction of Riveting Force Trajectory
- 4 The Design of Riveting Gun Controller Based on Admittance Control
- 5 Experiments
- 5.1 The Experiment Platform
- 5.2 Results
- 6 Conclusions
- References
- Path Synthesis Optimization Model of Planar Five-Bar Metamorphic Mechanism
- 1 Introduction
- 2 The Configurations of Metamorphic Mechanism
- 3 Optimization Model
- 3.1 Optimization Model of Configuration 1
- 3.2 Optimization Model of Configuration 2
- 3.3 Optimization Model of Metamorphic Mechanism
- 4 Comparative Study
- 4.1 Comparison of Path Synthesis Results of Different Mechanisms
- 4.2 Path Generation Ability of Metamorphic Mechanism
- 5 Conclusions
- References
- Impedance Control for Underwater Gripper Compliant Grasping in Unstructured Environment
- 1 Introduction
- 2 Dynamics Analysis of Underwater Manipulator
- 3 Underwater Impedance Control Strategy
- 3.1 Position-Based Impedance Control
- 3.2 Influence of the Underwater Unstructured Environment
- 3.3 Underwater Impedance Controller
- 4 Simulation Studies
- 4.1 Impedance Controller Based on Parameter Identification
- 4.2 Adaptive Impedance Controller
- 4.3 Comparison of the Above Two Controllers
- 5 Experimental Studies
- 6 Conclusion
- References
- Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly
- 1 Introduction
- 2 Analysis of 3C Products Assembly Processes and Conceptual Design of the Manipulator
- 3 Kinematics Analysis
- 3.1 Kinematic Analysis of the SPMRP
- 3.2 Kinematic Analysis of the SPM
- 4 Prototype Experiments
- 4.1 Prototype Development
- 4.2 A Mouse Assembly Experiment
- 5 Conclusions
- References
- Multi-objective Lightweight Design for the Forearm of a Palletizing Robot
- 1 Introduction
- 2 Palletizing Robot Structure Introduction
- 3 Multi-objective Lightweight Design of the Forearm
- 3.1 Establishment of Finite Element Model of Forearm
- 3.2 Free Modal Analysis and Verification of the Finite Element Model
- 3.3 Static Analysis of the Forearm
- 3.4 Dynamic Performance Analysis of the Forearm
- 3.5 Establishment of Forearm Optimization Design Model
- 3.6 Multi-objective Optimization Solution
- 3.7 Calculation Results and Analysis
- 4 Conclusion
- References
- Kinematic Analysis of a Novel 4-DOF 3T1R Parallel Manipulator
- 1 Introduction
- 2 Mobility Analysis
- 2.1 Description of the 3T1R PM
- 2.2 Mobility Analysis
- 3 Displacement Analysis
- 3.1 Forward Displacement Analysis
- 3.2 Inverse Displacement Analysis
- 4 Velocity Analysis
- 5 Singularity Analysis
- 5.1 Forward Singularity
- 5.2 Inverse Singularity
- 5.3 Combined Singularity
- 6 Workspace Analysis
- 7 Conclusions
- References
- A Calibration Method of Robots by Eliminating Redundant Parameters Based on Jacobian Matrix
- 1 Introduction
- 2 Geometric Error Model of Robots
- 3 Analysis of Redundant Parameters
- 4 Experiment and Results
- 5 Conclusions
- References
- An Online Intelligent Kinematic Calibration Method for Quadruped Robots Based on Machine Vision and Deep Learning
- 1 Introduction
- 2 Online Intelligent Kinematic Calibration Method
- 2.1 Feature Point Visual Detection
- 2.2 Coordinate Transformation from Picture to Real World
- 2.3 Joint Angle Calculation Using Deep Learning
- 3 Experimental Validation and Discussion
- 3.1 Experimental Validation
- 3.2 Results and Discussion
- 4 Conclusion
- References
- Space Robot and On-orbit Service
- Non-singular Fast Terminal Sliding Mode Fuzzy Adaptive Control of Floating-Based Three-Link Space-Robot with Dead-Zone
- 1 Introduction
- 2 System Dynamics Equation
- 3 Controller Design
- 3.1 Design of Non-singular Fast Terminal Sliding Modular Adaptive Controller
- 3.2 Design of Fuzzy Compensation System
- 3.3 Adaptive Compensator Design
- 4 Stability Proof
- 5 Simulation Verification
- 6 Conclusions
- References
- Regulation of Space Manipulators with Free-Swinging Joint Failure Based on Iterative Learning Control
- 1 Introduction
- 2 Dynamics Model for Space Manipulators with Free-Swinging Joint Failure
- 3 Iterative Learning Control of Space Manipulators with Free-Swinging Joint
- 3.1 Mathematical Description of the Regulation
- 3.2 Regulation of the Free-Swinging Fault Joint Based on Iterative Learning Control
- 4 Simulations
- 5 Conclusions
- References
- A Trajectory Planning Method for Load-Carrying Capacity Improvement of Redundant Space Manipulator with Large External Force
- 1 Introduction
- 2 Model of Space Manipulator
- 2.1 Kinematic and Dynamic Model of Space Manipulator
- 2.2 Effect of External Load on End-Effector
- 3 Scheme and QP Formulation
- 3.1 Minimizing Joint Dynamic Torque
- 3.2 Control Method for Torque Minimization with External Loading
- 3.3 Minimizing Joint Velocity
- 3.4 QP Formulation
- 4 Simulative Verifications and Comparisons
- 4.1 Control System of Redundant Space Manipulator
- 4.2 Control System of a 7-DOF Space Manipulator Simulation Results
- 5 Conclusion
- References
- Inverse Kinematics of a Novel SSRMS-Type Reconfigurable Manipulator with Lockable Passive Telescopic Links
- 1 Introduction
- 2 Kinematics Modeling and Workspace Analysis
- 2.1 Forward Kinematics Modeling for the Reconfigurable Manipulator
- 2.2 Inverse Kinematics Modeling for the Reconfigurable Manipulator
- 2.3 Workspace Analysis of the Reconfigurable Manipulator
- 3 Solving the IK Problem of the Reconfigurable Manipulator
- 3.1 The CCD Method for Solving the IK Problem
- 3.2 The JAP Method for Solving the IK Problem
- 3.3 The CCDJAP-IK Method for Solving the IK Problem
- 4 Simulation Experiments
- 4.1 Simulation Experiments for Considering the Open Kinematic Chain
- 4.2 Simulation Experiment for Considering the Closed Kinematic Chain
- 5 Conclusions
- References
- A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots
- 1 Introduction
- 2 Modeling of Dual-Arm Space Robot and Tumbling Object
- 2.1 Kinematic Equation of Dual-Arm Space Robot
- 2.2 Dynamic Equation of Tumbling Object
- 3 Trajectory Optimization for Detumbling Manipulation
- 3.1 System Dynamics
- 3.2 Objective Function
- 3.3 Constraints and Limits
- 4 Simulation Results
- 5 Conclusion
- References
- Error Analysis of Space Manipulator Joint Module Based on the SDT Theory
- 1 Introduction
- 2 Modeling the Output Error of the Joint Module
- 3 The Output Error of the Joint and Its Distribution Probability
- 4 Sensitivity Analysis of Tolerances
- 5 The Influence of Temperature on the Output Errors
- 6 Conclusion
- References
- Toolkit for Dynamic Control Rapid Prototype Simulation System of Robots Applied in Space Experimental Cabin
- 1 Introduction
- 2 Simulation System of Toolkit
- 2.1 Rapid Prototype Module for Real-Time Dynamic Computing
- 2.2 Rapid Prototype Module for Control System
- 2.3 Functional Module for Visual Imaging and Measurement Simulation
- 2.4 Functional Module for Teleoperation System
- 3 Simulation Experiment
- 4 Conclusions
- References
- LSTM Based Model Predictive Control for Flying Space Robot to Track Uncooperative Target
- 1 Introduction
- 2 Kinematics and Dynamics
- 2.1 Kinematics
- 2.2 Dynamics
- 2.3 Control
- 3 Dynamic Model Predictive Control
- 3.1 Increment Equation
- 3.2 Generalized Increment Equation
- 3.3 Dynamic Predictive Model
- 3.4 Stability
- 4 LSTM-DMPC
- 4.1 Bayesian Filter Based LSTM
- 4.2 LSTM-DMPC
- 5 Experiment
- 5.1 Initial Condition
- 5.2 Results and Discussion
- 6 Conclusion
- References
- Design and Engineering Realization of the Joint for Chang'E-5 Surface Sampling Arm
- 1 Introduction
- 2 Joint Requirements Analysis
- 3 Joint Design
- 3.1 Layout and Composition
- 3.2 Motor and Brake
- 3.3 Lunar-Touching Sensor Component
- 3.4 Cable Routing
- 4 Ground Engineering Verification
- 4.1 Load Capacity Verification at High-Low Temperatures
- 4.2 Performance Verification of Braking and Compensation
- 4.3 Functional Verification of Lunar-Touching Sensor Component
- 4.4 Cable Resistance Torque Test of Wrist Pitch Joint
- 5 Conclusion
- References
- Thermal-Mechanical Coupling Analysis and Structural Optimization of a Deployable Grasping Manipulator
- 1 Introduction
- 2 The Deployable Grasping Manipulator
- 3 Thermal-Mechanical Coupling Analysis of Polygonal Mechanism
- 3.1 Numerical Thermal-Mechanical Coupling Analysis
- 3.2 Vibration Characteristics Analysis
- 4 Structural Optimization of the Hexagonal Mechanism Based on Thermal-Mechanical Coupling Analysis
- 4.1 Multi-objective Structural Optimization Model
- 4.2 RSM Model
- 4.3 Solution of the Optimization Model
- 5 Conclusion
- References
- Wheel and Track Hybrid Planetary Surface Locomotion Mechanism
- 1 Introduction
- 2 Design of the Locomotion Mechanism
- 2.1 Overall Design Scheme
- 2.2 Drive Design of the Wheel and the Track
- 2.3 Wheel Design
- 2.4 Track Design
- 3 Moving Strategy
- 4 Simulation Results
- 5 Experiment Results
- 5.1 Loading Capacity Test
- 5.2 In-Situ Steering Test
- 5.3 Straight Moving Test on Flat Ground
- 5.4 Obstacle Passing Test
- 6 Conclusions
- References
- Optimization Algorithm for Cooperative Assembly Sequence of Truss Structure Based on Reinforcement Learning
- 1 Introduction
- 2 Related Work
- 3 Model Definition
- 3.1 Action Space Definition
- 3.2 State Space Definition
- 4 Constraints
- 4.1 Constraints of Truss Stability
- 4.2 Constraints of Action Selection
- 5 Optimization Algorithm
- 5.1 Reinforcement Learning Basics
- 5.2 Optimization
- 6 Experiment Results
- 7 Conclusion
- References
- A Coordination Planning Method of the Hybrid Two-Arm Space Robot for On-Orbit Servicing
- 1 Introduction
- 2 Kinematics Modeling of Space Robot System
- 3 Coordination Trajectory Planning Method for the System
- 3.1 Target Spacecraft Operation Scenario
- 3.2 The Algorithm Flowchart for Target Capture
- 3.3 The Modified Generalized Jacobian
- 3.4 The Desired Pose and Configuration Planning
- 3.5 Resolved Joint Motion for Arm-A and Arm-B
- 4 Numerical Simulation
- 4.1 Simulation Modeling of the Space Robot
- 4.2 The Initial State of the Simulation Model
- 4.3 Simulation Results
- 5 Conclusion
- References
- Design and Kinetostatic Analysis of a Legged Robot for Asteroid Exploration
- 1 Introduction
- 2 Design of the Robot
- 3 Kinetostatic Model
- 3.1 Stiffness Model of the Microspine
- 3.2 Statics Model of the Gripper
- 3.3 Kinematics of the Leg
- 4 Locomotion Planning Based on Kinetostatics
- 4.1 Stability Indices
- 4.2 Gait and Foot Trajectory
- 4.3 Result and Discussion
- 5 Conclusion
- References
- Effect Analysis of Initial Conditions on Landing Performance of Vertical-Landing Vehicle
- 1 Introduction
- 2 Dynamics Model of Landing Process of Legged Vertical-Landing Vehicle
- 3 Analysis of the Mechanism of the Initial Conditions on the Landing Process
- 3.1 The Effect Mechanism of the Initial Tilt Angle
- 3.2 The Effect Mechanism of the Initial Falling Height
- 4 Conclusions
- References
- Neural Learning Enhanced Motion Planning and Control for Human Robot Interaction
- Comparison of GBNN Path Planning with Different Map Partitioning Approaches
- 1 Introduction
- 2 Problem Statement
- 3 Mathematical Model of Path Planning Algorithm
- 4 Theoretical Comparison of Different Grid Divisions
- 5 Simulation Comparisons
- 5.1 The Effect of Rectangular and Hexagonal Grids on Path Length
- 5.2 The Effect of Rectangular and Hexagonal Grids on Steering Control
- 5.3 The Effect of Rectangular and Hexagonal Grids on Speed Control
- 5.4 Results of the Triangular Grid Division
- 6 Conclusion
- References
- The Review of Image Processing Based on Graph Neural Network
- 1 Introduction
- 2 Related Work
- 2.1 Graph Definition
- 2.2 Graph Structure
- 3 Graph Neural Network
- 3.1 Graph Convolutional Neural Network
- 3.2 Spectral Graph Convolutional Network
- 3.3 Spatial Graph Convolutional Network
- 4 Image Application
- 5 Conclusion
- References
- Artificial Intelligence in Education: Origin, Development and Rise
- 1 Introduction
- 2 Origin of Artificial Intelligence in Education
- 3 The Development of Artificial Intelligence in Education
- 3.1 The Teaching Machine Stage of a Mechanical Device
- 3.2 The Stage of Computer Assisted Instruction
- 3.3 The Stage of Intelligent Computer Assisted Instruction
- 3.4 The Stage of Personalized Adaptive Learning
- 3.5 The Stage of Personalized Intellectual Adaptation Learning
- 4 The Rise of Educational Artificial Intelligence
- 5 Conclusion
- References
- A Path Planning Algorithm for Mobile Robots Based on DGABI-RRT
- 1 Introduction
- 2 DGABI-RRT Algorithm
- 2.1 Bidirectional RRT Algorithm
- 2.2 DGABI-RRT Algorithm and Path Optimization
- 3 Path Optimization Strategy
- 3.1 Path Shortening
- 3.2 Path Smoothing
- 3.3 Simulation Analysis of Path Optimization
- 4 Conclusion
- References
- Research on Tool Wear Detection Method Using Deep Residual Network
- 1 Introduction
- 2 Models and Related Algorithms
- 2.1 ResNet34 Convolutional Neural Network Structure
- 2.2 Optimization Algorithm
- 2.3 Loss Function
- 3 Tool Wear Monitoring Method Based on ResNet34 Convolutional Neural Network
- 3.1 Basic Process of Tool Wear Monitoring Based on Convolutional Neural Network
- 3.2 Data Set Production
- 4 Experiment and Result Analysis
- 4.1 A Subsection Sample
- 4.2 Analysis of Experimental Results
- 5 Conclusion
- References
- Color Recognition Method Based on Image Segmentation
- 1 Introduction
- 2 Image Preprocessing
- 3 Image Segmentation
- 3.1 Initial Segmentation Using SLIC Algorithm
- 3.2 Region Dissimilarity Function
- 3.3 Merging Using the Region Adjacency Graph
- 4 Region Color Discrimination
- 5 Experiment Results and Conclusion
- 6 Conclusion
- References
- Adaptive Echo State Network Robot Control with Guaranteed Parameter Convergence
- 1 Introduction
- 2 Problem Formulation
- 3 Neural Network Control Design
- 3.1 Echo State Network Approximation
- 3.2 Echo State Network Learning
- 3.3 Stability and Convergence Analysis
- 4 Simulation Studies
- 5 Conclusions
- References
- Design of the Autonomous Path Planning System for Mining Robots Based on Stereo Vision
- 1 Introduction
- 2 Recognition of Semantic Obstacles
- 2.1 Training of the Recognition Network for Construction Vehicles
- 2.2 Obstacle Positioning and Size Estimation
- 3 Terrain Path Planning of Mining Robots
- 3.1 Generation of the Gradient Map
- 3.2 The Path Planning Algorithm
- 4 Path Planning Simulation
- 5 Conclusion
- References
- A Human-Like Learning Framework of Robot Interaction Skills Based on Environmental Dynamics
- 1 Introduction
- 2 Problem Formulation
- 3 Methodology
- 3.1 Overview of the Framework
- 3.2 Broad Learning System
- 3.3 RBFNN with Broad Learning System
- 3.4 Motion Planning from Accumulated Knowledge
- 3.5 Hybrid Force/Position Control Based on Position Control
- 4 Experimental Validation
- 5 Conclusion and Future Work
- References
- An AUV Path Planning Algorithm Based on Model Predictive Control and Obstacle Restraint
- 1 Introduction
- 2 AUV Kinematics Model
- 3 OR-MPC Path Planning
- 3.1 Method of Setting Obstacle Restraint
- 3.2 OR-MPC Path Planning Algorithm Principle
- 4 Simulation Results
- 5 Conclusion
- References
- Quantum-Behaved Particle Swarm Optimization Fault-Tolerant Control for Human Occupied Vehicle
- 1 Introduction
- 2 Modeling of HOV
- 2.1 Kinematic Modeling
- 2.2 Dynamics Model
- 3 Thruster Fault-Tolerant Control
- 3.1 Thrusters Completely Malfunctioning
- 3.2 Thruster Partly Malfunctioning
- 4 Simulation and Discussion
- 4.1 Comparison with Pseudo Inverse Method
- 4.2 Comparison of Fault-Tolerant Control Algorithms
- 5 Conclusion
- References
- Path Planning Algorithm of Mobile Robot Based on Dichotomy of Thermal Conduction Topology Optimization
- 1 Introduction
- 2 Principle of Path Planning Algorithm for Topology Optimization of Heat Conduction
- 2.1 Analogy of Path Planning and Heat Transfer Problems
- 2.2 Robot Configuration Space Mapping
- 2.3 Single-Step Growth Optimization Model
- 2.4 Finite Element Analysis
- 3 Solution Based on Dichotomy
- 3.1 Cooling Channel Material Storehouse
- 3.2 Dichotomy Solution
- 4 Simulation Analysis
- 4.1 Path Planning in Complex Obstacle Environments
- 4.2 Path Planning in Maze Environment
- 5 Conclusions
- References
- An RBFNN-Informed Adaptive Sliding Mode Control for Wheeled Mobile Robots
- 1 Introduction
- 2 Robot Model and Controller Design
- 2.1 Kinematics and Dynamics Models of WMRs
- 2.2 Control Objective
- 2.3 Design of Kinematics Controller
- 2.4 Design of Dynamics Controller
- 3 Stability Analysis and Simulation
- 3.1 Stability Analysis
- 3.2 Simulation Study
- 4 Conclusion
- References
- Robust Formation Tracking of Multiple Wheeled Mobile Robots Under External Disturbance
- 1 Introduction
- 2 Preliminary
- 2.1 Kinematic Model of Wheeled Mobile Robots
- 2.2 Control Objective and Formation Resolution
- 3 Problem Formulation and Lagrangian-Based Controller
- 3.1 Unified Problem Description
- 3.2 Lagrangian Based Controller
- 4 Simulation
- 4.1 Simulative Results Under Zero Noise
- 4.2 Robustness Against Noise
- 5 Conclusion
- References
- A Novel Path Planning Method Based on Regional Index Algorithm for Hyper-redundant Manipulator
- 1 Introduction
- 2 Model of Hype-Redundant Manipulator
- 3 The Principle of Algorithm
- 3.1 Three Methods to Characterize the Distance
- 3.2 The Method of Dividing Region and the Corresponding Regional Index
- 4 Simulation
- 4.1 Potential Energy Distribution Diagram
- 4.2 Path Planned Under the APF Method
- 4.3 Path Planned Under the RI Method
- 4.4 The Characteristics of Four Paths
- 5 Conclusion
- References
- Path Planning for Nuclear Emergency Robot in Radiation Environment with Uneven Terrain
- 1 Introduction
- 2 Related Works
- 2.1 Path Planning Method in Radiation Environment
- 2.2 Path Planning Method in Uneven Terrain
- 3 Environment Representation
- 3.1 Costmap of Radiation
- 3.2 Costmap of Traversability
- 4 The Path Planning Algorithm
- 4.1 Calculation of Actual Cost
- 4.2 Calculation of Estimated Cost
- 5 Experimental Verification
- 5.1 Processing of the Costmap
- 5.2 Path Planning
- 6 Conclusion and Future Work
- References
- A Multi-sensing Input and Multi-constraint Reward Mechanism Based Deep Reinforcement Learning Method for Self-driving Policy Learning
- 1 Introduction
- 2 MSMC-SAC Method
- 2.1 Bird's-Eye View and Coding Network
- 2.2 SAC-Based Learning Model
- 2.3 Multi-constraint Reward Functions Design
- 3 Experimental Evaluation
- 3.1 Network Structure and Parameter Settings
- 3.2 Simulation Using Only the Raw Sensor Data
- 3.3 Simulation with Multi-sensing Input
- 4 Conclusion
- References
- Intelligent Safety Decision-Making for Autonomous Vehicle in Highway Environment
- 1 Introduction
- 2 Reinforcement Learning Algorithms with Robustness
- 2.1 Objective Function
- 2.2 H8 Model-Free Reinforcement Learning with Robustness
- 2.3 Safety Threshold
- 3 Implementation and Simulation
- 3.1 Simulation Setup
- 3.2 State Space and Action Space
- 3.3 Reward Model
- 3.4 Neural Network Architecture
- 4 Simulation Results
- 4.1 Training Scene Reproduction
- 4.2 Test Outside Training Distribution
- 5 Conclusions
- References
- A ``Look-Backward-and-Forward'' Adaptation Strategy of NN Model Parameters for Prediction of Motion Trajectory
- 1 Introduction
- 2 Prediction Model of Human Motion Trajectory
- 3 Parameter Adaptation Algorithm for Trajectory Prediction
- 3.1 Trajectory Prediction by Parametric Model
- 3.2 A ``Look-Backward-and-Forward'' Adaptation Algorithm
- 3.3 Assessment of Mean-Square Estimation Error
- 3.4 Summary and Discussion
- 4 Experimental Results
- 5 Conclusions
- References
- Velocity Constraints Based Online Trajectory Planning for High-Speed Parallel Robots
- 1 Introduction
- 2 Velocity Constraints Based Online Trajectory Planning Method
- 2.1 Description of 5-th B-Spline Curve
- 2.2 Geometric Trajectory Generation
- 2.3 Online Smooth Trajectory Optimization
- 3 Verification
- 4 Conclusions
- References
- Medical Engineering
- Ultra-sensitive and Stretchable Optical Fiber Respiratory Belt Sensor
- 1 Introduction
- 2 Working Principle, Preparation and Performance Evaluation of OFRB Sensor
- 2.1 Working Principle
- 2.2 Structural Design and Manufacturing
- 2.3 Calibration and Performance Characterization of the OFRB Sensor
- 3 Application and Feasibility Evaluation of Respiratory Status Monitoring Based on OFRB Sensor
- 3.1 Respiratory Status Monitoring in Different Static Postures and Motion States
- 3.2 Respiratory Monitoring and Feasibility Evaluation for People of Different Ages
- 4 Discussions and Conclusion
- References
- Filter Pruning Using Expectation Value of Feature Map's Summation
- 1 Introduction
- 2 Related Work
- 2.1 Pruning Weight or Filter
- 2.2 Data Dependent or Not
- 3 Methodology
- 3.1 Preliminaries
- 3.2 Analysis of EVS
- 3.3 Filter Pruning via EVS
- 4 Experiments
- 4.1 Experimental Settings
- 4.2 Filter Pruning on CIFAR-10
- 4.3 Filter Pruning on DDH Dataset
- 5 Conclusion and Future Work
- References
- Muscle Tension Analysis Based on sEMG Signal with Wearable Pulse Diagnosis Device
- 1 Introduction
- 2 Overall Design Scheme
- 2.1 Requirement Analysis
- 2.2 Overall Design of System
- 3 Design of Muscle Tension Classification Algorithm Based on sEMG Signal
- 3.1 Characteristics of sEMG Signal
- 3.2 SEMG Signal Acquisition and Noise Reduction
- 3.3 Study on the Relationship Between sEMG Signal and Muscle Tension
- 3.4 Position Error Correction Based on sEMG Signal
- 4 Experimental Analysis
- 4.1 Measurement of Muscle Tension Based on sEMG
- 4.2 Position Error Correction of sEMG Signal
- 5 Conclusion and Future Work
- References
- Author Index
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