Intelligent Robotics and Applications

Name: Intelligent Robotics and Applications | 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part IV
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14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part IV

Xin-Jun Liu Zhenguo Nie Jingjun Yu Fugui Xie Rui Song(Editor)

Springer (Publisher)

Published on 19. October 2021

XV, 769 pages

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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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Intelligent Robotics and Applications

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