Advances in intelligent robotics and collaborative automation / editors, Richard Duro, Yuriy Kondratenko.

Format:

Book

Conference/Event

Contributor:

Duro, Richard J., 1965- editor.

Kondratenko, Yuriy P., editor.

Conference Name:

IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (2013 : Berlin, Germany)

Series:

River Publishers Series in Automation, Control and Robotics ; Volume 1

Language:

English

Subjects (All):

Artificial intelligence--Research.

Artificial intelligence.

Physical Description:

1 online resource (363 pages) : illustrations (some color), charts, photographs, graphs, tables.

Edition:

1st ed.

Place of Publication:

Aalborg, Denmark : River Publishers, 2015.

Language Note:

English

Summary:

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area.

Contents:

Cover

Half Title - Advances in Intelligent Roboticsand Collaborative Automation

Series Page - RIVER PUBLISHERS SERIES IN AUTOMATION,CONTROLAND ROBOTICS

Title Page - Advances in Intelligent Roboticsand Collaborative Automation

Copy Right Page

Contents

Preface

List of Figures

List of Tables

List of Abbreviations

Chapetr 1 - A Modular Architecture for DevelopingRobots for Industrial Applications

Abstract

1.1 Introduction

1.2 Main Characteristics for Industrial Operation andDesign Decisions

1.3 Implementation of a Heterogeneous ModularArchitecture Prototype

1.3.1 Actuator Modules

1.3.1.1 Slider module

1.3.1.2 Telescopic module

1.3.1.3 Rotational module

1.3.1.4 Hinge module

1.3.2 Connection Mechanism

1.3.3 Energy

1.3.4 Sensors

1.3.5 Communications

1.3.6 Control

1.4 Some Configurations for Practical Applications

1.4.1 Manipulators

1.4.2 Climber andWalker Robots

1.5 Towards Industrial Applications

1.6 Conclusions

References

Chapter 2 - The Dynamic Characteristics of aManipulator with Parallel KinematicStructure Based on Experimental Data

2.1 Introduction

2.2 Purpose and Task of Research

2.3 Algorithm for the Structural Identification of theMultivariable Dynamic Object with the Help of theComplete Data

2.4 Algorithm for the Structural Identification of theMultivariable Dynamic Object with the Help ofIncomplete Data

2.5 The Dynamics of the Mechanism with a ParallelStructure Obtained by Means of the Complete DataIdentification

2.6 The Dynamics of the Mechanism with a ParallelStructure Obtained by Means of the IncompleteData Identification

2.7 Verification of the Structural Identification Results

2.8 Conclusions

Chapter 3 - An Autonomous Scale Ship Model forParametric Rolling Towing Tank Testing

Abstract.

3.1 Introduction

3.2 System Architecture

3.2.1 Data Acquisition

3.2.2 Software Systems

3.2.3 Speed Control

3.2.4 Track-Keeping Control

3.2.5 Other Components

3.3 Testing

3.3.1 Prediction System

3.3.2 Prevention System

3.3.3 Towing Tank Tests and Results

3.3.3.1 Mathematical model validation

3.3.3.2 Validation of stability diagrams

3.3.3.3 Prediction system tests

3.4 Conclusions and FutureWork

Chapter 4 - Autonomous Knowledge Discovery Basedon Artificial Curiosity-Driven Learningby Interaction

4.1 Introduction

4.2 Proposed System and Role of Curiosity

4.2.1 Interpretation from Observation

4.2.2 Search for the Most Coherent Interpretation

4.2.3 Human-Robot Interaction

4.3 Validation Results by Simulation

4.4 Implementation on Real Robot and Validation Results

4.4.1 Implementation

4.4.2 Validation Results

4.5 Conclusions

Chapter 5 - Information Technology for InteractiveRobot Task Training ThroughDemonstration of Movement1

5.1 Introduction

5.2 Conception and Principles of Motion Modeling

5.2.1 Generalized Model of Motion

5.2.2 Algorithm for Robot Task Training by Demonstration

5.2.3 Algorithm for Motion Reproduction after Task Training byDemonstration

5.2.4 Verification of Results for the Task of Training theTelecontrolled (Remote Controlled) Robot

5.2.5 Major Advantages of Task Training by Demonstration

5.3 Algorithms and Models for Teaching Movements

5.3.1 Task Training by Demonstration of Movement amongthe Objects of the Environment

5.3.2 Basic Algorithms for RobotTaskTraining by Demonstration

5.3.3 Training Algorithm for the Environmental Survey Motion

5.3.4 Training Algorithm for Grabbing a Single Object

5.3.5 Special Features of the Algorithm for Reproduction ofMovements.

5.3.6 Some Results of Experimental Studies

5.3.7 Overview of the Environment for Task Training byDemonstration of the Movements of the Human Head

5.3.8 Training the Robot to Grab Objects by Demonstration ofOperator Hand Movements

5.4 Conclusions

Chapter 6 - A Multi-Agent Reinforcement LearningApproach for the Efficient Controlof Mobile Robots

6.1 Introduction

6.2 Holonic Homogenous Multi-Agent Systems

6.2.1 Holonic, Multi-Agent Systems

6.2.2 Homogenous, Multi-Agent Systems

6.2.3 Approach to Commitment and Coordination in H2 MAS

6.2.4 Learning to Coordinate Through Interaction

6.3 Vehicle Steering Module

6.4 A Decomposition of Mobile Platform

6.5 The Robot Control System Learning

6.5.1 Learning of the Turning of a Module-Agent

6.5.1.1 Simulation

6.5.1.2 Verification

6.5.2 Learning of the Turning of a Module-Agent

6.5.2.1 Simulation

6.5.2.2 Verification

6.6 Conclusions

Chapter 7 - Underwater Robot Intelligent Control Basedon Multilayer Neural Network

7.1 Introduction

7.2 Underwater Robot Model

7.3 Intelligent NN Controller and Learning AlgorithmDerivation

7.4 Simulation Results of the Intelligent NN Controller

7.5 Modification of NN Control

7.6 Conclusions

Acknowledgement

Chapter 8 - Advanced Trends in Design of SlipDisplacement Sensors for Intelligent Robots

8.1 Introduction

8.2 Analysis of Robot Task Solving Based on SlipDisplacement Signals Detection

8.3 Analysis of Methods for Slip Displacement SensorsDesign

8.4 Mathematical Model of Magnetic Slip DisplacementSensor

8.4.1 SDS Based on "Permanent Magnet/Hall Sensor" SensitiveElement and Its Mathematical Model

8.4.2 Simulation Results

8.5 Advanced Approaches for Increasing the Efficiencyof Slip Displacement Sensors.

8.6 Advances in Development of Smart Grippers forIntelligent Robots

8.6.1 Self-Clamping Grippers of Intelligent Robots

8.6.2 Slip Displacement Signal Processing in Real Time

8.7 Conclusions

Chapter 9 - Distributed Data Acquisition and ControlSystems for a Sized Autonomous Vehicle

9.1 Introduction

9.2 The Testing Environment

9.3 Description of the System

9.4 Lane Detection

9.4.1 In-Range Filter

9.4.2 Hough-Transformation

9.4.3 Lane Marks

9.4.4 Polynomial

9.4.5 Driving Lane

9.4.6 Stop Line

9.4.7 Coordinate Transformation

9.5 Control of the Vehicle

9.6 Results

9.7 Conclusions

Chapter 10 - Polymetric Sensing in Intelligent Systems

10.1 Topicality of Polymetric Sensing

10.2 Advanced Perception Components of IntelligentSystems or Robots

10.2.1 Comparison of the Basics of Classical and PolymetricSensing

10.2.2 Advanced Structure of Multi-Agent Intelligent Systems

10.3 Practical Example of Polymetric Sensing

10.3.1 Adding the Time Scale

10.3.2 Adding the Information about the Velocity of theElectromagneticWave

10.4 Efficiency of Industrial Polymetric Systems

10.4.1 Naval Application

10.4.1.1 Sensory monitoring agency SMA

10.4.1.2 Information Environment Agency INE

10.4.1.3 Operator Interface Agency OPI

10.4.1.4 Advantages of the polymetric sensing

10.4.1.5 Floating dock operation control system

10.4.1.6 Onshore applications

10.4.1.7 Special applications

10.5 Conclusions

Chapter 11 - Design and Implementation of WirelessSensor Network Based on MultilevelFemtocells for Home Monitoring

11.1 Introduction

11.2 Network Architecture and Femtocell Structure

11.2.1 Body Sensor Network

11.2.2 Ambient Sensor Network

11.2.3 Emergency Sensor Network.

11.2.4 Higher-level Architecture and Functional Overview

11.3 Data Processing

11.4 Experimental Results

11.5 Conclusion

Chapter 12 - Common Framework Modelfor Multi-Purpose Underwater DataCollection Devices Deployed with RemotelyOperated Vehicles

12.1 Introduction

12.2 Research Challenges

12.2.1 Power Supply

12.2.2 Communications

12.2.3 Maintenance

12.2.4 Law and Finance

12.2.5 Possible Applications

12.3 Mathematical Model

12.3.1 System Definition

12.3.2 Actuator Definition

12.3.3 Sensor Definition

12.4 ROV

12.4.1 ROV Manipulator Systems

12.4.2 Types of Offshore Constructions

12.5 ROV Simulator

12.6 Common Modular Framework

12.7 Conclusions

Chapter 13 - M2M in Agriculture - Business Modelsand Security Issues

13.1 Introduction

13.2 RelatedWork

13.3 Communication and Standardization

13.4 Business Cases

13.4.1 Process Transparency (PT)

13.4.2 Operations Data Acquisition (ODA)

13.4.3 Remote Software Update (RSU)

13.5 Business Models

13.6 Economic Analysis

13.7 Communication Security

13.7.1 CA

13.7.2 Communicating On-the-Go

13.7.3 Covering Dead Spots

13.7.4 Securing WLAN Infrastructures

13.7.5 Firmware Update

13.8 Resume

13.9 Acknowledgement

Index

Editor's Biographies

Author's Biographies.

Notes:

Includes bibliographical references at the end of each chapters and index.

CC BY-NC-ND

Description based on print version record.

Description based on publisher supplied metadata and other sources.

ISBN:

87-7022-975-9

1-000-79211-0

1-00-333711-2

1-003-33711-2

87-93237-04-9

9781003337119

OCLC:

957125083