Intelligent Robotics and Applications : 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part I / edited by Sabina Jeschke, Honghai Liu, Daniel Schilberg.

Format:

Book

Contributor:

Jeschke, Sabina, Editor.

Liu, Honghai, Editor.

Schilberg, Daniel, Editor.

Series:

Lecture Notes in Artificial Intelligence, 2945-9141 ; 7101

Language:

English

Subjects (All):

Artificial intelligence.

Computer vision.

Pattern recognition systems.

Computer graphics.

Application software.

Computer networks.

Artificial Intelligence.

Computer Vision.

Automated Pattern Recognition.

Computer Graphics.

Computer and Information Systems Applications.

Computer Communication Networks.

Local Subjects:

Artificial Intelligence.

Computer Vision.

Automated Pattern Recognition.

Computer Graphics.

Computer and Information Systems Applications.

Computer Communication Networks.

Physical Description:

1 online resource (XXIV, 643 p.)

Edition:

1st ed. 2011.

Place of Publication:

Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2011.

Language Note:

English

Summary:

The two volume set LNAI 7101 and LNAI 7102 constitutes the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.

Contents:

Intro

Title

Preface

Organization

Table of Contents

Progress in Indoor UAV

On the Way to a Real-Time On-Board Orthogonal SLAM for an Indoor UAV

Introduction

Introductive System Description

SLAM Algorithm

Indoor Navigation

Experimental SLAM Results

Conclusion

References

Quadrocopter Localization Using RTK-GPS and Vision-Based Trajectory Tracking

Characteristics of the Flight Platform

Sensors and Hardware Equipment

Software

Differential GPS

Real Time Kinematic GPS

Measurements

Position Control and Trajectory Tracking

Position Controller

Trajectory Controller

Conclusions and Future Research

Five-Axis Milling Simulation Based on B-rep Model

Geometric Description of Ball-End Tool

Tool Swept Volume Generation

Swept Profiles of Cylinder Surface

Swept Profiles of Hemisphere Surface

Realization of Five-Axis Milling Simulation

Determining and Solving Self-intersection

Conclusions

Robotics Intelligence

Exploration Strategies for Building Compact Maps in Unbounded Environments

Related Work

Greedy Exploration

Compact Exploration Strategies

Spiral Exploration

Distance-Penalized Exploration

Evaluation

Experiment 1: Low Obstacle Density

Experiment 2: High Obstacle Density

Experiment 3: Elongated Obstacles

The Basic Component of Computational Intelligence for KUKA KR C3 Robot

Kinematics

Workspace

Example of Calculations

An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator

System Description

Model-Free Control Strategies

Proportional-Integral-Derivative

Robust Tracking with Control Vector Constraints.

Active Disturbance Rejection Control

The Experiment

Study Preparation

Experimental Results

Conclusions and Future Work

Industrial Robots

Research on Modular Design of Perpendicular Jointed Industrial Robots

Modular Division and Conceptual Design

Subdivision and Detailed Design of Execute Module

Online Path Planning for Industrial Robots in Varying Environments Using the Curve Shortening Flow Method

Problem

State of the Art

Curve Shortening Flow Method

Basic Principle

Equation

Numerical Solution

Extension to Three Dimensions

Results

Summary and Outlook

Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots

Formulation of Cubic Polynomial Joint Trajectory

PGA1 Formulation

PGA2 Formulation

Optimization Technique Using GA

Application Examples

Example 1: Comparison with lin83 and tse98

Example 2: With Dynamic Constraints

Robotics Assembly Applications

Integrative Path Planning and Motion Control for Handling Large Components

Motivation

Path Planning and Motion Control for Robots

Integrative Path Planning and Control Concept

Implementation

Application

Automatic Configuration of Robot Systems - Upward and Downward Integration

Scope of the Paper

Existing Approaches

Conceptual Design

Paradigm Shift

Characteristics of Modules

Function Modelling

Experimental Setup

Conclusions and Outlook

Process and Human Safety in Human-Robot-Interaction - A Hybrid Assistance System for Welding Applications

Introduction.

State of the Art in Human-Robot-Interaction (HRI) and Legal Requirements for Industrial Application

Human Safety and Ergonomics

Workspace Monitoring

Ergonomics

Process Safety

Operation Simulation of a Robot for Space Applications

A Space Service Robot

Adams Model

Simulation Results

Re-grasping: Improving Capability for Multi-Arm-Robot-System by Dynamic Reconfiguration

Handling Concept

Robot Architecture

Reconfiguration

Re-grasp Planning

A Parallel Kinematic Concept Targeting at More Accurate Assembly of Aircraft Sections

Scenario and Concepts

Kinematic Modelling

Tripod

Hexapod

Jacobian Matrices

Criteria for the Benchmark of Kinematics

Optimization Algorithm

Numerical Results, Benchmark and Discussion

Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices

Typical Design Requirements

Workspace and Kinetostatic Performance Evaluation

Position and Jacobian Analysis of the Manipulator:

Direction-Dependent Kinetostatic Performance Indices:

Geometric Interpretation of the Derived Performance Indices:

Dimensional Synthesis

Rehabilitation Robotics

EMG Classification for Application in Hierarchical FES System for Lower Limb Movement Control

System Structure

EMG Signal Processing

EMG Acquisition

Algorithms

Results of Intention Recognition

Preliminary FES Experiments

Conclusion and Future Work

Situated Learning of Visual Robot Behaviors

Behavior Representative Features

Modeling Situatedness

Scenario Classification.

Scenario Modeling

Humanoid Motion Planning in the Goal Reaching Movement of Anthropomorphic Upper Limb

Method

Twists and Wrenches

Second Order Kinematic Model

Numerical Simulation

Discussion and Conclusion

Human Sitting Posture Exposed to Horizontal Perturbation and Implications to Robotic Wheelchairs

Biomechanics and Motor Control of Sitting Posture

Vibrational Analysis of Sitting Posture

Biomechanics and Control Model

Implications to Robotic Wheelchairs

Automatic Circumference Measurement for Aiding in the Estimation of Maximum Voluntary Contraction (MVC) in EMG Systems

Background

Design of Automatic Circumference Armband

Experimental Results and Analysis

Discussion

Classification of the Action Surface EMG Signals Based on the Dirichlet Process Mixtures Method

Methods

Dirichlet Process Mixture Model

Feature Extraction

Materials

Analysis and Results

Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device

Stewart-Platform-Type Ankle-Foot Assist Device

Control the Posture (Inverse Kinematics)

Measure the Posture (Forward Kinematics)

Rotation Axis Estimation of Ankle Joint

Ankle Joint

Rotation Axis Estimation

Experiment and Result

Mechanisms and their Applications

Inverse Kinematics Solution of a Class of Hybrid Manipulators

Overview of Kinematic Configuration and Modeling

Inverse Kinematics Solution

A Numerical Example

Stiffness Analysis of Clavel's DELTA Robot.

Introduction

Inverse Kinematics

Static Force Transmission

Stiffness Model

Relevant Structural Stiffness Effects

Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy

Mechanism Description and Inverse Kinematics

Optimum Kinematic Design

Indices Definition

Normalization of the Geometric Parameters

Performance Comparison between Redundant and Non-redundant Manipulators

Integrated Structure and Control Design for a Flexible Planar Manipulator

Dynamic Modeling of a Flexible Five-Bar Linkage

Kinetic and Potential Energy of a Five-Bar Linkage

Boundary and Constraint Conditions

Dynamic Equation Using Lagrangian Formulation

Integrated Design Problem Formulation

Controller, Performance Indices and Design Variables

Problem Formulation

Simulation and Discussion

Effects of Clearance on Dynamics of Parallel Indexing Cam Mechanism

Modelling Indexing Cam Mechanism

Profile of Parallel Indexing Cam Based on Exponential Product Formula

Unilateral Contact Model and Clearance Model

Simulation of Parallel Indexing Cam Mechanism with Clearance

Dynamics Response

Effects of Change of Clearance on Responses of Turret and Rotary Table

Design and Compliance Experiment Study of the Forging Simulator

Design of the Forging Simulator

Kinematic Analysis

Performance Analysis

Optimal Work Space

Building of Forging Simulator Platform

Compliance Experiment Study of the Forging Simulator

Calibration of the Overflow Valve's Value

Reproducing of Forging Process

Conclusion of Experiments

References.

Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars.

Notes:

Bibliographic Level Mode of Issuance: Monograph

ISBN:

3-642-25486-1

OCLC:

1066193507