10996nam 2200505 450 99646442500331620220710184416.03-030-89098-8(CKB)4950000000281766(MiAaPQ)EBC6784756(Au-PeEL)EBL6784756(OCoLC)1277148885(PPN)258296259(EXLCZ)99495000000028176620220710d2021 uy 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrierIntelligent robotics and applicationsPart II 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, proceedings /Xin-Jun Liu [and four others] (editors)Cham, Switzerland :Springer,[2021]©20211 online resource (853 pages)Lecture notes in computer science. Lecture notes in artificial intelligence ;130143-030-89097-X Includes bibliographical references and index.Intro -- Preface -- Organization -- Contents - Part II -- Hybrid System Modeling and Human-Machine Interface -- Generation of Collision-Free Five-Axis Sweep Scanning Path Using Graphics Engine -- 1 Introduction -- 2 Preliminary -- 3 Collision-Free Scanning Path Planning -- 3.1 Image-Based Representation of Collision-Free Conditions -- 3.2 Collision Detection by Graphics Engine -- 3.3 Incremental Algorithm for Generating Admissible Areas -- 4 Experiment -- 5 Conclusion -- References -- Multi-robot Cooperative System Modeling and Control Software Development -- 1 Introduction -- 2 Multi-robot Collaborative System Modeling -- 2.1 Coordinated Operation Model -- 2.2 Kinematic Modeling -- 2.3 Dynamics Modeling -- 3 Collaborative Control System Frame and Methods -- 3.1 Control Frame Design -- 3.2 Position and Force Distribution -- 3.3 Motor Control and Motion Planning -- 3.4 Multi-arm Compliance Control Method -- 4 Control System Software -- 4.1 Demand Analysis -- 4.2 Overall Design -- 4.3 Design of Each Layer -- 4.4 Main Modules -- 4.5 Software Interface -- 5 Experiment Verification -- 5.1 Experimental System -- 5.2 Motion Planning Experiment -- 5.3 Compliance Control Experiment -- 6 Conclusion -- References -- Gesture Recognition and Conductivity Reconstruction Parameters Analysis with an Electrical-Impedance-Tomography (EIT) Based Interface: Preliminary Results -- 1 Introduction -- 2 The Hardware and Algorithm of Measurement System -- 2.1 Hardware -- 2.2 Construction Algorithms -- 3 Methods -- 3.1 Gesture Recognition Based on EIT -- 3.2 Conductivity Reconstruction Parameters Analysis -- 4 Results -- 4.1 Recognition Accuracy -- 4.2 The Effect of EIT Parameters -- 5 Discussions and Conclusions -- References -- Robot Manipulation Skills Learning -- Depth from Shading Based on Online Illumination Estimation Under RAMIS Environment -- 1 Introduction.2 Shape from Shading -- 3 Method -- 4 Experiment and Result -- 5 Conclusion -- References -- Self-learning Visual Servoing for Robot Manipulation in Unstructured Environments -- 1 Introduction -- 2 Descriptions on Visual Servoing -- 3 Robust MCSIS Learning Estimator -- 4 Nonparametric Visual Servoing Framework -- 5 Results and Discussions -- 6 Conclusion -- References -- Obstacle Avoidance Methods Based on Geometric Information Under the DMPs Framework -- 1 Introduction -- 2 Obstacle Avoidance Based on Geometric Information -- 2.1 The Fundamental Principle of DMPs Framework -- 2.2 Obstacle Avoidance Based on Ellipsoidal Offset of Static Obstacles -- 2.3 Obstacle Avoidance Based on Dangerous Zone Offset of a Moving Obstacle -- 3 Simulation and Analysis -- 3.1 Simulation -- 3.2 Trajectory Evaluation in Static Obstacle Avoidance -- 4 Real Experiments in Static and Dynamic Environment -- 5 Conclusion -- References -- Integrated Classical Planning and Motion Planning for Complex Robot Tasks -- 1 Introduction -- 2 Literture Review -- 3 Methods -- 3.1 High-Level Task Planning -- 3.2 Low-Level Motion Planning -- 4 Experimental Results -- 5 Conclusion -- References -- Deep Reinforcement Learning for an Anthropomorphic Robotic Arm Under Sparse Reward Tasks -- 1 Introduction -- 2 Related Work -- 2.1 Curiosity Module -- 2.2 Curriculum Learning -- 2.3 Hierarchy Reinforcement Learning -- 3 Background -- 3.1 Reinforcement Learning -- 3.2 Policy Gradient Optimization -- 4 Method -- 4.1 Base Algorithm: Deep Deterministic Policy Gradient -- 4.2 Techniques for Sparse Rewards -- 5 Experiments and Results -- 5.1 Environments -- 5.2 Experimental Details and Results -- 6 Conclusion -- References -- Design and Experiment of Actuator for Semi-automatic Human-Machine Collaboration Percutaneous Surgery -- 1 Introduction -- 2 Actuator Design -- 2.1 Actuator Structure.2.2 Guide Hole -- 3 Minimize Damage Insertion -- 4 Human-Machine Collaboration Workflow -- 5 Experiment and Results -- 6 Discussion -- References -- A Robot Learning from Demonstration Platform Based on Optical Motion Capture -- 1 Introduction -- 2 System Setup -- 2.1 The Optical MoCap System -- 2.2 Human-Machine Interface -- 3 Robot Learning from Demonstration -- 3.1 Data Pre-process -- 3.2 Policy Learning -- 4 Robot Assembly Experiment -- 4.1 Experiment Settings -- 4.2 Experimental Results and Discussion -- 5 Conclusion -- References -- Real-Time Collision Avoidance in a Dynamic Environment for an Industrial Robotic Arm -- 1 Introduction -- 2 Methods -- 2.1 Learning Dynamic Movement Primitives -- 2.2 Cost Function Formulation -- 2.3 Obstacle Position Estimation -- 2.4 Experimental Results -- 2.5 Conclusion -- References -- DOREP 2.0: An Upgraded Version of Robot Control Teaching Experimental Platform with Reinforcement Learning and Visual Analysis -- 1 Introduction -- 2 Overview of the DOREP 2.0 -- 2.1 DOREP 2.0 Components and Operational Procedures -- 2.2 Synchronization Between MATLAB and Bus Server -- 2.3 SIA Robot Toolbox -- 3 Visual Robot Inverted Pendulum Control Based on Reinforcement Learning -- 3.1 Introduction of Reinforcement Learning Algorithm -- 3.2 Introduction of Visual Analysis -- 3.3 Results of Experiment -- 4 Conclusion -- References -- An Improved TCN-Based Network Combining RLS for Bearings-Only Target Tracking -- 1 Introduction -- 2 Dynamic Model of Bearings-Only Target Tracking -- 3 TCN-Based Network Combining RLS -- 3.1 TCN-Based Network -- 3.2 Recursive Least Squares -- 4 Simulation -- 4.1 Initial Conditions -- 4.2 Simulation Results -- 5 Conclusions -- References -- Learning Robot Grasping from a Random Pile with Deep Q-Learning -- 1 Introduction -- 2 Background -- 2.1 Reinforcement Learning -- 2.2 Deep Q-learning Network.3 Design of Grasping Strategy with DQN -- 3.1 Representations of the Target State -- 3.2 Representations of the Grasping Action -- 3.3 Design of the Rewards -- 3.4 Design of the Q-networks -- 3.5 Training of the Grasping DQN -- 4 Simulation and Experiment -- 4.1 Simulations -- 4.2 Strategy Transferring from Simulation to Real -- 5 Conclusion -- References -- Surplus Force Control Strategy of an Active Body-Weight Support Training System -- 1 Introduction -- 2 Mechanical Structure of BWSTS -- 3 Active Loading Compound Control Strategy -- 4 Surplus Force Compensation Control Strategy -- 5 Conclusion -- References -- Process Learning of Robot Fabric Manipulation Based on Composite Reward Functions -- 1 Introduction -- 2 Problem Description -- 3 Proposed Method -- 3.1 Compound Reward Function -- 3.2 Network Structure -- 4 Experiments -- 4.1 Single Task -- 4.2 Process Task -- 4.3 Compound Reward Function -- 5 Conclusions -- References -- Surface Crack Detection of Rubber Insulator Based on Machine Vision -- 1 Introduction -- 2 Surface Crack Detection System of Rubber Insulator -- 3 Surface Crack Detection Algorithm of Rubber Insulator -- 3.1 Dimension-Increased Bilateral Filtering -- 3.2 Image Segmentation -- 3.3 Crack Detection and Localization -- 4 Experiment and Analysis -- 5 Conclusion -- References -- A Hierarchical Force Guided Robot Assembly Method Using Contact State Model -- 1 Introduction -- 2 The Description of Robot Assembly -- 3 Hierarchical Force Guided Assembly Strategy -- 3.1 Assembly Process Modeling -- 3.2 Assembly Process -- 3.3 Phased Guidance Stage -- 4 Experiments -- 4.1 Experimental Platform -- 4.2 Results -- 5 Conclusion -- References -- A BAS-Based Strategy for Redundant Manipulator Tracking Continuous Moving Object in 3D Relative Velocity Coordinate -- 1 Introduction -- 2 Problem Formulation -- 2.1 Tracking Moving Object.2.2 3D Relative Velocity Coordinate -- 2.3 The Principle for Tracking Moving Object -- 3 Control System Design -- 4 Simulation Results -- 4.1 Simulation Methodology -- 4.2 The Results of Tracking Moving Target -- 5 Conclusions -- References -- Leveraging Expert Demonstrations in Robot Cooperation with Multi-Agent Reinforcement Learning -- 1 Introduction -- 2 Related Work -- 2.1 Multi-Agent Reinforcement Learning -- 2.2 Imitation Learning -- 3 Methods -- 3.1 Reinforcement Learning Setup -- 3.2 Multiple Hindsight Experience Replay -- 3.3 Robot Teams Learning from Demonstrations -- 3.4 Imperfect Demonstrations -- 4 Experiments -- 4.1 Experimental Setup -- 4.2 Robot Training -- 4.3 Imperfect Demonstrations -- 5 Conclusions -- References -- Fault Diagnosis Method Based on Control Performance of Single-Leg Robot -- 1 Introduction -- 2 Robot Model Description -- 2.1 Physical Model -- 2.2 Feedback Linearization of Nonlinear Dynamic Model -- 3 LQ Controller Design -- 4 Fault Detection Based on LQ Control Performance -- 5 Verified Result -- 6 Conclusion -- References -- Robot Bolt Skill Learning Based on GMM-GMR -- 1 Introduction -- 2 Related Work -- 3 Method -- 3.1 Dynamic Time Warping (DTW) -- 3.2 GMM-GMR -- 4 Experimernts Results -- 4.1 The Setting of the Experimental Environment -- 4.2 The Results of the Experiment -- 5 Conclusion -- References -- Traversability Analysis for Quadruped Robots Navigation in Outdoor Environment -- 1 Instruction -- 2 Related Works -- 3 Terrain Traversability Analysis -- 3.1 Geometric Features Extraction -- 3.2 Visual Features from CNN -- 3.3 Fusing of Geometric and Visual Features -- 4 Experiment Rusults -- 4.1 CNN Training Results -- 4.2 Traversability Analysis -- 5 Conclusions -- References -- MicroNano Materials, Devices, and Systems for Biomedical Applications.A Calibration Method of Compliant Planar Parallel Manipulator.Lecture notes in computer science.Lecture notes in artificial intelligence ;13014.RoboticsCongressesRobotics629.892Liu Xin-JunMiAaPQMiAaPQMiAaPQBOOK996464425003316Intelligent Robotics and Applications773722UNISA03678oam 2200517M 450 991097025970332120251117103511.01-351-67581-81-315-16500-71-351-67580-X(CKB)3840000000337638(MiAaPQ)EBC5209814(OCoLC)1027120537(OCoLC-P)1027120537(FlBoTFG)9781315165004(BIP)63381971(BIP)59718667(EXLCZ)99384000000033763820170828d2017 uy 0engur|||||||||||rdacontentrdamediardacarrierAwhad al-Din Kirmani and the controversy of the Sufi gaze /Lloyd Ridgeon1st.London :Routledge,2017.1 online resource (299 pages)Routledge Sufi series ;211-138-05713-4 Includes bibliographical references and index.Introduction -- Part I: 1. Persianate Sufism in the 12th-13th centuries -- 2. The rise of Awḥad al-Dīn Kirmānī -- 3. The fall of Awḥad al-Dīn Kirmānī -- 4. Friends or foes? Ibn Jawzi's criticisms of shahid bazi assessed through Kirmānī's Hagiography -- Conclusion -- Part II: Translation of Kirmānī's Hagiography -- Notes to the Hagiography.Awḥad al-Dīn Kirmānī (d. 1238) was one of the greatest and most colourful Persian Sufis of the medieval period; he was celebrated in his own lifetime by a large number of like-minded followers and other Sufi masters. And yet his form of Sufism was the subject of much discussion within the Islamic world, as it elicited responses ranging from praise and commendation to reproach and contempt for his Sufi practices within a generation of his death. This book assesses the few comments written about Kirmānī by his contemporaries, and also provides a translation from his Persian hagiography, which was written in the generation after his death. The controversy centres on Kirmānī's penchant for gazing at, and dancing with, beautiful young boys. This anonymous hagiography presents a series of anecdotes that portray Kirmānī's "virtues". The book provides an investigation into Kirmānī the individual, but the story has significance that extends much further. The controversy of his form of Sufism occurred at a crucial time in the evolution of Sufi piety and theology. The research herein situates Kirmānī within this critical period, and assesses the various perspectives taken by his contemporaries and near contemporaries. Such views reveal much about the dynamics and developments of Sufism during the thirteenth and fourteenth centuries, when the Sufi orders ( ṭurūq , s. ṭarīqa ) began to emerge, and which gave individual Sufis a much more structured and ordered method of engaging in piety, and of presenting the Sufi tradition to society at large. As the first attempt in a Western language to appreciate the significant contribution that Kirmānī made to the medieval Persian Sufi tradition, this book will appeal to students and scholars of Sufi Studies, as well as those interested in Middle Eastern History.Routledge Sufi series ;21.SufisBiographySufismHistorySufisSufismHistory.891/.5511Ridgeon Lloyd V. J.990773OCoLC-POCoLC-PBOOK9910970259703321Awhad al-Din Kirmani and the controversy of the Sufi gaze4472127UNINA