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[null,null,"Titolo",null,"Intelligent Robotics and Applications : 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part III / / edited by Xin-Jun Liu, Zhenguo Nie, Jingjun Yu, Fugui Xie, Rui Song"]
[null,null,"Pubbl/distr/stampa",null,"Cham : , : Springer International Publishing : , : Imprint : Springer, , 2021"]
[null,null,"ISBN",null,"3-030-89134-8"]
[null,null,"Edizione",null,"[1st ed. 2021.]"]
[null,null,"Descrizione fisica",null,"1 online resource (848 pages)"]
[null,null,"Collana",null,"Lecture Notes in Artificial Intelligence, , 2945-9141 ; ; 13015"]
[null,null,"Disciplina",null,"629.892"]
[null,null,"Soggetti",null,"Artificial intelligence"]
[{"$nulls":4},"Computer engineering"]
[{"$nulls":4},"Computer networks"]
[{"$nulls":4},"Software engineering"]
[{"$nulls":4},"Computer vision"]
[{"$nulls":4},"User interfaces (Computer systems)"]
[{"$nulls":4},"Human-computer interaction"]
[{"$nulls":4},"Artificial Intelligence"]
[{"$nulls":4},"Computer Engineering and Networks"]
[{"$nulls":4},"Software Engineering"]
[{"$nulls":4},"Computer Vision"]
[{"$nulls":4},"User Interfaces and Human Computer Interaction"]
[null,null,"Lingua di pubblicazione",null,"Inglese"]
[null,null,"Formato",null,"Materiale a stampa"]
[null,null,null,"Livello bibliografico","Monografia"]
[null,null,null,"Nota di bibliografia","Includes bibliographical references and index."]
[null,null,"Nota di contenuto",null,"Intro -- Preface -- Organization -- Contents - Part III -- Robotic Machining -- An Intelligent Path Generation Method of Robotic Grinding for Large Forging Parts -- 1 Introduction -- 2 Methods -- 2.1 Algorithm Overview -- 2.2 Recognition of Random Features Based on Point Clouds -- 2.3 Generation Method of Robotic Grinding Paths -- 3 Experiments -- 4 Conclusions -- References -- Research and Analysis on Energy Consumption of Underwater Hexapod Robot Based on Typical Gait -- 1 Introduction -- 2 Configuration and Walking Gait of Robot -- 2.1 Configuration of Robot -- 2.2 Walking Gaits of Robot -- 3 Dynamic Model of Robot -- 3.1 One Leg Dynamic Model -- 3.2 Body Dynamic Model -- 3.3 Contact Force Distribution -- 4 Energy Consumption Model -- 5 Modeling and Simulation Results -- 6 "]
[{"$nulls":4},"Conclusion -- References -- Bearing Fault Diagnosis Based on Attentional Multi-scale CNN -- 1 Introduction -- 2 Theoretical Background -- 2.1 Convolutional Neural Network -- 2.2 Squeeze and Excitation Block -- 3 Proposed Network -- 4 Experiment -- 4.1 Dataset and Implementation Details -- 4.2 Fault Identification Results -- 5 Conclusion -- References -- Robot Hand-Eye Calibration Method Based on Intermediate Measurement System -- 1 Introduction -- 2 Analysis of the Principle of Hand-Eye Calibration -- 3 The Center Coordinate of the Marker Point in the Calibration Board Coordinate System -- 3.1 Image Preprocessing -- 3.2 Calculate the Coordinates of the Center of the Marker Point in the Pixel Coordinate System -- 3.3 Calculate the Coordinates of the Marker Point in the Coordinate System {CCF} -- 4 Homogeneous Transformation Matrix Between Coordinate Systems -- 4.1 Homogeneous Transformation Matrix MFCCF T -- 4.2 Homogeneous Transformation Matrix FFBF T -- 4.3 Homogeneous Transformation Matrix CCFCF T -- 4.4 Homogeneous Transformation Matrix MFCDF T."]
[{"$nulls":4},"4.5 Homogeneous Transformation Matrix BFCDF T -- 5 Experiment and Discussion -- 5.1 Experiment Platform -- 5.2 Results and Discussion -- 6 Conclusion -- References -- Review on Energy Consumption Optimization Methods of Typical Discrete Manufacturing Equipment -- 1 Introduction -- 2 Typical Equipment Energy Consumption Optimization Method -- 2.1 Hardware Approaches -- 2.2 Software Approaches -- 2.3 Hybrid Approaches -- 3 Intelligent Optimization Method -- 3.1 Industrial Robots -- 3.2 Machine Tools -- 4 Conclusions -- References -- Medical Robot -- Development and Control of a CT Fluoroscopy Guided Lung Puncture Robot -- 1 Introduction -- 2 Related Work -- 3 CT Fluoroscopy Guided Puncture Procedure -- 4 Development of the Puncture Robot -- 5 RCM Control of the Puncture Robot -- 6 Conclusion -- References -- Unmarked External Breathing Motion Tracking Based on B-spline Elastic Registration -- 1 Introduction -- 2 Design of Abdominal Breathing Simulator -- 2.1 Structure Design -- 2.2 Motion Control -- 3 Design of Tracking Method -- 3.1 Image Preprocessing -- 3.2 Tracking Method -- 3.3 Model Optimization -- 4 Experiments and Results -- 4.1 Data Acquisition -- 4.2 Camera Error Test -- 4.3 Abdominal Breathing Simulator Test -- 4.4 Model Method Validation -- 5 Conclusion -- References -- Design, Development, and Preliminary Experimental Analysis of a Novel Robotic Laparoscope with Continuum Mechanism -- 1 Introduction -- 2 Structure Design -- 2.1 Overall Design -- 2.2 Finite Element Analysis -- 3 Kinematic Analysis -- 4 Preliminary Experiments and Analyses -- 5 Conclusions -- References -- A Self-evolution Hybrid Robot for Dental Implant Surgery -- 1 Introduction -- 2 Structure Design of the Robot -- 2.1 Structure Scheme -- 2.2 Working Principle -- 3 Self-evolution Strategy for Orientation Adjustment -- 3.1 Analysis of Orientation Adjustment."]
[{"$nulls":4},"3.2 Experiment and Result -- 4 Conclusion -- References -- Design and Optimization of a Novel Intramedullary Robot for Limb Lengthening -- 1 Introduction -- 2 IR4LL Design and Method -- 2.1 IR Design -- 2.2 Magnetic Drive Design -- 3 Analysis and Simulation -- 3.1 Analysis and Simulation of Mechanical Stiffness -- 3.2 Analysis and Simulation of Electromagnetic Driving -- 4 Conclusion and Future Work -- References -- Camera Pose Estimation Based on Feature Extraction and Description for Robotic Gastrointestinal Endoscopy -- 1 Introduction -- 2 Method -- 2.1 Feature Detection and Camera Pose Estimation -- 2.2 Training Details -- 3 Experimental Result -- 3.1 Feature Detection -- 3.2 Image Matching -- 3.3 Camera Pose Estimation -- 4 Conclusion -- References -- A Nature-Inspired "]
[{"$nulls":4},"Algorithm to Adaptively Safe Navigation of a Covid-19 Disinfection Robot -- 1 Introduction -- 2 Developed Path Planning Algorithm for Disinfection -- 2.1 Environment Modeling -- 2.2 Cuckoo Search Algorithm -- 2.3 Cuckoo Search Algorithm for Robot Path Planning -- 3 Path Smoother with Adaptive Speed Robot Navigation -- 3.1 Segmented Cubic B-spline Path Smoother -- 3.2 Adaptive Speed Navigation -- 4 Simulation and Comparative Studies -- 4.1 Comparison of Our Adaptive Speed Algorithm with PSO Model -- 4.2 Comparison of the Proposed Adaptive Speed Model with Various Algorithms -- 5 Conclusion -- References -- A Master-Slave Robotic System for Transurethral Surgery -- 1 Introduction -- 2 System Overview -- 3 Acquisition of Target Trajectory from TOUCH -- 3.1 Acquisition of Nib Coordinates -- 3.2 Map of Pose -- 4 Active Control Algorithm for Remote Center of Motion -- 5 Experiments -- 6 Conclusion -- References -- Analysis of Dynamic Friction and Elongation Characteristics of the Tendon Sheath System -- 1 Introduction -- 2 Dynamic Model of the Tendon Sheath System."]
[{"$nulls":4},"2.1 Friction Modeling -- 2.2 Elongation Modeling -- 3 Simulation and Experimental Verification -- 4 Conclusion -- References -- A Tactile Sensor with Contact Angle Compensation for Robotic Palpation of Tissue Hardness -- 1 Introduction -- 2 Design of the Tactile Sensor -- 2.1 Structure of the Tactile Sensor -- 2.2 Detection Principles -- 3 Simulation Studies -- 3.1 Simulation of Hardness Detection When θis 0° -- 3.2 Simulation of Compensated Hardness and Contact Angle Detection -- 4 Experimental Studies -- 5 Conclusions -- References -- A Robotic Endoscopic Injection Needle with Integrated Tactile Sensor for Intraoperative Autonomous Tumor Localization -- 1 Introduction -- 2 Design of the Tactile Sensor -- 2.1 Structure of the Tactile Sensor -- 2.2 Hardness Sensing Principle -- 3 Simulation Studies -- 3.1 Static Simulation for Verifying Whether the Sensor Damages Tissue -- 3.2 Harmonic Response Simulation of Tissue Hardness Detection -- 3.3 Sensor Performance Simulation Under Different Contact Angles -- 4 Intraoperative Autonomous Tumor Boundary Recognition -- 4.1 The Boundary Recognition Function -- 4.2 Simulation Process -- 4.3 Results and Discussion -- 5 Conclusions -- References -- Vision-Based Pointing Estimation and Evaluation in Toddlers for Autism Screening -- 1 Introduction -- 2 Protocol and Method -- 2.1 Protocol -- 2.2 Method -- 3 Experiments and Results -- 3.1 Experiments -- 3.2 Results -- 4 Conclusion -- References -- Machine Intelligence for Human Motion Analytics -- Multi-Person Absolute 3D Pose and Shape Estimation from Video -- 1 Introduction -- 2 Related Work -- 2.1 3D Pose and Shape Estimation from a Single Image -- 2.2 3D Pose and Shape Estimation from Video -- 3 Approach -- 3.1 Tracking Model -- 3.2 Pose and Shape Model -- 3.3 Root Depth Model -- 3.4 Training Procedure -- 4 Experiments -- 4.1 Datasets and Evaluation."]
[{"$nulls":4},"4.2 Comparison to State-of-the-Art-Results -- 4.3 Ablation Analysis -- 5 Conclusions -- References -- Effects of Wrist Configuration and Finger Combination on Translational Range of Bimanual Precision Manipulation -- 1 Introduction -- 2 Methods -- 2.1 Participants -- 2.2 Equipment -- 2.3 Procedure -- 2.4 Data Processing -- 3 Results -- 4 Discussion -- 5 Conclusion -- References -- Robustness of Combined sEMG and Ultrasound Modalities Against Muscle Fatigue in Force Estimation -- 1 Introduction -- 2 Muscle Fatigue Robustness Evaluation -- 2.1 Subjects -- 2.2 Experimental Apparatus -- 2.3 Experimental Protocols -- 2.4 Signal Processing and Feature Extraction -- 2.5 Linear Regression Model -- 2.6 Evaluation Metrics -- 3 Results -- 3.1 Force Estimation Performance and Robustness Evaluation -- 4 Conclusion -- "]
[{"$nulls":4},"References -- An Abnormal Behavior Recognition Method Based on Fusion Features -- 1 Introduction -- 2 Approach -- 2.1 Overall Network Architecture -- 2.2 Environment Feature Extraction -- 2.3 Action Feature Extraction -- 2.4 Training -- 3 Experiment -- 3.1 Data -- 3.2 Comparison of Behavior Recognition Accuracy -- 3.3 Comparison of Time Positioning Accuracy -- 4 Conclusion -- References -- Human-Robot Interaction for Service Robots -- A Dynamic Head Gesture Recognition Method for Real-Time Human-Computer Interaction -- 1 Introduction -- 2 Dynamic Head Gesture Recognition Method Based on 3DSFI -- 2.1 Problem Setup -- 2.2 Spatiotemporal Feature Extractor -- 2.3 Feature Extraction and Fusion -- 2.4 3DSFI Network Architecture -- 3 Experiments and Results -- 3.1 Experimental Dataset -- 3.2 Models Training and Verification -- 3.3 Application -- 4 Conclusion -- References -- Research on Passive Energy-Regulated Bionic Shell for Lateral Fall Recovery Behavior of Large Quadruped Robots -- 1 Introduction -- 2 Recovery Mechanism."]
[{"$nulls":4},"2.1 Structure Design of the Bionic Shell."]
[null,null,null,"Sommario/riassunto","The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. 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."]