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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
| 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 |
| Edizione | [1st ed. 2011.] |
| Pubbl/distr/stampa | Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 |
| Descrizione fisica | 1 online resource (XXIV, 643 p.) |
| Disciplina | 629.892 |
| Collana | Lecture Notes in Artificial Intelligence |
| Soggetto topico |
Artificial intelligence
Optical data processing Pattern recognition Computer graphics Application software Computer communication systems Artificial Intelligence Image Processing and Computer Vision Pattern Recognition Computer Graphics Information Systems Applications (incl. Internet) Computer Communication Networks |
| ISBN | 3-642-25486-1 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
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 -- Introduction -- 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 -- References -- Five-Axis Milling Simulation Based on B-rep Model -- Introduction -- 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 -- References -- Robotics Intelligence -- Exploration Strategies for Building Compact Maps in Unbounded Environments -- Introduction -- 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 -- Conclusions -- References -- The Basic Component of Computational Intelligence for KUKA KR C3 Robot -- Introduction -- Kinematics -- Workspace -- Example of Calculations -- Conclusions -- References -- An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator -- Introduction -- 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 -- References -- Industrial Robots -- Research on Modular Design of Perpendicular Jointed Industrial Robots -- Introduction -- Modular Division and Conceptual Design -- Subdivision and Detailed Design of Execute Module -- Conclusions -- References -- Online Path Planning for Industrial Robots in Varying Environments Using the Curve Shortening Flow Method -- Introduction -- Problem -- State of the Art -- Curve Shortening Flow Method -- Basic Principle -- Equation -- Numerical Solution -- Extension to Three Dimensions -- Results -- Summary and Outlook -- References -- Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots -- Introduction -- 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 -- Conclusions -- References -- Robotics Assembly Applications -- Integrative Path Planning and Motion Control for Handling Large Components -- Introduction -- Motivation -- Path Planning and Motion Control for Robots -- Integrative Path Planning and Control Concept -- Implementation -- Application -- Summary and Outlook -- References -- Automatic Configuration of Robot Systems - Upward and Downward Integration -- Introduction -- Scope of the Paper -- Existing Approaches -- Conceptual Design -- Paradigm Shift -- Characteristics of Modules -- Function Modelling -- Experimental Setup -- Conclusions and Outlook -- References -- 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 -- Conclusion -- References -- Operation Simulation of a Robot for Space Applications -- Introduction -- A Space Service Robot -- Adams Model -- Simulation Results -- Conclusion -- References -- Re-grasping: Improving Capability for Multi-Arm-Robot-System by Dynamic Reconfiguration -- Introduction -- Handling Concept -- Robot Architecture -- Reconfiguration -- Re-grasp Planning -- Conclusion -- References -- A Parallel Kinematic Concept Targeting at More Accurate Assembly of Aircraft Sections -- Introduction -- Related Work -- Scenario and Concepts -- Kinematic Modelling -- Tripod -- Hexapod -- Jacobian Matrices -- Criteria for the Benchmark of Kinematics -- Optimization Algorithm -- Numerical Results, Benchmark and Discussion -- Conclusion -- References -- Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices -- Introduction -- 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 -- Conclusion -- References -- Rehabilitation Robotics -- EMG Classification for Application in Hierarchical FES System for Lower Limb Movement Control -- Introduction -- System Structure -- EMG Signal Processing -- EMG Acquisition -- Algorithms -- Results of Intention Recognition -- Preliminary FES Experiments -- Conclusion and Future Work -- References -- Situated Learning of Visual Robot Behaviors -- Introduction -- Related Work -- Behavior Representative Features -- Modeling Situatedness -- Scenario Classification. Scenario Modeling -- Experimental Results -- Conclusions -- References -- Humanoid Motion Planning in the Goal Reaching Movement of Anthropomorphic Upper Limb -- Introduction -- Method -- Twists and Wrenches -- Second Order Kinematic Model -- Numerical Simulation -- Discussion and Conclusion -- References -- Human Sitting Posture Exposed to Horizontal Perturbation and Implications to Robotic Wheelchairs -- Introduction -- Biomechanics and Motor Control of Sitting Posture -- Vibrational Analysis of Sitting Posture -- Biomechanics and Control Model -- Implications to Robotic Wheelchairs -- Conclusions -- References -- Automatic Circumference Measurement for Aiding in the Estimation of Maximum Voluntary Contraction (MVC) in EMG Systems -- Introduction -- Background -- Design of Automatic Circumference Armband -- Experimental Results and Analysis -- Discussion -- Conclusion and Future Work -- References -- Classification of the Action Surface EMG Signals Based on the Dirichlet Process Mixtures Method -- Introduction -- Methods -- Dirichlet Process Mixture Model -- Feature Extraction -- Materials -- Analysis and Results -- Conclusions -- References -- Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device -- Introduction -- 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 -- Conclusions -- References -- Mechanisms and their Applications -- Inverse Kinematics Solution of a Class of Hybrid Manipulators -- Introduction -- Overview of Kinematic Configuration and Modeling -- Inverse Kinematics Solution -- A Numerical Example -- Discussion and Conclusion -- References -- Stiffness Analysis of Clavel's DELTA Robot. Introduction -- Inverse Kinematics -- Static Force Transmission -- Stiffness Model -- Relevant Structural Stiffness Effects -- Results -- References -- Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy -- Introduction -- Mechanism Description and Inverse Kinematics -- Optimum Kinematic Design -- Indices Definition -- Normalization of the Geometric Parameters -- Optimum Kinematic Design -- Performance Comparison between Redundant and Non-redundant Manipulators -- Conclusions -- References -- Integrated Structure and Control Design for a Flexible Planar Manipulator -- Introduction -- 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 -- Conclusion -- References -- Effects of Clearance on Dynamics of Parallel Indexing Cam Mechanism -- Introduction -- 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 -- Conclusion -- References -- Design and Compliance Experiment Study of the Forging Simulator -- Introduction -- 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 -- Conclusion -- References. Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars. |
| Altri titoli varianti | ICIRA'11 |
| Record Nr. | UNINA-9910510603403321 |
| Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Intelligent Robotics and Applications : 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part II / / edited by Sabina Jeschke, Honghai Liu, Daniel Schilberg
| Intelligent Robotics and Applications : 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part II / / edited by Sabina Jeschke, Honghai Liu, Daniel Schilberg |
| Edizione | [1st ed. 2011.] |
| Pubbl/distr/stampa | Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 |
| Descrizione fisica | 1 online resource (XXIV, 623 p.) |
| Disciplina | 629.892 |
| Collana | Lecture Notes in Artificial Intelligence |
| Soggetto topico |
Artificial intelligence
Optical data processing Pattern recognition Computer graphics Application software Computer communication systems Artificial Intelligence Image Processing and Computer Vision Pattern Recognition Computer Graphics Information Systems Applications (incl. Internet) Computer Communication Networks |
| ISBN | 3-642-25489-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Title page -- Preface -- Conference Organization -- Table of Contents -- A Body for the Brain: Embodied Intelligence in Bio-inspired Robotics -- Biomechatronics for Embodied Intelligence of an Insectoid Robot -- Introduction -- Biomechatronic Transfer of Morphological Features -- Bio-inspired Drive Technology for Leg and Body Joints -- Lean Communication on the Robot -- Discussion -- References -- Novel Approaches for Bio-inspired Mechano-Sensors -- Introduction -- Inspiration from Biology -- Related Work -- Approaches for Developing Tactile Sensors for Static Stimuli -- Building Tactile Sensor Arrays Using Piezoresistive Materials -- Flexible Tactile Array Sensor Using Conductive Thread Electrodes -- Flexible Tactile Array Sensor Using Conductive Polymer Electrodes -- Approaches for Developing Tactile Sensors for Dynamic Stimuli -- Experimental Results and Applications -- Data Acquisition -- Classification of Fruits and Vegetables Using Haptic Feedback -- Determination of Tactile Contact Profile of Small Objects -- Determination of Gentle Contact and Vibrations -- Conclusions -- References -- Helping a Bio-inspired Tactile Sensor System to Focus on the Essential -- Introduction -- Previous Work -- Sensor Hardware -- Interpreting Sensor Readings -- Results -- Conclusion -- References -- Robust Dataglove Mapping for Recording Human Hand Postures -- Introduction -- The Human Hand Model -- Mapping from Cyberglove to Human Hand Model -- The Thumb Abduction / Roll Sensor Mapping -- The Finger Spread Sensor Mapping -- The Abduction Sensor Dependency -- Evaluation of the Mapping -- Conclusion -- References -- Software/Hardware Issues in Modelling Insect Brain Architecture -- Introduction -- Insect Brain Model -- Software/Hardware Framework -- Robotic Platforms and Experiments -- Definition of Scenarios -- Conclusion -- References.
Higher Brain Centers for Intelligent Motor Control in Insects -- Introduction -- Learning and Memory in the Central Complex for Approaching Objects -- Experimental Evidence -- The Central Complex Model -- Intelligent Motor Control beyond the Current Model -- An Integrator for the Orientation in Gradients -- Motor Learning -- A Representation of Body Size in the Brain -- Termination of Inappropriate Behavior -- Conclusion -- References -- An Insect-Inspired, Decentralized Memory for Robot Navigation -- Introduction -- The Model -- Results -- Discussion -- References -- Models of Visually Guided Routes in Ants: Embodiment Simplifies Route Acquisition -- Introduction -- Background -- Overview of Our Approach -- Detailed Methods -- Results -- Summary -- References -- Intelligent Visual Systems -- Robust Object Tracking for Resource-Limited Hardware Systems -- Introduction -- Overview of Tracking System -- Dominant Color-Spatial Based Object Representation -- Dominant Color Mode Extraction -- Spatial Layout of the Dominant Color -- Similarity Measure for Matching -- Cross Bin-Ratio Based Color Similarity Measure -- Spatial Similarity Measure -- Swarm Intelligence Based Searching Method -- Annealed Particle Swarm Optimization -- Integral Image of Model Parameters -- Experimental Results -- Different Object Representations -- Different Similarity Measure -- Different Searching Methods -- Conclusion -- References -- Adaptive Rank Transform for Stereo Matching -- Introduction -- Adaptive Rank Transform -- The Motivation Behind Adaptive Rank Transform -- Adaptive Rank Window -- New Transform Rules -- Comparison between Adaptive and Original Rank Transform -- Obtaining the Match Window from Multiple Rank Windows -- Experiments -- Conclusion -- References -- Real Time Vision Based Multi-person Tracking for Mobile Robotics and Intelligent Vehicles -- Introduction. Related Work -- System Overview -- System Realization -- Visual Odometry -- Object Detection -- Tracking -- Experimental Results -- Conclusion -- Acknowledgments. -- References -- A Method for Wandering Trajectory Detection in Video Monitor -- Introduction -- Algorithm Description -- Target Detection -- Determine the Initial Half-Line -- Calculate the Angle -- Judge the Type of Trajectory -- Experimental Results and Analysis -- Conclusion -- References -- The Design of a Vision-Based Motion Performance System -- Introduction -- Related Work -- System Overview -- Initialization -- Feature Detection -- Feature Tracking -- 3D Point Reconstruction and Display -- Experiments and Analysis -- Conclusion -- References -- Window Function for EEG Power Density Estimation and Its Application in SSVEP Based BCIs -- Introduction -- Experiment Setting -- Subjects -- EEG Recording -- Experimental Paradigms -- EEG Signal and Window Function -- Application in SSVEP -- Method -- Result -- Conclusion -- References -- Efficient Multi-resolution Plane Segmentation of 3D Point Clouds -- Introduction -- Related Work -- Efficient Multi-resolution Segmentation into Planar Segments -- Efficient Normal Estimation through Multiple Resolutions -- Pre-segmentation in Hough-Space -- Segmentation into Connected Components -- Accurate Segmentation through RANSAC -- Coarse-to-Fine Segmentation -- Post-Processing -- Experiments -- Conclusion and Future Work -- References -- 3D Body Pose Estimation Using an Adaptive Person Model for Articulated ICP -- Introduction -- Related Work -- Basic Algorithm -- Human Body Model -- Articulated Iterative Closest Point Algorithm -- Proposed Extensions -- Data Segmentation -- Data Assignment -- Model Adaption -- Self-collision Checking -- Model Initialization -- Experiments -- Conclusions -- References -- Self-optimising Production Systems. Artificial Cognition in Autonomous Assembly Planning Systems -- Introduction -- Definitions -- Cognition -- Self-optimization -- State of the Art -- Software Architectures for Cognitive Technical Systems -- Cognitive Technical Systems in Production Engineering -- Assembly Planning Systems -- The Project "Cognitive Planning and Control System for Production" -- Objectives and Approach -- Cognitive Capabilities of the CCU -- Conclusion and Outlook -- References -- Self-optimization as an Enabler for Flexible and Reconfigurable Assembly Systems -- Introduction -- Self-optimizing Functions for Assembly Systems -- Grasp Planning and Configuration -- Quick Automated Commissioning of Assembly Systems after Reconfiguration -- Planar Alignment for a Bonding Process -- Summary and Outlook -- References -- Flexible Assembly Robotics for Self-optimizing Production -- Introduction -- Self-optimizing Assembly Systems -- Research Results -- Intermediate Conclusion -- Research Roadmap -- Enablers for Flexibility -- Enablers for Cognition -- Enablers for Autonomy -- Conclusion -- References -- Meta-modeling for Manufacturing Processes -- Introduction -- Meta-modeling - Definition of Process-Independent Method -- Definition of Process Properties and Model Requirements (B1) -- Selection of Parameters (B2) -- Determination of Process Domain (B3) -- Selection of Data Source (B4) -- Design and Setup of Experiment (B5) -- Generation of Data (B6) -- Selection of Model Class and Structure (B7) -- Implementation of Model (B8) -- Evaluation of Model Quality (B9) -- Conclusion -- References -- Computational Intelligence -- Control Architecture for Human Friendly Robots Based on Interacting with Human -- Introduction -- Intelligent Human Friendly Robot System -- Control Software Architecture for the Service Robot -- Experimental Result of a Control Software Architecture. The Experiment for Clearing Table -- The Addition of a New Function to the Software Architecture -- Conclusion -- References -- Multi-modal Communication Interface for Elderly People in Informationally Structured Space -- Introduction -- Monitoring System for Elderly People -- Universal Remote Controller -- Problem of Usability -- Input Interface -- Information Visualization -- Experimental Result -- Evaluation Result of Screen Design -- Evaluation Result on Handling Ability -- Summary -- References -- Motion Control Strategies for Humanoids Based on Ergonomics -- Introduction -- Simulating Anthropomorphic Multiagent Systems -- Modeling Anthropomorphic Kinematics as Kinematic Trees -- Controlling Anthropomorphic Kinematics as Multiagent Systems -- Processing RULA -- Connecting RULA to Anthropomorphic Kinematics -- RULA Only Considers one Arm at a Time, in Its Original Form It Is Not Assessed for Both Arms at Once -- RULA Is Only Assessed for Single Work Postures, in Its Original Form It Is Not Calculated Continuously -- RULA Only Considers Postures Feasible for Humans, but Humanoids Are Typically Not Restricted to Human Joint Limits -- Motion Control Strategies from RULA -- Interpretation of RULA Scores as ``ergonomic stress -- Reduction of RULA Scores with Nullspace Motions -- Inversion of RULA to Identify Favorable Joint Configurations -- Results -- Conclusion -- References -- Fuzzy Representations and Control for Domestic Service Robots in Golog -- Introduction -- The Situation Calculus and Golog -- Qualitative Fluents and Fuzzy Controllers in Golog -- Fuzzy Fluents -- Fuzzy Controller in Readylog -- Applications in a Domestic Service Robotics Domain -- A Domestic Service Robotics Domain (RoboCup@Home) -- Qualitative Representations for Domestic Environments -- Qualitative Notions in High-level Programs -- Domestic Golog Fuzzy Controllers. Conclusions. |
| Altri titoli varianti | ICIRA'11 |
| Record Nr. | UNISA-996466262203316 |
| Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
| ||
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
| 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 |
| Edizione | [1st ed. 2011.] |
| Pubbl/distr/stampa | Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 |
| Descrizione fisica | 1 online resource (XXIV, 643 p.) |
| Disciplina | 629.892 |
| Collana | Lecture Notes in Artificial Intelligence |
| Soggetto topico |
Artificial intelligence
Optical data processing Pattern recognition Computer graphics Application software Computer communication systems Artificial Intelligence Image Processing and Computer Vision Pattern Recognition Computer Graphics Information Systems Applications (incl. Internet) Computer Communication Networks |
| ISBN | 3-642-25486-1 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
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 -- Introduction -- 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 -- References -- Five-Axis Milling Simulation Based on B-rep Model -- Introduction -- 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 -- References -- Robotics Intelligence -- Exploration Strategies for Building Compact Maps in Unbounded Environments -- Introduction -- 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 -- Conclusions -- References -- The Basic Component of Computational Intelligence for KUKA KR C3 Robot -- Introduction -- Kinematics -- Workspace -- Example of Calculations -- Conclusions -- References -- An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator -- Introduction -- 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 -- References -- Industrial Robots -- Research on Modular Design of Perpendicular Jointed Industrial Robots -- Introduction -- Modular Division and Conceptual Design -- Subdivision and Detailed Design of Execute Module -- Conclusions -- References -- Online Path Planning for Industrial Robots in Varying Environments Using the Curve Shortening Flow Method -- Introduction -- Problem -- State of the Art -- Curve Shortening Flow Method -- Basic Principle -- Equation -- Numerical Solution -- Extension to Three Dimensions -- Results -- Summary and Outlook -- References -- Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots -- Introduction -- 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 -- Conclusions -- References -- Robotics Assembly Applications -- Integrative Path Planning and Motion Control for Handling Large Components -- Introduction -- Motivation -- Path Planning and Motion Control for Robots -- Integrative Path Planning and Control Concept -- Implementation -- Application -- Summary and Outlook -- References -- Automatic Configuration of Robot Systems - Upward and Downward Integration -- Introduction -- Scope of the Paper -- Existing Approaches -- Conceptual Design -- Paradigm Shift -- Characteristics of Modules -- Function Modelling -- Experimental Setup -- Conclusions and Outlook -- References -- 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 -- Conclusion -- References -- Operation Simulation of a Robot for Space Applications -- Introduction -- A Space Service Robot -- Adams Model -- Simulation Results -- Conclusion -- References -- Re-grasping: Improving Capability for Multi-Arm-Robot-System by Dynamic Reconfiguration -- Introduction -- Handling Concept -- Robot Architecture -- Reconfiguration -- Re-grasp Planning -- Conclusion -- References -- A Parallel Kinematic Concept Targeting at More Accurate Assembly of Aircraft Sections -- Introduction -- Related Work -- Scenario and Concepts -- Kinematic Modelling -- Tripod -- Hexapod -- Jacobian Matrices -- Criteria for the Benchmark of Kinematics -- Optimization Algorithm -- Numerical Results, Benchmark and Discussion -- Conclusion -- References -- Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices -- Introduction -- 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 -- Conclusion -- References -- Rehabilitation Robotics -- EMG Classification for Application in Hierarchical FES System for Lower Limb Movement Control -- Introduction -- System Structure -- EMG Signal Processing -- EMG Acquisition -- Algorithms -- Results of Intention Recognition -- Preliminary FES Experiments -- Conclusion and Future Work -- References -- Situated Learning of Visual Robot Behaviors -- Introduction -- Related Work -- Behavior Representative Features -- Modeling Situatedness -- Scenario Classification. Scenario Modeling -- Experimental Results -- Conclusions -- References -- Humanoid Motion Planning in the Goal Reaching Movement of Anthropomorphic Upper Limb -- Introduction -- Method -- Twists and Wrenches -- Second Order Kinematic Model -- Numerical Simulation -- Discussion and Conclusion -- References -- Human Sitting Posture Exposed to Horizontal Perturbation and Implications to Robotic Wheelchairs -- Introduction -- Biomechanics and Motor Control of Sitting Posture -- Vibrational Analysis of Sitting Posture -- Biomechanics and Control Model -- Implications to Robotic Wheelchairs -- Conclusions -- References -- Automatic Circumference Measurement for Aiding in the Estimation of Maximum Voluntary Contraction (MVC) in EMG Systems -- Introduction -- Background -- Design of Automatic Circumference Armband -- Experimental Results and Analysis -- Discussion -- Conclusion and Future Work -- References -- Classification of the Action Surface EMG Signals Based on the Dirichlet Process Mixtures Method -- Introduction -- Methods -- Dirichlet Process Mixture Model -- Feature Extraction -- Materials -- Analysis and Results -- Conclusions -- References -- Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device -- Introduction -- 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 -- Conclusions -- References -- Mechanisms and their Applications -- Inverse Kinematics Solution of a Class of Hybrid Manipulators -- Introduction -- Overview of Kinematic Configuration and Modeling -- Inverse Kinematics Solution -- A Numerical Example -- Discussion and Conclusion -- References -- Stiffness Analysis of Clavel's DELTA Robot. Introduction -- Inverse Kinematics -- Static Force Transmission -- Stiffness Model -- Relevant Structural Stiffness Effects -- Results -- References -- Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy -- Introduction -- Mechanism Description and Inverse Kinematics -- Optimum Kinematic Design -- Indices Definition -- Normalization of the Geometric Parameters -- Optimum Kinematic Design -- Performance Comparison between Redundant and Non-redundant Manipulators -- Conclusions -- References -- Integrated Structure and Control Design for a Flexible Planar Manipulator -- Introduction -- 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 -- Conclusion -- References -- Effects of Clearance on Dynamics of Parallel Indexing Cam Mechanism -- Introduction -- 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 -- Conclusion -- References -- Design and Compliance Experiment Study of the Forging Simulator -- Introduction -- 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 -- Conclusion -- References. Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars. |
| Altri titoli varianti | ICIRA'11 |
| Record Nr. | UNISA-996466246903316 |
| Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
| ||
Intelligent Robotics and Applications : 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part II / / edited by Sabina Jeschke, Honghai Liu, Daniel Schilberg
| Intelligent Robotics and Applications : 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part II / / edited by Sabina Jeschke, Honghai Liu, Daniel Schilberg |
| Edizione | [1st ed. 2011.] |
| Pubbl/distr/stampa | Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 |
| Descrizione fisica | 1 online resource (XXIV, 623 p.) |
| Disciplina | 629.892 |
| Collana | Lecture Notes in Artificial Intelligence |
| Soggetto topico |
Artificial intelligence
Optical data processing Pattern recognition Computer graphics Application software Computer communication systems Artificial Intelligence Image Processing and Computer Vision Pattern Recognition Computer Graphics Information Systems Applications (incl. Internet) Computer Communication Networks |
| ISBN | 3-642-25489-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Title page -- Preface -- Conference Organization -- Table of Contents -- A Body for the Brain: Embodied Intelligence in Bio-inspired Robotics -- Biomechatronics for Embodied Intelligence of an Insectoid Robot -- Introduction -- Biomechatronic Transfer of Morphological Features -- Bio-inspired Drive Technology for Leg and Body Joints -- Lean Communication on the Robot -- Discussion -- References -- Novel Approaches for Bio-inspired Mechano-Sensors -- Introduction -- Inspiration from Biology -- Related Work -- Approaches for Developing Tactile Sensors for Static Stimuli -- Building Tactile Sensor Arrays Using Piezoresistive Materials -- Flexible Tactile Array Sensor Using Conductive Thread Electrodes -- Flexible Tactile Array Sensor Using Conductive Polymer Electrodes -- Approaches for Developing Tactile Sensors for Dynamic Stimuli -- Experimental Results and Applications -- Data Acquisition -- Classification of Fruits and Vegetables Using Haptic Feedback -- Determination of Tactile Contact Profile of Small Objects -- Determination of Gentle Contact and Vibrations -- Conclusions -- References -- Helping a Bio-inspired Tactile Sensor System to Focus on the Essential -- Introduction -- Previous Work -- Sensor Hardware -- Interpreting Sensor Readings -- Results -- Conclusion -- References -- Robust Dataglove Mapping for Recording Human Hand Postures -- Introduction -- The Human Hand Model -- Mapping from Cyberglove to Human Hand Model -- The Thumb Abduction / Roll Sensor Mapping -- The Finger Spread Sensor Mapping -- The Abduction Sensor Dependency -- Evaluation of the Mapping -- Conclusion -- References -- Software/Hardware Issues in Modelling Insect Brain Architecture -- Introduction -- Insect Brain Model -- Software/Hardware Framework -- Robotic Platforms and Experiments -- Definition of Scenarios -- Conclusion -- References.
Higher Brain Centers for Intelligent Motor Control in Insects -- Introduction -- Learning and Memory in the Central Complex for Approaching Objects -- Experimental Evidence -- The Central Complex Model -- Intelligent Motor Control beyond the Current Model -- An Integrator for the Orientation in Gradients -- Motor Learning -- A Representation of Body Size in the Brain -- Termination of Inappropriate Behavior -- Conclusion -- References -- An Insect-Inspired, Decentralized Memory for Robot Navigation -- Introduction -- The Model -- Results -- Discussion -- References -- Models of Visually Guided Routes in Ants: Embodiment Simplifies Route Acquisition -- Introduction -- Background -- Overview of Our Approach -- Detailed Methods -- Results -- Summary -- References -- Intelligent Visual Systems -- Robust Object Tracking for Resource-Limited Hardware Systems -- Introduction -- Overview of Tracking System -- Dominant Color-Spatial Based Object Representation -- Dominant Color Mode Extraction -- Spatial Layout of the Dominant Color -- Similarity Measure for Matching -- Cross Bin-Ratio Based Color Similarity Measure -- Spatial Similarity Measure -- Swarm Intelligence Based Searching Method -- Annealed Particle Swarm Optimization -- Integral Image of Model Parameters -- Experimental Results -- Different Object Representations -- Different Similarity Measure -- Different Searching Methods -- Conclusion -- References -- Adaptive Rank Transform for Stereo Matching -- Introduction -- Adaptive Rank Transform -- The Motivation Behind Adaptive Rank Transform -- Adaptive Rank Window -- New Transform Rules -- Comparison between Adaptive and Original Rank Transform -- Obtaining the Match Window from Multiple Rank Windows -- Experiments -- Conclusion -- References -- Real Time Vision Based Multi-person Tracking for Mobile Robotics and Intelligent Vehicles -- Introduction. Related Work -- System Overview -- System Realization -- Visual Odometry -- Object Detection -- Tracking -- Experimental Results -- Conclusion -- Acknowledgments. -- References -- A Method for Wandering Trajectory Detection in Video Monitor -- Introduction -- Algorithm Description -- Target Detection -- Determine the Initial Half-Line -- Calculate the Angle -- Judge the Type of Trajectory -- Experimental Results and Analysis -- Conclusion -- References -- The Design of a Vision-Based Motion Performance System -- Introduction -- Related Work -- System Overview -- Initialization -- Feature Detection -- Feature Tracking -- 3D Point Reconstruction and Display -- Experiments and Analysis -- Conclusion -- References -- Window Function for EEG Power Density Estimation and Its Application in SSVEP Based BCIs -- Introduction -- Experiment Setting -- Subjects -- EEG Recording -- Experimental Paradigms -- EEG Signal and Window Function -- Application in SSVEP -- Method -- Result -- Conclusion -- References -- Efficient Multi-resolution Plane Segmentation of 3D Point Clouds -- Introduction -- Related Work -- Efficient Multi-resolution Segmentation into Planar Segments -- Efficient Normal Estimation through Multiple Resolutions -- Pre-segmentation in Hough-Space -- Segmentation into Connected Components -- Accurate Segmentation through RANSAC -- Coarse-to-Fine Segmentation -- Post-Processing -- Experiments -- Conclusion and Future Work -- References -- 3D Body Pose Estimation Using an Adaptive Person Model for Articulated ICP -- Introduction -- Related Work -- Basic Algorithm -- Human Body Model -- Articulated Iterative Closest Point Algorithm -- Proposed Extensions -- Data Segmentation -- Data Assignment -- Model Adaption -- Self-collision Checking -- Model Initialization -- Experiments -- Conclusions -- References -- Self-optimising Production Systems. Artificial Cognition in Autonomous Assembly Planning Systems -- Introduction -- Definitions -- Cognition -- Self-optimization -- State of the Art -- Software Architectures for Cognitive Technical Systems -- Cognitive Technical Systems in Production Engineering -- Assembly Planning Systems -- The Project "Cognitive Planning and Control System for Production" -- Objectives and Approach -- Cognitive Capabilities of the CCU -- Conclusion and Outlook -- References -- Self-optimization as an Enabler for Flexible and Reconfigurable Assembly Systems -- Introduction -- Self-optimizing Functions for Assembly Systems -- Grasp Planning and Configuration -- Quick Automated Commissioning of Assembly Systems after Reconfiguration -- Planar Alignment for a Bonding Process -- Summary and Outlook -- References -- Flexible Assembly Robotics for Self-optimizing Production -- Introduction -- Self-optimizing Assembly Systems -- Research Results -- Intermediate Conclusion -- Research Roadmap -- Enablers for Flexibility -- Enablers for Cognition -- Enablers for Autonomy -- Conclusion -- References -- Meta-modeling for Manufacturing Processes -- Introduction -- Meta-modeling - Definition of Process-Independent Method -- Definition of Process Properties and Model Requirements (B1) -- Selection of Parameters (B2) -- Determination of Process Domain (B3) -- Selection of Data Source (B4) -- Design and Setup of Experiment (B5) -- Generation of Data (B6) -- Selection of Model Class and Structure (B7) -- Implementation of Model (B8) -- Evaluation of Model Quality (B9) -- Conclusion -- References -- Computational Intelligence -- Control Architecture for Human Friendly Robots Based on Interacting with Human -- Introduction -- Intelligent Human Friendly Robot System -- Control Software Architecture for the Service Robot -- Experimental Result of a Control Software Architecture. The Experiment for Clearing Table -- The Addition of a New Function to the Software Architecture -- Conclusion -- References -- Multi-modal Communication Interface for Elderly People in Informationally Structured Space -- Introduction -- Monitoring System for Elderly People -- Universal Remote Controller -- Problem of Usability -- Input Interface -- Information Visualization -- Experimental Result -- Evaluation Result of Screen Design -- Evaluation Result on Handling Ability -- Summary -- References -- Motion Control Strategies for Humanoids Based on Ergonomics -- Introduction -- Simulating Anthropomorphic Multiagent Systems -- Modeling Anthropomorphic Kinematics as Kinematic Trees -- Controlling Anthropomorphic Kinematics as Multiagent Systems -- Processing RULA -- Connecting RULA to Anthropomorphic Kinematics -- RULA Only Considers one Arm at a Time, in Its Original Form It Is Not Assessed for Both Arms at Once -- RULA Is Only Assessed for Single Work Postures, in Its Original Form It Is Not Calculated Continuously -- RULA Only Considers Postures Feasible for Humans, but Humanoids Are Typically Not Restricted to Human Joint Limits -- Motion Control Strategies from RULA -- Interpretation of RULA Scores as ``ergonomic stress -- Reduction of RULA Scores with Nullspace Motions -- Inversion of RULA to Identify Favorable Joint Configurations -- Results -- Conclusion -- References -- Fuzzy Representations and Control for Domestic Service Robots in Golog -- Introduction -- The Situation Calculus and Golog -- Qualitative Fluents and Fuzzy Controllers in Golog -- Fuzzy Fluents -- Fuzzy Controller in Readylog -- Applications in a Domestic Service Robotics Domain -- A Domestic Service Robotics Domain (RoboCup@Home) -- Qualitative Representations for Domestic Environments -- Qualitative Notions in High-level Programs -- Domestic Golog Fuzzy Controllers. Conclusions. |
| Altri titoli varianti | ICIRA'11 |
| Record Nr. | UNINA-9910510603103321 |
| Berlin, Heidelberg : , : Springer Berlin Heidelberg : , : Imprint : Springer, , 2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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