Intelligent Robotics and Applications: First International Conference, ICIRA 2008 Wuhan, China, October 15-17, 2008 Proceedings, Part IICaihua Xiong, Yongan Huang, Youlun Xiong This two volumes constitute the refereed proceedings of the First International Conference on Intelligent Robotics and Applications, ICIRA 2008, held in Wuhan, China, in October 2008. The 265 revised full papers presented were thoroughly reviewed and selected from 552 submissions; they are devoted but not limited to robot motion planning and manipulation; robot control; cognitive robotics; rehabilitation robotics; health care and artificial limb; robot learning; robot vision; human-machine interaction & coordination; mobile robotics; micro/nano mechanical systems; manufacturing automation; multi-axis surface machining; realworld applications. |
Contents
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| 7 | |
| 17 | |
| 27 | |
| 36 | |
Speech Emotion Recognition Using Spectral Entropy | 45 |
Robot Auditory Search Realization Based on Virtual Reality | 55 |
Application of Touch Sensing Technique Based on MagnetoRheological Fluid in Constant Power Control of Coal Mining Machine | 64 |
Analysis of Stable Grasping for OneParameter FourPin Gripper | 630 |
A Method for Evaluation of Coning Error Based on Adaptive Cone | 640 |
Numerical Simulations of OpenDie Forging Process for Manipulator Design | 650 |
A New Simple and Universal FourFinger Gripper for 3D Objects Grasping | 659 |
Reliability Assessment of Machining Accuracy on Support Vector Machine | 669 |
A Multiaspect Simulation System for Flexible Aircraft Wing Assembly | 679 |
Design of an RFIDBased Manufacturing Data Tracking System in Plant Production | 688 |
A Visual Servoing System for the Torch Alignment to Initial Welding Position | 697 |
Research on the Unmanned Air Vehicle Team Intelligence Control System Based on Multiagent | 73 |
New Approach and Application to a Novel Admittance Haptic Device | 81 |
Selfcollision Detection for Rigid Nonconvex Multilink Model | 91 |
Interenterprise Multiprocesses Quality Dynamic Control Method Based on Processing Network | 101 |
A Teleoperation System for Collaborative Works with VisionGuided Autonomous Robot | 111 |
Occlusion Handling in Augmented Reality System for HumanAssisted Assembly Task | 121 |
Research on the WaveVariable Based Teleoperation with ForceFeedback | 131 |
OnLine Simulation for Shop Floor Control in Manufacturing Execution System | 141 |
Realization of the Synchronization Mechanism of Step and Scan Projection Lithography | 151 |
A ThinType Traveling Wave Ultrasonic Motor and Phenomenon Analysis of Experiment with SinglePhase Voltage | 162 |
A Vertical Sidewall Surface Piezoresistor Technology Based on DRIE and Its Typical Application in Micro xyStages | 170 |
ThreeDimensional Tracking at Microscale Using a Single Optical Microscope | 178 |
Design Fabrication and Experiment | 188 |
Fuzzy Logic Control for Vehicle Suspension Systems | 197 |
A Sidewall Piezoresistive Force Sensor Used in a MEMS Gripper | 207 |
Estimation of the Cell Deformation | 217 |
Optimizing Mechanism for a Polymorphic Tracked Robot | 224 |
Design on the Driving Mode of MEMS Vibratory Gyroscope | 232 |
Investigation on the Key Technologies of Micro Machine Tool and Prototype Development | 240 |
Forward Kinematics and Solution Methodologies for a FlexureBased Micromanipulator | 250 |
Approximate Numerical Solution of Hydrodynamic Gas Journal Bearings | 260 |
Modeling and Control of Macromicro DualDrive High Acceleration and High Precision Positioning Stage Using for IC Packaging | 269 |
Conceptual Design Modeling for Microcomponent Based on FES | 279 |
Clamping Modeling StateoftheArt and Future Trends | 289 |
A Feasibility Study of the Design and Calculation of Fully Hydraulic Paper Cutting Machine System | 301 |
Towards a Network Video Conference System BasedOn Group Cooperation Mode for Multidisciplinary Collaborative Product Design | 311 |
Straightening Model and Prediction of Straightening Stroke of Precision Linear Guide Rail | 321 |
Finite Element Modeling of Part Distortion | 329 |
Kinematics Analysis for a NewStyle Machine Tool Based on 3PRS Parallel Robot | 339 |
Safe and Short Tool Length Generation for 3+2 Axis NC Machining of a BallEnd Cutter Using Graphics Hardware | 348 |
Analysis of Clamping within a Fixing System | 356 |
A Novel DualCam Linkage Drive Automatic Tool Changer for Horizontal Machining Center | 368 |
Scheduling MixedModel Assembly Lines with Cost Objectives by a Hybrid Algorithm | 378 |
Design and Implement of Synchronizing DualDrive Gantry Based on Multiaxes Motion Control Card | 388 |
Tools for Simulation Based Fixture Design to Reduce Deformation in Advanced Fusion Welding | 398 |
Modeling of Machining Error Propagation Network for Multistage Machining Processes | 408 |
Research on Design Method and Application of FPGABased Motion Control | 419 |
A Method of Change Management in Error Analysis for Multistage Machining Processes | 431 |
Research on the Thermal Error of the 3DCoordinate Measuring Machine Based on the Finite Element Method | 440 |
Dynamic Stability Analysis of a Novel Forging Manipulator | 449 |
Intelligent Clamping Fixture in General | 459 |
Kinematics Analysis for a 4RPR Parallel Mechanism of the Milling of the Big Radius Spherical Fiducial Surface | 466 |
Development of a 3D HighPrecise Positioning System Based on a Planar Target and Two CCD Cameras | 475 |
Research on TOC Accounting Based Decision Making of Products Pricing | 485 |
A Genetic Algorithm for Integration of Process Planning and Scheduling Problem | 495 |
Variable Neighborhood Genetic Algorithm for the Flexible Job Shop Scheduling Problems | 503 |
Intelligent Robot Manipulators Application in the Racking of Drill Pipe | 513 |
A Novel SixAxis Heavy Force Sensor | 522 |
Research on Benefits Distribution of Fourth Party Logistics Based on Nonprofit Organization | 530 |
Design of Acceleration Feedforward and Study of Calibration Algorithm | 539 |
Research on Acceleration and Deceleration Control Algorithm of NC Instruction Interpretations with HighOrder Smooth | 548 |
A Novel Autofocusing Method Applied to Micro Manipulation System | 558 |
Simulation and Development Environment for Digital Controlled PMSM Servo System | 566 |
Development of SOA Based Equipments Maintenance Decision Support System | 576 |
Fuzzy Synthetic Evaluation Approach of Reliability for Condition Monitoring System | 583 |
The Condition Monitoring and Performance Evaluating of Digital Manufacturing Process | 593 |
Research on Measurement EntropyBased of Equipment Management Complexity and Its Application in Production Planning | 604 |
Error Compensation of Indoor GPS Measurement | 612 |
A Method for Calibrating Camera Lens Distortion with CrossRatio Invariability in Welding Seam System | 620 |
Design of Motion Controlling System Based on Structured Grating 3D Measuring Machine | 707 |
Dynamic Analysis and Control of the MJR Robot Palletizer | 713 |
Isotropic Design of Stewart PlatformBased Force Sensor | 723 |
Service Design for Product Lifecycle in Service Oriented Manufacturing | 733 |
LookAhead Scheme for High Speed Consecutive Micro Line Interpolation Based on Dynamics of Machine Tool | 743 |
Robotic Digital Manufacturing of FGM Component | 754 |
DualCore Embedded RealTime Inspection and Analysis Platform for Field Quality Control and Application | 764 |
TensionPosition Hybrid Control of a WebConveyed System | 773 |
Testing Technology of Torsional Vibration Spring Static Stiffness | 784 |
Research of Integrated Access Control Based on TaskDriven RBAC for Lifecycle Software Quality Management | 794 |
Adaptive Notch Filter Control for the Torsion Vibration in LeadScrew Feed Drive System Based on Neural Network | 803 |
Fusion of Data and Expert Judgments with Imprecise Probabilities for Decision Making | 813 |
MIMO Probability Density Function Control Using Simple LOGMLP Neural Networks | 820 |
Research on Intelligent Manufacturing System Based on MultiAgent | 829 |
Influence of Contact Forces on Stable Gripping for LargeScale Heavy Manipulator | 839 |
Macromicro Driven UltraPrecision Positioning Stage for Conventional Grinder | 848 |
Hierarchical Reasoning Model of Tolerance Information and Its Using in Reasoning Technique of Geometric Tolerance Types | 858 |
Role Identification and Reallocation of a Distributed Sensor Network in Manufacturing Floor | 869 |
Dynamic Modeling of Large Scale Heavy Duty Grippers Based on the Response Dead Zone of Counteracting Force | 879 |
Toolpath Generation for FourAxis Rough Milling of Sculptured Surface Turbine Blade | 887 |
A Multiphysics Simulation Based Parameters Optimization for Anisotropic Conductive Adhesive Interconnection in Electronic Packaging | 896 |
Optimum Path Planning of Robotic Free Abrasive Polishing Process | 906 |
Circular Subwindow MultiStep GPI Method in Seam Tracking of Welding Robot Based on 3D Vision | 916 |
Intelligent Assembly for Aero Engine Components | 927 |
The Scheduling for Press Shop Based on Operation Constraints Parallel Machine Model | 936 |
Hybrid Intelligent Algorithm for JobShop Scheduling under Uncertainty | 946 |
Numerical Study on Viscous Heating of Oil Flow in a Spool Valve | 957 |
Clamping Fixtures for Intelligent Cell Manufacturing | 966 |
Kinematics Constrained Toolpath Planning for FiveAxis Machines | 973 |
The Research of Dual NURBS Curves Interpolation Algorithm for HighSpeed FiveAxis Machining | 983 |
NumericSymbolic Solutions to Analyses of Forward Position and Singularity Configuration for 3RPS Parallel Mechanism | 993 |
A Genetic Optimization Approach to Optimize the Multihead Surface Mount Placement Machine | 1003 |
A Method of General Stiffness Modeling for Multiaxis Machine Tool | 1013 |
Symbolic Solutions for Direct Displacement and Manipulability Analyses of 3DOF Parallel Machine Tools Using Groebner Base Method | 1022 |
Application of High Speed Machining in Impeller Process | 1030 |
The Influence of Material Removal on the Modal Change of Blade | 1038 |
Research on Cutting Parameters Optimization of HighSpeed Milling Based on Orthogonal Experiment | 1047 |
Dynamical Research Based on a New Type of Reconfigurable Robot | 1056 |
The Modeling and Simulation of Dynamic Error on TurnMilling Centre | 1066 |
Predictive Force Model Based Variable Feedrate Scheduling for HighEfficiency NC Machining | 1076 |
Design of Redundant Robot for Automated Painting of Large and Complex Surface | 1086 |
Intellectualized Structural Synthesis and Classification of the 3DOF Space Parallel Robot Mechanisms | 1096 |
The New Design of Digital Servo Robot Controller | 1105 |
Computer Vision Based Autonomous Navigation for PinPoint Landing Robotic Spacecraft on Asteroids | 1115 |
Research on the Application of a Marsupial Robot for Coal Mine Rescue | 1127 |
Crucial Technology Research on Pipeline Jet Cleaning Robot | 1137 |
A Novel Selfnavigated Inspection Robot along HighVoltage Power Transmission Line and Its Application | 1145 |
Demonstrative Experiment and Mathematical Analysis | 1155 |
Applications of the Fuzzy Immune PID Control and the Genetic Algorithm in the Automated Pharmacy System | 1163 |
A NeedleHolding Robot for Ultrasound Guided Percutaneous Hepatic Microwave Ablation and Initial Experiments | 1173 |
An Application of Psychoacoustic Metrics to Improve Sound Quality of Fission AirConditioning Unit | 1183 |
Modeling Analysis and Control for a Robotic Roadheader | 1192 |
Automatic Excavation Planning of Hydraulic Excavator | 1201 |
Accuracy of a Novel Parallel Robot with Orthogonal Chains | 1212 |
Application of a New Fault Detection Approach to Aerocrafts ClosedLoop Control System | 1223 |
Design of Dexterous ArmHand for HumanAssisted Manipulation | 1233 |
Noise Properties in Spool Valves with Cavitating Flow | 1241 |
Author Index | 1251 |
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Common terms and phrases
acceleration Agent algorithm analysis angle application assembly Automation axis Berlin Heidelberg 2008 calculated calibration camera China clamping component constraint control system coordinate curve developed device displacement drive dynamic effect Engineering environment equation equipment error evaluation feature feedback feedforward fixture force sensor FPGA function fuzzy genetic algorithm gripper haptic ICIRA IEEE implemented input integrated interface interpolation isotropy kinematics LabVIEW linear LNAI machine tool manipulator manufacturing system matrix measurement mechanism method micro module motion control motor moving average neural network nodes NURBS object obtained operation optimization output paper parameters performance PID controller piezoelectric piezoresistor platform production programming proposed real-time RFID robot rotation scheduling servo shown in Fig signal simulation solution speed Springer-Verlag Berlin Heidelberg Stewart platform structure surface synchronous Technology tion tool orientation toolpath tracking ultrasonic motor vector velocity vibration virtual welding workpiece Wuhan Xiong