Intelligent Robotics and Applications: First International Conference, ICIRA 2008 Wuhan, China, October 15-17, 2008 Proceedings

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Caihua Xiong, Yongan Huang, Youlun Xiong
Springer Science & Business Media, Sep 29, 2008 - Computers - 1258 pages
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The 2008 International Conference on Intelligent Robotics and Applications (ICIRA 2008) was the ?rst event in this conference series. It was advocated by the International Workshop on Robotic Grasping and Fixturing in June 2007, Wuhan, China.Robotics research, however, involvesa wide spectrum ofresearch and applications from the ?rst industrial manipulator to Mars rovers, and from surgery robotics to cognitive robotics. Industrial and real-worldapplications are the force driving the research frontier further forward. The aim of the ICIRA 2008 conference is to promote interactions and collaborations between dis- plines, which are bene?cial in bringing fruitful solutions to the forefront, and to be an international forum that brings together those actively involved in intel- gent robotics and applications. These volumes of Springer sLectureNotesinArti?cialIntelligence andL- ture Notes in Computer Science contain papers accepted for presentation at ICIRA 2008, held in Wuhan, China, October 15 17, 2008. The conference - ceived 552 submissions from all over the world, which were subsequently peer refereed by the Program Committee, with the assistance of external referees. Among them, 265high-qualitypapers wereacceptedfor presentationatthe c- ference, covering the most active topics in intelligent robotics such as robot c- nition, robotlearning, robotvision, motionplanning, multi?ngeredmanipulation and intelligent control. Advances in robotized equipments applied in rehabili- tionandmedicalrobotics, healthcareandarti?ciallimbs, digitalmanufacturing, electronic manufacturing, and manufacturing automation are also reported. The authorscomefromthefollowingcountriesandregions: Australia, Austria, China, France, Germany, Hong Kong, Iran, Italy, Japan, Korea, Malaysia, Poland, - mania, Singapore, Slovakia, Spain, Sweden, Switzerland, Taiwan,
 

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Contents

Keynote Speeches
1
Obstacle Avoidance for Kinematically Redundant Manipulators Based
10
HumanMachine Interaction and Coordination
17
Novel Design and Analysis of Magnetic Couplings Used for Vacuum
24
Ground Control Station Development for Autonomous UAV
36
Analysis of Dynamical Behavior of a Planetary Gear Train
46
Trajectory Optimization of Flexible Mobile Manipulators Using
54
Robot Auditory Search Realization Based on Virtual Reality
55
Face Recognition Using Cortex Mechanism and SVM
625
A Method for Evaluation of Coning Error Based on Adaptive Cone
640
ShortTerm Load Forecasting Based on Bayes and SVR
643
A New Simple and Universal FourFinger Gripper for 3D Objects
659
Shadow Detection and Removal from Solo Natural Image Based
660
A Multiaspect Simulation System for Flexible Aircraft Wing
679
Design of an RFIDBased Manufacturing Data Tracking System
688
Design of Motion Controlling System Based on Structured Grating
707

Force Planning for Underground Articulated Robot
64
Research on the Unmanned Air Vehicle Team Intelligence Control
73
Formation Control of Multiple Mobile Robots Systems
75
Dynamic Leg Motion Generation of Humanoid Robot Based on Human
83
Selfcollision Detection for Rigid Nonconvex Multilink Model
91
The Simulation Analysis of Humanoid Robot Based on Dynamics
93
Design and Coordinated Motion Control of a Welding Robot for Large
101
A Teleoperation System for Collaborative Works with VisionGuided
111
Fuzzy Behavioral Navigation for Bottom Collision Avoidance
122
Research on the WaveVariable Based Teleoperation with
131
Dimensional Synthesis and Analysis of the 2UPSPU Parallel
141
MicroNano Mechanical Systems
151
A New View Planning Method for Automatic Modeling of Three
161
A Vertical Sidewall Surface Piezoresistor Technology Based on DRIE
170
Analysis and Experimental Investigation of Parallel Machine Tool with
179
Design Fabrication and Experiment
188
Trajectory Planning of a Novel 2DoF HighSpeed Planar Parallel
199
A Sidewall Piezoresistive Force Sensor Used in a MEMS Gripper
207
Points Calibration Method of Part Coordinates for Arc Welding
216
Optimizing Mechanism for a Polymorphic Tracked Robot
224
Multirobot Cooperative Pursuit Based on Task Bundle Auctions
235
Investigation on the Key Technologies of Micro Machine Tool
240
Computing Contact Force and Deformation in the HeavyDuty
256
Approximate Numerical Solution of Hydrodynamic Gas Journal
260
Robot Navigation in a Networked Swarm
275
Conceptual Design Modeling for Microcomponent Based on FES
279
RATTLE Method for Dissipative Constrained Hamiltonian Systems
294
A Feasibility Study of the Design and Calculation of Fully Hydraulic
301
Research on Piezoelectric SixDimensional Heavy Force Sensor with
314
Straightening Model and Prediction of Straightening Stroke of Precision
321
Finite Element Modeling of Part Distortion
329
Virtual Force Compensation for MIS Robot
332
Safe and Short Tool Length Generation for 3+2 Axis NC Machining
348
Parameter Design for a Central Pattern Generator Based Locomotion
352
A Novel DualCam Linkage Drive Automatic Tool Changer
368
Biped Robot Walking Using ThreeMass Linear Inverted Pendulum
371
Design and Implement of Synchronizing DualDrive Gantry Based
388
Dynamic Modeling and Control of RigidFlexible Constrained Robot
391
Modeling of Machining Error Propagation Network for Multistage
408
System Identification and Profile Planning for High Accuracy Servo
410
Research on the Sensors Condition Monitoring Method for AUV
427
A Method of Change Management in Error Analysis for Multistage
431
Travel Speed Prediction Using Fuzzy Reasoning
446
Dynamic Stability Analysis of a Novel Forging Manipulator
449
Intelligent Clamping Fixture in General
459
An Improved Method for Circle Detection
463
FeatureBased Image Fusion Quality Metrics
469
Development of a 3D HighPrecise Positioning System Based on
475
Robot Vision
484
Representing and Selecting Landmarks in Autonomous Learning
488
A Genetic Algorithm for Integration of Process Planning
495
Enhancing Plan Execution in Dynamic Domains Using ModelBased
510
Intelligent Robot Manipulators Application in the Racking of Drill
513
A Novel DGO Based on Pneumatic Exoskeleton Leg for Locomotor
528
Research on Benefits Distribution of Fourth Party Logistics Based
530
Analysis of Mechanism and Application Research for 4PTT Parallel
547
Research on Acceleration and Deceleration Control Algorithm of
548
Simulation and Development Environment for Digital Controlled
566
Fuzzy Synthetic Evaluation Approach of Reliability for Condition
583
A Hybrid Robot System Guided by Computer Tomography
588
Research on Measurement EntropyBased of Equipment Management
604
Mechanical Damage Evaluation of Living Tissue in Vascular Therapy
607
A Method for Calibrating Camera Lens Distortion with CrossRatio
620
Qualitative Spatial Scene Modeling for Ambient Intelligence
716
Isotropic Design of Stewart PlatformBased Force Sensor
723
A Polygon Detection Algorithm for Robot Visual Servoing
726
System Calibration and Error Rectification of Binocular Active Visual
734
LookAhead Scheme for High Speed Consecutive Micro Line
743
An Efficient Method to Realize Space Registration in ImageGuided
744
ThreeDimensional Shape Measurement Using Maar Wavelet
753
Design of Multiresolution 3D Measurement System Using Light
761
DualCore Embedded RealTime Inspection and Analysis Platform
764
The Autonomous Underwater Vehicle Vision Denoising Method
771
Based on the Multiscale Integration Face Image Detection Technology
779
Testing Technology of Torsional Vibration Spring Static Stiffness
784
An Improved Algorithm of Hand Gesture Recognition under Intricate
786
Contour Based Multiobject Classification Technology
795
Adaptive Notch Filter Control for the Torsion Vibration in LeadScrew
803
Moblie Robotics
804
MIMO Probability Density Function Control Using Simple LOGMLP
820
Dynamic Route Construction for Mobile Collectors in Wireless Sensor
824
Influence of Contact Forces on Stable Gripping for LargeScale Heavy
839
Path Planning for Mobile Robot Based on Improved
844
Hierarchical Reasoning Model of Tolerance Information and Its Using
858
Vehicle Control Strategy on High Speed Obstacle Avoidance under
863
Dynamic Modeling of Large Scale Heavy Duty Grippers Based on
879
Evolutionary Computation for Simultaneous Localization and Mapping
883
A Multiphysics Simulation Based Parameters Optimization
896
A Method of Landmark Visual Tracking for Mobile Robot
901
Circular Subwindow MultiStep GPI Method in Seam Tracking
916
Realtime 3D Stereo Semantic Reconstruction
921
The Scheduling for Press Shop Based on Operation Constraints Parallel
936
Reinforcement Learning Based Precise Positioning Method for
943
Numerical Study on Viscous Heating of Oil Flow in a Spool Valve
957
Mobile Robot Localization Method Based on Adaptive Particle Filter
963
Multiaxis Surface Machining
973
Modeling and Control of a LinkBased DolphinLike Robot Capable
982
NumericSymbolic Solutions to Analyses of Forward Position
993
A Robust Pose Estimation Algorithm for Mobile Robot Based
1003
A Method of General Stiffness Modeling for Multiaxis Machine Tool
1013
BodyDeformation Steering Approach to Guide a Multimode
1021
Application of High Speed Machining in Impeller Process
1030
Research on Cutting Parameters Optimization of HighSpeed Milling
1047
Research of Dynamic Model and Control Ling of Flexible TwoWheel
1050
Dynamical Research Based on a New Type of Reconfigurable Robot
1056
Biological Characteristics Analysis and Mechanical Jumping
1070
Predictive Force Model Based Variable Feedrate Scheduling
1076
Development of HangingArm Inspection Robot for HighVoltage
1089
Realworld Applications
1096
Effect of Slip on Tractive Performance of Small Rigid Wheel on Loose
1109
Computer Vision Based Autonomous Navigation for PinPoint Landing
1115
A Fuzzy Neural Network Based on TS Model for Mobile Robots
1127
Crucial Technology Research on Pipeline Jet Cleaning Robot
1137
A SolarPowered Amphibian Robot for Aquatic Monitoring Network
1145
Demonstrative Experiment
1155
Flocking Motion of Mobile Agents with a Leader Based
1165
A NeedleHolding Robot for Ultrasound Guided Percutaneous Hepatic
1173
The Dynamic Modeling of SnakeLike Robot by Using Nominal
1185
Modeling Analysis and Control for a Robotic Roadheader
1192
ProbabilityPSO Algorithm for Multirobot Based Odor Source
1206
Accuracy of a Novel Parallel Robot with Orthogonal Chains
1212
A Selfreconfigurable Robot Enhanced with Mobility
1227
Design of Dexterous ArmHand for HumanAssisted Manipulation
1233
HumanMachine Interaction and Coordination
1248
Author Index
1251
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