Intelligent Robotics and Applications: Third International Conference, ICIRA 2010, Shanghai, China, November 10-12, 2010. Proceedings, Part I

Description

The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities. Front Matter....Pages - Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint....Pages 1-12 Changeable Grasping Force Unit for Under-Actuated Gripper with Self-adaptive Grasping....Pages 13-25 Efficient Grasp Planning with Reachability Analysis....Pages 26-37 Development of an Anthropomorphic Prosthetic Hand for Man-Machine Interaction....Pages 38-46 Dexterous and Self-adaptive Under-Actuated Humanoid Robot Hand: GCUA Hand II....Pages 47-58 A Novel Coupled and Self-adaptive Under-actuated Grasping Mode and the COSA-DTS Hand....Pages 59-70 Empirical Copula Driven Hand Motion Recognition via Surface Electromyography Based Templates....Pages 71-80 A Continuous Control Scheme for Multifunctional Robotic Arm with Surface EMG Signal....Pages 81-91 On the Robust Control of Systems Preceded by Differential Equation-Based Hysteresis Nonlinearities....Pages 92-103 A Generalized Play Operator for Modeling and Compensation of Hysteresis Nonlinearities....Pages 104-113 Hysteresis Modeling of Piezoelectric Actuators Using the Fuzzy System....Pages 114-124 On PSO Based Bouc-Wen Modeling for Piezoelectric Actuator....Pages 125-134 Operator-Based Robust Nonlinear Control for Ionic Polymer Metal Composite with Uncertainties and Hysteresis....Pages 135-146 Modeling of Hysteresis Nonlinearity Based on Generalized Bouc-Wen Model for GMA....Pages 147-158 Motion Dynamics Modelling of an Electric Wheel Robot....Pages 159-170 Sliding Mode Control of Hybrid Joints for Wheeled Mobile Manipulators with Markovian Switching and Bounded Torques....Pages 171-182 Timestamp Based Predictive Robot Control System over Real-Time Industrial Ethernet....Pages 183-194 Design and Experimental Research on a Fast Zero-Finding Algorithm Based on the Incremental Angle Encoder....Pages 195-203 Decentralized Synchronization and Output Tracking Control of Nondiffusively Coupled Complex Dynamical Networks....Pages 204-213 Manipulation of a Mobile Modular Manipulator Interacting with the Environment with the Assistance of Tactile Sensing Feedback....Pages 214-225 An RTC-Based Intelligent Programming System for Service Robots....Pages 226-236 Marine Engine State Monitoring System Using Distributed Precedence Queue Mechanism in CAN Networks....Pages 237-245 Modeling and Fault Tolerant Controller Design for PM Spherical Actuator....Pages 246-256 Artificial Neural Network to Predict the Surface Maximum Settlement by Shield Tunneling....Pages 257-265 Applying Grey-Fuzzy-Fuzzy Rule to Machine Vision Based Unmanned Automatic Vehicles....Pages 266-275 AWARE: Autonomous Wireless Agent Robotic Exchange....Pages 276-287 Application of Wearable Miniature Non-invasive Sensory System in Human Locomotion Using Soft Computing Algorithm....Pages 288-299 The Mathematical Model and Control Scheme of a Four-Legged Robot Based on GZ-I and Note Module....Pages 300-309 Electromechanical Coupling Model for Cutterhead Driving System of Shield Machines....Pages 310-317 Dimension Optimization of an Orientation Fine-Tuning Manipulator for Segment Assembly Device....Pages 318-328 Rotation and Gate Movement Compound Control of Screw Conveyor Hydraulic System with Disturbance Compensation....Pages 329-340 Applications of the Overlapping Nodes Method in Simulating Crack-Expansion under the Action of TBM Cutter....Pages 341-347 The Simulation Analysis of the TBM Disc Cutter Phase Angle....Pages 348-355 The Design of Shield Tunnelling Machine Cutter Header’s Cutting Performance Test Bed....Pages 356-362 The Effect of TBM Hydraulic Piping System Parameters on FSI Vibration....Pages 363-371 Station Point Optimization of Total Station in Shield Tunneling Method Based on Set-Covering....Pages 372-382 Study on Earth Pressure Acting on Cutter Face Based on Nonlinear Optimization....Pages 383-391 Incident Angle Measurement of Collimated Laser Based on the Pinhole Principle....Pages 392-399 A Novel Design for the Self-reconfigurable Robot Module and Connection Mechanism....Pages 400-408 The Forward Kinematics Analysis of 6-3 Stewart Parallel Mechanisms....Pages 409-417 Portable Multi-axis CNC: A 3-CRU Decoupled Parallel Robotic Manipulator....Pages 418-429 Carton Motion-Moment Diagram and Stiffness Characteristics....Pages 430-441 Flexible Foot Design for Biped Walking on Uneven Terrain....Pages 442-452 4WD Skid-Steer Trajectory Control of a Rover with Spring-Based Suspension Analysis....Pages 453-464 Topology and Analysis of Three-Phalanx COSA Finger Based on Linkages for Humanoid Robot Hands....Pages 465-476 Design of a Bionic Saltatorial Leg for Jumping Mini Robot....Pages 477-487 Asymmetrical Prototype of a Five-Wheeled Robot and Maneuver Analysis....Pages 488-498 Development of Controllable Two-Way Self-locking Mechanism for Micro In-Pipe Robot....Pages 499-508 Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot....Pages 509-518 Automatic Cooking Robot with a Novel Feeding System....Pages 519-529 Multi-sensor Based Autonomous Underwater Manipulator Grasp....Pages 530-537 The Targets Pursuit for Multi-robot System with Hybrid Wireless Sensor Networks....Pages 538-547 A Fast Robot Path Planning Algorithm Based on Image Thinning....Pages 548-557 Automatic Micro-manipulation Based on Visual Servoing....Pages 558-569 Self-calibration of a Stewart Parallel Robot with a Laserranger....Pages 570-581 Real-Time Binaural Sound Source Localization Using Sparse Coding and SOM....Pages 582-589 Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation....Pages 590-599 Globally Optimal and Region Scalable CV Model on Automatic Target Segmentation....Pages 600-608 The Registration of UAV Down-Looking Aerial Images to Satellite Images with Image Entropy and Edges....Pages 609-617 Fast 3D Time of Flight Data Segmentation Using the U-V-Histogram Approach....Pages 618-629 Scale Invariant Feature Transform (SIFT) Parametric Optimization Using Taguchi Design of Experiments....Pages 630-641 Robust Visual Monitoring of Machine Condition with Sparse Coding and Self-Organizing Map....Pages 642-653 An Evolving Machinery Fault Diagnosis Approach Based on Affinity Propagation Algorithm....Pages 654-664 Closed Form Solution for the Scale Ambiguity Problem in Monocular Visual Odometry....Pages 665-679 Recognizing 3D Human Motions Using Fuzzy Quantile Inference....Pages 680-691 Evaluating the Fuzzy Coverage Model for 3D Multi-camera Network Applications....Pages 692-701 Emotion Recognition in Facial Image Sequences Using a Combination of AAM with FACS and DBN....Pages 702-712 An Analysis of Node Localization Error Behavior in Wireless Sensor Networks....Pages 713-723 Consensus Target Tracking in Multi-robot Systems....Pages 724-735 A Decentralized Junction Tree Approach to Mobile Robots Cooperative Localization....Pages 736-748 Optimized Particles for 3-D Tracking....Pages 749-761 Design of a Finger-Tip Flexible Tactile Sensor for an Anthropomorphic Robot Hand....Pages 762-773 Back Matter....Pages -