Intelligent Robotics and Applications 7th International Conference ICIRA 2014 Guangzhou China December 17 20 2014 Proceedings Part I 1st Edition by Xianmin Zhang, Honghai Liu, Zhong Chen, Nianfeng Wang ISBN 3319139657 9783319139654

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ISBN 10: 3319139657 
ISBN 13: 9783319139654
Author: Xianmin Zhang, Honghai Liu, Zhong Chen, Nianfeng Wang

This two volume set LNAI 8917 and 8918 constitutes the refereed proceedings of the 7th International Conference on Intelligent Robotics and Applications, ICIRA 2014, held in Guangzhou, China, in December 2014. The 109 revised full papers presented were carefully reviewed and selected from 159 submissions. The papers aim at enhancing the sharing of individual experiences and expertise in intelligent robotics with particular emphasis on technical challenges associated with varied applications such as biomedical applications, industrial automations, surveillance, and sustainable mobility.

Intelligent Robotics and Applications 7th International Conference ICIRA 2014 Guangzhou China December 17 20 2014 Proceedings Part I 1st Table of contents:

1 Introduction
2 Task Model of Sensor
2.1 Mathematic Model
2.2 Task Model
3 Task-Oriented Design Method
4 Structural Design of Sensor Prototype
4.1 Fully Pre-stressed Structure
4.2 Mathematic Model
4.3 Design of Prototype Parameters
5 Pose Data Based Identification
5.1 Experimental Method
5.2 Experimental Result
6 Conclusions
References
Mobility Analysis of Two Limited-DOF Parallel Mechanisms Using Geometric Algebra
1 Introduction
2 Fundamentals of GA-Based Method for Mobility Analysis of Limited-DOF PMs
3 Mobility Analysis of a 2-UPR-RPU PM
4 Mobility Analysis of a 3-PRRR PM
5 Conclusions
References
Design and Kinematic Analysis of a Novel Flight Simulator Mechanism
1 Introduction
2 Description of the New Flight Simulator Mechanism
2.1 Introduction of Redundant Parallel Manipulator
2.2 Assembling Condition of 4PUS-PPPS Redundant Parallel Manipulator
2.3 Analysis of Degrees of Freedom
3 Kinematic Analysis
3.1 Inverse Solutions
3.2 Forward Solutions
4 Workspace Analysis
4.1 Locational Space
4.2 Posture Space
5 Kinematics Simulation
6 Conclusion
References
Performance Indices for Parallel Robots Considering Motion/Force Transmissibility
1 Introduction
2 State of the Art
3 Performance Indices Considering Motion/Force Transmissibility
4 Optimal Design and Application Cases
5 Conclusions
References
Instantaneous Motion of a 2-RCR Mechanism with Variable Mobility
1 Introduction
2 Analytical Method for Mobility Analysis
3 Instantaneous Motion of the 2-RCR Mechanism
4 Conclusions
References
Rehabilitation Robotics
Mechatronic Design of an Upper Limb Prosthesis with a Hand
1 Introduction
2 Mechanical Design
2.1 Arm Mechanics
2.2 Hand Mechanics
3 Electronics and Control
3.1 Prosthetic Electronics
3.2 Prosthetic Control Architecture
4 Experiment Validation
4.1 Multi-mode Hand Grasping
4.2 Drinking Water Activity
5 Conclusion and Future Work
References
Synergistic Characteristic of Human Hand during Grasping Tasks in Daily Life
1 Introduction
2 Experimental Protocol
3 Assessing the Effect of Functional Realization
4 Correlation Analysis of Human Hand Movement
5 Conclusion
References
UKF-SLAM Based Gravity Gradient Aided Navigation
1 Introduction
2 Process Model and Measurement Model in the UKF-SLAM Algorithm
2.1 Process Model
2.2 Measurement Models
3 UKF-SLAM Algorithm Based on Gravity Gradient Measurement Information
4 Simulation and Experimental Results
5 Conclusions
References
Fuzzy Entropy-Based Muscle Onset Detection Using Electromyography (EMG)
1 Introduction
2 Methods
2.1 Subjects
2.2 Data Acquisition
2.3 Experimental Protocol
2.4 Fuzzy Entropy
3 Results
3.1 Parameter Selection of FuzzyEn
3.2 Performance with Synthetic EMG Signals
3.3 Performance with Real EMG Signals with ECG
3.4 EMG-Based Upper-Extremity Rehabilitation Robotic Control
4 Discussion
5 Conclusion
References
Experimental Study on Cutter Deflection in Multi-axis NC Machining
1 Introduction
2 Online Measurement of Cutter Deflections
3 Analysis and Compensation of Measurement Error
3.1 Analysis of Measurement Errors
3.2 Compensation of Measurement Errors
3.3 Comparison of Uncompensated and Compensated Values
4 Conclusions
References
Underwater Robotics and Applications
A Visual Measurement of Fish Locomotion Based on Deformable Models
1 Introduction
2 Structure of Fish Observation System
3 Visual Measurement of Fish Locomotion
3.1 Extraction of Individual Fish Image
3.2 Construction of Deformable Fish Model
3.3 Locomotion Measurement Using Fish Model
3.4 Calculating Skeleton of Fish
4 Experiments and Results
5 Conclusion
References
Design and Pressure Experiments of a Deep-Sea Hydraulic Manipulator System
1 Introduction
2 The 7-Function Manipulator System Design
2.1 System Overview
2.2 Mechanical Design
2.3 Electronic Design
2.4 Algorithm Design and Simulation
2.5 Slave Arm Control Contrast Experiment
3 7000M Experiment System Design
3.1 Experiment System Overview
3.2 Experiment Process Design
3.3 Problems in the Experiment
4 Application Test in the Sea
5 Conclusion
References
Optimal Sensors Deployment for Tracking Level Curve Based on Posterior Cramér-Rao Lower Bound in Sc
1 Introduction
2 Model of State Dynamics and Measurement
2.1 State Model
2.2 Measurement Model
3 PCRLB for Adaptive Space Distance
4 Simulation Results
5 Future Works
References
Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment
1 Introduction
2 The Description of Current Field of Adjustable Speed Glider Path Planning
3 Path Planner Introduction
4 Simulation and Analysis
5 Conclusion and Future Works
References
Visual Features Extraction and Types Classification of Seabed Sediments
1 Introduction
2 Paper Preparation
2.1 Types of Seabed Sediments
2.2 Texture Features Extraction from GLCM
2.3 Box-counting Approach to Estimate Fractal Dimension
2.4 Support Vector Machines
3 Experiments and Results
4 Conclusions
References
Agricultural Robot
Cymbal Piezoelectric Micro Displacement Actuator Characteristics Analysis
1 Introduction
2 Cymbal Piezoelectric Micro Displacement Actuator Structure
2.1 Cymbal Piezoelectric Vibrator Structure
2.2 Cymbal Piezoelectric Micro Displacement Actuator Structure
3 Cymbal Piezoelectric Micro Displacement Actuator Test System
4 Cymbal Piezoelectric Micro Displacement Actuator Static Characteristic Test and Analysis
5 Cymbal Piezoelectric Micro Displacement Actuator Dynamic Characteristics Test and Analysis
6 Conclusion
References
FEM Analysis and Parameter Optimization of a Linear Piezoelectric Motor Macro Driven
1 Introduction
2 Working Principle of the Piezoelectric Motor
3 Finite Element Analysis of the Composite Vibrator
3.1 Finite Element Modelling
3.2 Modal Analysis
4 The Sensitivity Analysis of Compound Vibrator and Modal Identification
4.1 The Sensitivity Analysis of Compound Vibrator
4.2 Automatic Identification of Modal Vibration Mode
5 The Optimization of Composite Vibrator
5.1 The Objective Function and the Optimization Process
5.2 The Results and Analysis of the Structural Parameters Optimization
6 Conclusion
References
Finite Element Study on the Cylindrical Linear Piezoelectric Motor Micro Driven
1 Introduction
2 Working Principle of the Piezoelectric Motor
3 The Static Finite Element Analysis of the Composite Vibrator
3.1 The Static Finite Element Model
3.2 The Static Finite Element Analysis
4 The Optimization Design for Structure Parameters of the Composite Oscillator Micro Drive
4.1 The Relation between Drive Range and Voltage
4.2 The Sensitivity Analysis of the Micro Drive
4.3 The Structure Parameter Optimization of the Micro Drive
5 The Material Analysis of the Composite Vibrator
5.1 The Material Analysis on Both Ends of the Elastomer Material
5.2 The Material Analysis of the Micro Displacement Amplification Elastomer
6 Test System and the Result Analysis
7 Conclusion
References
Friction Experiment Study on the Standing Wave Linear Piezoelectric Motor Macro Driven
1 Introduction
2 Piezoelectric Motor Friction Drive Model
3 The Selection Principle of the Piezoelectric Motor Friction Material
4 The Friction Pair Paired Test Scheme
5 Characteristic Test of Friction Operation
5.1 Surface Morphology
5.2 Mechanical Properties
5.3 Characteristics of Transient Response
6 Conclusion
References
Research on Intelligent Mobile Platform Base on Monocular Vision and Ultrasonic Sensor
1 Introduction
2 The Structure of Mobile Platform
2.1 Position of the Ultrasonic Sensor and Camera
2.2 Structure of Automobile Body
3 Multi-ultrasonic Sensor Detection and Obstacle Avoidance
4 Visual Path Identification and Navigation
4.1 Road Identification Method of Digital Image Processing
4.2 Adaptive Fuzzy PID Controller of Path Tracking
5 Conclusion
References
Bionic Robotics
A Novel Robot Leg Designed by Compliant Mechanism
1 Introduction
2 A Novel Robot Leg Design
2.1 Traditional Mechanical Designs of a Single Leg
2.2 The Design of Compliant Mechanism
3 Pseudo-Rigid-Body Model (PRBM) of the Robot Leg
4 Calculation and Analysis
5 Kinematics and Static Simulation
6 Bistable Design
7 Conclusion
References
Master-Slave Gesture Learning System Based on Functional Electrical Stimulation
1 Introduction
2 Master-Slave Gesture Learning System
2.1 Master Unit
2.2 Slave Unit
2.3 Communicating Protocol
3 Experiments
3.1 Finger Movement Recognition on the Slave Side
3.2 Accuracy of Master-Slave Control
4 Conclusion and Future Work
References
A Study of EMG-Based Neuromuscular Interface for Elbow Joint
1 Introduction
2 Methodology
2.1 The Layout of the System
2.2 Hardwires
2.3 Software Development
3 Experiment System Setup
3.1 Subjects
3.2 Electrode Placement
3.3 Settings
3.4 Testing
4 Results and Discussion
5 Conclusion and Further Discussion
References
Towards Enhancing Motor Imagery Based Brain-Computer Interface Performance by Integrating Speed of I
1 Introduction
2 Materials and Methods
2.1 Data acquisition
2.2 Subjects
2.3 Experimental Design
2.4 Signal Analysis
3 Results
4 Discussion
5 Conclusion
References
An Exoskeleton System for Hand Rehabilitation Based on Master-Slave Control
1 Introduction
Methodology
2.1 Design of Master Side
2.2 Design of Slave Side
3 Test and Analysis
3.1 Motion Recognition in Master Side
3.2 Test on Prototye
4 Conclusion
References
Anthropometric and Anthropomorphic Features Applied to a Mechanical Finger
1 Introduction
2 Materials and Methods
2.1 Review of the Human Finger Physiology
2.2 Finger Morphology
2.3 The Human Finger Trajectory during Grasp
2.4 Comparison between Some Mechanical Fingers
2.5 Mechanism Description
3 Dimensional Synthesis of the Mechanical Finger
3.1 Synthesis of the Four Bar Mechanism for the Entry Displacement of the Finger
3.2 Synthesis of the Four Bar Mechanism for the Entry Displacement of the Finger
3.3 Synthesis of the Four Bar Mechanism for the proximal phalanx
4 Conclusions
References
Design and Development of a Rotary Serial Elastic Actuator for Humanoid Arms
1 Introduction
2 Characteristic and Requirements of SEA
2.1 Characteristics of SEAs
2.2 Design Requirements
3 Design and Analysis of Elastic Elements
3.1 Parameters and Material
3.2 Structure Design and Optimization
3.3 Finite Element Analysis of the Elastic Element
4 Stiffness of the Elastic Element
4.1 Analysis of Constant Stiffness
4.2 Analysis of Variable Stiffness
5 Development of Integrated SEA
6 Experimental Validation
7 Conclusions
References
Human Manipulator Shared Online Control Using Electrooculography
1 Introduction
2 System Architecture
3 Signal Acquisition and Processing
3.1 Signal Acquisition, Pre-processing, and Decoding
3.2 Online Processing
3.3 Online Calibration
3.4 Subsection Processing
3.5 Incremental Output
4 Manipulator Control
4.1 Control Interface and Strategy
4.2 Control Experiments
5 Results and Discussion
5.1 Control Results
5.2 Control Robustness
6 Results and Discussion
References
ET Arm: Highly Compliant Elephant-Trunk Continuum Manipulator
1 Introduction
2 Design of ET Arm
3 Motion Analysis of ET Arm
4 Experiments of ET Arm
5 Conclusion
References
Design of an Anthropomorphic Prosthetic Hand with EMG Control
1 Introduction
2 Design Objectives
3 HandDesign
4 The Driving and Control System
5 Conclusion and Future Work
References
Hexapod Walking Robot CG Analytical Evaluation
1 Introduction
2 Methodology for Calculating the Robot CG
2.1 Robot Architecture
2.2 Methodology for Calculating the Robot CG
3 Stability Criterion
4 Numerical Example
5 Conclusions
References
The Design and Analysis of Pneumatic Rubber Actuator of Soft Robotic Fish
1 Introduction
2 Design of the Actuator
2.1 The Working Principle of Fish Movement
2.2 The Working Principle of Actuator
3 Finite Element Analysis of the Actuator
3.1 Uniaxial Tensile Test
3.2 Deformation Analysis of the Actuator
4 Experiments and Results
5 Conclusion
References
Flexible Flying-Wing UAV Attitude Control Based on Back-Stepping, Adaptive and Terminal-Sliding Mode
1 Introduction
2 Nonlinear Dynamic Model of Flexible Flying-wing UAV
2.1 Air Flow Angle Affine Nonlinear Equation
2.2 Angle Velocity Affine Nonlinear Equation
3 Nonlinear Controller Design
3.1 The Virtual Control Law Design
3.2 The Final Control Law Design
4 Simulation
4.1 Different Control Law Simulation
4.2 Robust Simulation
5 Conclusion
References
Landing Control System Design for a Flying-Wing Aircraft Based on ADRC
1 Introduction
2 Nonlinear Longitudinal Dynamic Model of Flying-Wing Aircraft in Variable Wind Field
3 Active Disturbance Rejection Controller
3.1 Schematic of ADRC Controller
3.2 ADRC Controller of Outer Loops Design
3.3 Attitude Controller Design
3.4 Parameter Tuning of ESO
3.5 Control Allocation
4 Simulation
4.1 Wind Shear Model
4.2 Ground Effect
4.3 Flight Simulation
5 Conclusion
References
Smartphone-Controlled Robot Snake for Urban Search and Rescue
1 Introduction
2 Development Goal
3 System Introduction
3.1 Hardware Development
3.2 Software System
4 Motion Planning of Snake-Like Robot
4.1 Motion Planning in a Line Direction
4.2 Turning Mode of Snake-Like Robot
5 Experiment
6 Conclusions
References
Service Robotics
Design of a Continuum Wearable Robot for Shoulder Rehabilitation
1 Introduction
2 Existing Drawbacks and New Design Concepts
3 Nomenclature and Kinematics
3.1 Nomenclature and Coordinate Systems
4 Kinematic Analysis and Simulation Verifications
4.1 Design Concept #1
4.2 Design Concepts #2 and #3
5 Preliminary System Design and Experimentation
5.1 Tentative System Design
5.2 Preliminary Experimentations
6 Conclusions and Future Work
References
Robust Control with Dynamic Compensation for Human-Wheelchair System
1 Introduction
2 Human-Wheelchair System Modeling
2.1 Kinematic Model
2.2 Dynamic Model
3 Formulation Problem and Controllers Design
3.1 Formulation Problem
3.2 Kinematic and Dynamic Controllers
4 Experimental Results
5 Conclusion
Appendix
References
A Patient-Specific EMG-Driven Musculoskeletal Model for Improving the Effectiveness of Robotic Neuro
1 Introduction
2 Patient-Specific EMG-Driven Musculoskeletal Model
2.1 Patient-Specific Musculoskeletal Model
2.2 Musculotendon Kinematics
2.3 EMG to Activation Modelling
2.4 The Muscle-Tendon n Mechanics Modelling
2.5 Calculation of Musculotendon Forces
2.6 Parameters Optimization
3 Preliminary Result
4 Discussion
5 Conclusion
References
Performance Analysis of Passenger Vehicle Featuring ER Damper with Different Tire Pressure
1 Introduction
2 ER Damper
3 ER Suspension System
4 Performance Analysis
5 Conclusion
References
Development of Targeting Detection Module and Driving Platform at a Moving Target System
1 Introduction
2 Driving Platform of Moving Target System
3 Targeting Detection Module of Moving Target System
3.1 Design of the Targeting Detection Module
3.2 Selection of Pad Attached to the Targeting Detection Module
4 Conclusion
References
A Nonlinear Control of 2-D UAVs Formation Keeping via Virtual Structures
1 Introduction
2 Problem Formulation
2.1 2-D UAV Dynamics Model
2.2 2-D Formation Relative Dynamics Model
3 Control Design
4 Simulation Results
5 Summary
References
Research of Cooperative Control Method for Mobile Robots
1 Introduction
2 Body
3 Conclusion
References
A Locomotion Driving of the Capsule Robot in Intestinal Tract
1 Introduction
2 The Driving of the Capsule Robot
2.1 Earthworm-Like Drive
2.2 Rotating Magnetic Field Driving [5, 6]2.3 Hydrodynamic Pressure Spiral Driving [8, 9,10]3 The Main Elements Part in the Capsule Robot Design
3.1 Image Sensor
3.2 Micro RF Signal Emitting Chip
4 Capsule Robot Driving Design
4.1 Basic Capsule Robot Design
4.2 Design the Spiral Lead-Screw Driven Capsule Robot
5 Conclusion
References
Multi-agent Coordination for Resource Management of Netted Jamming
1 Introduction
2 The Process of Netted Jamming
3 Multi-agent Coordination for Jamming Resource Management
3.1 Coordination Based on Center Control
3.2 Coordination Based on Commitments and Conventions
4 Experiment and Simulation
5 Conclusion
References
Simulation of Mobile Robot Navigation Using the Distributed Control Command Based Fuzzy Inference
1 Introduction
2 Fuzzy Controller Design
2.1 Commands for Navigation
2.2 Inference of Cost Function
3 Building an Local Map
4 Experimental Results
5 Conclusion
References
Robotics and Road Transportation: A Review
1 Introduction
2 Infrastructure-Related Robotics
3 Computer Aided Driving
3.1 Robotic Vehicles and Professional Associations
3.2 Autonomous Vehicles and the Law
3.3 Advantages and Disadvantages of Autonomous Vehicles
4 Crash Prevention Potentials
5 Discussion
6 Conclusions
References
Exploration of Unknown Multiply Connected Environments Using Minimal Sensory Data
1 Introduction
2 Problem Statement
3 Proposed Algorithm
3.1 Gap-Navigation Trees (GNT)
3.2 Landmarks Strategy
4 Results and Analysis
5 Conclusions
References
Navigation System Development of the Underwater Vehicles Using the GPS/INS Sensor Fusion
1 Introduction
2 Summary of Kalman Filter
3 GPS/INS Sensor fusion
4 Experiment and Result
4.1 Experiment Environment
4.2 Experiment Result
5 Conclusion
References
Component-Based System Integration Using Proper Augmented Marked Graphs
1 Introduction
2 Preliminaries
3 Proper Augmented Marked Graphs
3.1 Augmented Marked Graphs and Proper Augmented Marked Graphs
3.2 Property-Preserving Composition of Proper Augmented Marked Graphs
4 Component-Based System Integration
5 Conclusion

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Xianmin Zhang,Honghai Liu, Zhong Chen,Nianfeng Wang,Intelligent Robotics,International Conference,ICIRA