Intelligent Robotics and Applications: 7th International Conference, ICIRA 2014, Guangzhou, China, December 17-20, 2014, Proceedings, Part I PDF
Preview Intelligent Robotics and Applications: 7th International Conference, ICIRA 2014, Guangzhou, China, December 17-20, 2014, Proceedings, Part I
Xianmin Zhang Honghai Liu Zhong Chen Nianfeng Wang (Eds.) Intelligent Robotics 7 1 9 8 I and Applications A N L 7th International Conference, ICIRA 2014 Guangzhou, China, December 17-20, 2014 Proceedings, Part I 123 Lecture Notes in Artificial Intelligence 8917 Subseries of Lecture Notes in Computer Science LNAISeriesEditors RandyGoebel UniversityofAlberta,Edmonton,Canada YuzuruTanaka HokkaidoUniversity,Sapporo,Japan WolfgangWahlster DFKIandSaarlandUniversity,Saarbrücken,Germany LNAIFoundingSeriesEditor JoergSiekmann DFKIandSaarlandUniversity,Saarbrücken,Germany Xianmin Zhang Honghai Liu Zhong Chen Nianfeng Wang (Eds.) Intelligent Robotics and Applications 7th International Conference, ICIRA 2014 Guangzhou, China, December 17-20, 2014 Proceedings, Part I 1 3 VolumeEditors XianminZhang ZhongChen NianfengWang SouthChinaUniversityofTechnology SchoolofMechanicalandAutomobileEngineering WushanRd.381,TianheDistrict,Guangzhou510641,China E-mail:{zhangxm,mezhchen,menfwang}@scut.edu.cn HonghaiLiu UniversityofPortsmouth SchoolofComputing IntelligentSystemsandBiomedicalRoboticsGroup BuckinghamBuilding,LionTerrace PortsmouthPO13HE,UK E-mail:[email protected] ISSN0302-9743 e-ISSN1611-3349 ISBN978-3-319-13965-4 e-ISBN978-3-319-13966-1 DOI10.1007/978-3-319-13966-1 SpringerChamHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2014956249 LNCSSublibrary:SL7–ArtificialIntelligence ©SpringerInternationalPublishingSwitzerland2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection withreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredand executedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation, inistcurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Permissionsforuse maybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecution undertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforanyerrorsor omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothe materialcontainedherein. Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface The Organizing Committee of the 7th International Conference on Intelligent RoboticsandApplicationshasbeencommittedtofacilitatinginteractionsamong those active in the field of intelligent robotics, automation, and mechatronics. Through this conference, the committee intends to enhance the sharing of indi- vidual experiencesandexpertise inintelligentroboticswith particularemphasis on technical challenges associated with varied applications such as biomedical application, industrial automations, surveillance, and sustainable mobility. The 7th International Conference on Intelligent Robotics and Applications wasmostsuccessful inattracting159submissionsonaddressingthe state-of-the artdevelopmentsinrobotics,automation,andmechatronics.Owingtothelarge number of submissions, the committee was faced with the difficult challenge of selectingofthemostdeservingpapersforinclusionintheseproceedings.Forthis purpose, the committee undertook a rigorous review process. Despite the high qualityofmostofthesubmissions,only109papers(68.5%acceptancerate)were selected for publication in two volumes of Springer’s Lecture Notes in Artificial Intelligence as subseries of Lecture Notes in Computer Science. The selected papers were presented during the 7th International Conference on Intelligent RoboticsandApplicationsheldinGuangzhou,China,duringDecember17–20, 2014. Theselectedarticlesrepresentthecontributionsofresearchersfrom19coun- tries.The contributionsofthe technical ProgramCommittee andthe additional reviewersaredeeplyappreciated.Mostofall,wewouldliketoexpressoursincere thankstotheauthorsforsubmittingtheirmostrecentworksandtheOrganizing Committeefortheirenormouseffortstoturnthis eventintoasmoothlyrunning meeting. Special thanks go to South China University of Technology for the generosityanddirectsupport.OurparticularthanksareduetoAlfredHofmann and Anna Kramer of Springer for enthusiastically supporting the project. We sincerely hope thatthese volumes will proveto be animportantresource for the scientific community. October 2014 Xianmin Zhang Xiangyang Zhu Jangmyung Lee Huosheng Hu Organization International Advisory Committee Tamio Arai University of Tokyo, Japan Hegao Cai Harbin Institute of Technology, China Tianyou Chai Northeastern University, China Toshio Fukuda Nagoya University, Japan Sabina Jesehke RWTH Aachen University, Germany Oussama Khatib Stanford University, USA Zhongqin Lin Shanghai Jiao Tong University, China Ming Li National Natural Science Foundationof China, China Nikhil R. Pal Indian Statistical Institute, India Grigory Panovko Russian Academy of Science, Russia Jinping Qu South China University of Technology, China Clarence De Silva University of British Columbia, Canada Bruno Siciliano University of Naples, Italy Shigeki Sugano Waseda University, Japan Michael Yu Wang Chinese University of Hong Kong, China Youlun Xiong Huazhong University of Science and Technology, China Ming Xie Nanyang Technological University, Singapore Lotfi A. Zadeh University of California Berkeley, USA General Chair Xianmin Zhang South China University of Technology, China General Co-chairs Xiangyang Zhu Shanghai Jiao Tong University, China Jangmyung Lee Pusan National University, South Korea Huosheng Hu University of Essex, UK Program Chair Guoli Wang Sun Yat-Sen University, China Program Co-chairs Youfu Li City University of Hong Kong, SAR China Honghai Liu University of Portsmouth, UK VIII Organization Organizing Committee Chairs Han Ding Huazhong University of Science and Technology, China Feng Gao Shanghai Jiao Tong University, China Zexiang Li Hong Kong University of Science and Technology, China Tian Huang Tianjin University, China Hong Liu Harbin Institute of Technology, China Guobiao Wang National Natural Science Foundationof China, China Tianmiao Wang Beihang University, China Hong Zhang University of Alberta, Canada Area Chairs Suguru Arimoto Ritsumeikan University, Japan Jiansheng Dai King’s College of London University, UK Christian Freksa Bremen University, Germany Shuzhi Sam Ge National University of Singapore, Singapore Peter B. Luh Connecticut University, USA Awards Chairs Yangming Li University of Macau, SAR China Wei-Hsin Liao Chinese University of Hong Kong, SAR China Caihua Xiong Huazhong University of Science and Technology, China Publication Chairs Zhong Chen South China University of Technology, China Xinjun Sheng Shanghai Jiao Tong University, China Local Arrangements Chairs Nianfeng Wang South China University of Technology, China Lianghui Huang South China University of Technology, China Finance Chair Hongxia Yang South China University of Technology, China Wei Sun South China University of Technology, China Organization IX General Affairs Chair Zhiwei Tan South China University of Technology, China Additional Reviewers We would like to acknowledge the support of the following people who peer reviewed articles for ICIRA 2014. Xianmin Zhang Guoli Wang Nianfeng Wang Guoying Gu Zhong Chen Tiemin Zhang Yanjiang Huang Xiangyang Zhu Xinjun Liu Caihua Xiong Hegao Cai Tianyou Chai Tamio Arai Yan Li Clarence De Silva Toshio Fukuda Sabina Jesehke Michael Yu Wan Zhongqin Lin Ming Li Shigeki Sugano Grigory Panovko Jinping Qu Jangmyung Lee Bruno Siciliano Lotfi A. Zadeh Honghai Liu Huosheng Hu Youfu, Li Zexiang Li Han Ding Feng Gao Guobiao Wang Tian Huang Hong Liu Suguru Arimoto Tianmiao Wang Hong Zhang Shuzhi Sam Ge Jiansheng Dai Christian Freksa Youlun Xiong Peter B. Luh Wei-Hsin Liao Xinjun Sheng Yangming Li Table of Contents – Part I Recent Advances in Research and Application of Modern Mechanisms Task-Oriented Design Method and Experimental Research of Six-Component Force Sensor ...................................... 1 Jiantao Yao, Wenju Li, Hongyu Zhang, Yundou Xu, and Yongsheng Zhao Mobility Analysis of Two Limited-DOF Parallel Mechanisms Using Geometric Algebra ......................................... 13 Xinxue Chai and Qinchuan Li Design and Kinematic Analysis of a Novel Flight Simulator Mechanism...................................................... 23 Sheng Guo, Dian Li, Huan Chen, and Haibo Qu Performance Indices for Parallel Robots Considering Motion/Force Transmissibility.................................................. 35 Fugui Xie, Xin-Jun Liu, and Jie Li Instantaneous Motion of a 2-RCR Mechanism with Variable Mobility... 44 Xiang Liu, Jingshan Zhao, and Zhijing Feng Rehabilitation Robotics Mechatronic Design of an Upper Limb Prosthesis with a Hand......... 56 Lei He, Caihua Xiong, and Keke Zhang Synergistic Characteristic of Human Hand during Grasping Tasks in Daily Life....................................................... 67 Mingjin Liu and Caihua Xiong UKF-SLAM Based Gravity Gradient Aided Navigation ............... 77 Meng Wu and Ying Weng Fuzzy Entropy-BasedMuscle Onset Detection Using Electromyography (EMG) ......................................................... 89 Ming Lyu, Caihua Xiong, Qin Zhang, and Lei He Experimental Study on Cutter Deflection in Multi-axis NC Machining .. 99 Xianyin Duan, Fangyu Peng, Rong Yan, Zerun Zhu, and Bin Li XII Table of Contents – Part I Underwater Robotics and Applications A Visual Measurement of Fish Locomotion Based on Deformable Models ......................................................... 110 Chunlei Xia, Yan Li, and Jang-Myung Lee DesignandPressureExperimentsofa Deep-Sea HydraulicManipulator System ......................................................... 117 Zhang Qifeng, Zhang Yunxiu, Huo Liangqing, Kong Fandong, Du Linsen, Cui Shengguo, and Zhao Yang Optimal Sensors Deployment for Tracking Level Curve Based on Posterior Cram´er-RaoLower Bound in Scalar Field .................. 129 Wentao Zhao, Jiancheng Yu, Aiqun Zhang, and Yan Li Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment........................ 142 Yaojian Zhou, Jiancheng Yu, and Xiaohui Wang Visual Features Extraction and Types Classification of Seabed Sediments....................................................... 153 Yan Li, Chunlei Xia, Yan Huang, Liya Ge, and Yu Tian Agricultural Robot Cymbal Piezoelectric Micro Displacement Actuator Characteristics Analysis ........................................................ 161 Hang Xing, Tiemin Zhang, Sheng Wen, Xiuli Yang, Zhilin Xu, and Fei Cao FEM Analysis and Parameter Optimization of a Linear Piezoelectric Motor Macro Driven ............................................. 171 Zhang Tiemin, Cao Fei, Li Shenghua, Liang Li, and Wen Sheng Finite Element Study on the Cylindrical Linear Piezoelectric Motor Micro Driven.................................................... 179 Zhang Tiemin, Cao Fei, Li Shenghua, Wen Sheng, and Liang Li Friction Experiment Study on the Standing Wave Linear Piezoelectric Motor Macro Driven ............................................. 187 Li Liang, Tiemin Zhang, Penghuan Huang, and Debing Kong Researchon Intelligent Mobile Platform Base on Monocular Vision and Ultrasonic Sensor ................................................ 197 Yuda Mo, Xiangjun Zou, Jiaqi Hou, Guichao Lin, Yuhui Long, Nian Liu, Bo Li, and Zhilin Jiang
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