14th IASTED International Conference on Robotics and Applications 2009 (RA 2009)

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ISBN: 978-1-61567-900-3
14th IASTED International
Conference on Robotics and
Applications 2009

(RA 2009)
Cambridge, Massachusetts, USA
2-4 November 2009



Editors:

H. Asada



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TABLE OF CONTENTS



TELEROBOTICS AND CONTROL


OPERATOR ASSISTANCE FOR TELEPRESENT ON-ORBIT SERVICING.............................................................1
Markus Wilde, Ulrich Walter

MINING HAUL TRUCK LOCALIZATION USING STEREO VISION........................................................................9
James Borthwick, Peter Lawrence, Robert Hall

USING A PREDICTIVE GRAPHICAL USER INTERFACE TO IMPROVE TOWER CRANE
PERFORMANCE................................................................................................................................................................17
J. Vaughan, A. Smith, W. Singhose

APPLICATION OF PREDICTION-BASED PARTICLE FILTERS FOR TELEOPERATIONS
OVER THE INTERNET....................................................................................................................................................22
Jae-Young Lee, Shahram Payandeh, Ljiljana Trajkovic

PARTICLE FILTERING RANGE DATA FOR POSE ESTIMATION UNDER TORQUE-FREE
MOTION..............................................................................................................................................................................28
Stephen P. Russel, Stephen M. Rock

THE BENEFIT OF MULTIMODAL TELEPRESENCE FOR IN-SPACE ROBOTIC ASSEMBLY.......................36
Enrico Stoll, Daniel Kwon

DESIGN REQUIREMENTS OF A HAND EXOSKELETON ROBOTIC DEVICE....................................................44
Jamshed Iqbal, Nikos G. Tsagarakis, Angelo E. Fiorilla, Darwin G. Caldwelll

A ROBUST STATE PREDICTIVE CONTROL FRAMEWORKFOR TELE-ROBOTICS........................................52
Bogdan Marinescu, Frederic Colledani

DAILY PERCEPTION-ASSIST FOR AN UPPER-LIMB POWER-ASSIST EXOSKELETON................................60
Kazuo Kiguchi, Manoj Liyanage, Yasunori Kose, Yoshiaki Hayashi, Doyoung Jeon

ROBOTIC MANIPULATOR AND CONTROL


GRASPING UNKNOWN 3D OBJECTS USING THE HOPFIELD-RBF-HOPFIELD (HRH)
APPROACH........................................................................................................................................................................67
L. M. Pedro, G. A. P. Caurin

FUZZY LOGIC CONTROLLER FOR A PNEUMATIC ARTIFICIAL MUSCLE ROBOT BASED
ON SLIDING MODE CONTROL.....................................................................................................................................74
Amar Rezoug, Amal Meddahi, Khelifa Baizid, Mustapha Hamerlain, Mohamed Tadjine

EMERGENT SITUATION AWARENESS OF DRIVABLE ROUTES FOR AUTONOMOUS
ROBOTS USING TEMPORAL PROBABILISTIC REASONING................................................................................82
Isaac O. Osunmakinde, Antoine Bagula

EXPERIMENTAL-PERFORMANCE ANALYSIS OF AN IMPEDANCE-CONTROL APPROACH
FOR ROBOT MANIPULATORS......................................................................................................................................90
Marco Mendoza, Isela Bonilla, Emilio Gonzalez-Galvan, Fernando Reyes

ANALYSIS AND DESIGN OF A SYNCHRONOUS BELT DRIVE FOR A PRECISION ROBOTIC
MANIPULATOR.................................................................................................................................................................98
Martin Hosek, Jay Krishnasamy

A COOPERATIVE INTERACTION CONTROL METHODOLOGY OF A PAIR INDEPENDENT
CONTROL SYSTEM BASED ON HUMAN BINOCULAR MOTOR SYSTEM........................................................107
Xiaolin Zhang

PATHPLANNING AND TRACKING


THE USE OF GENETIC ALGORITHMS FOR MOBILE ROBOTS' NAVIGATION.............................................115
Jesus Savage, Edna Marquez

ROLE SELCTION IN MULTI-ROBOT SYSTEMS USING ABSTRACT STATE-BASED
REINFORCEMENT LEARNING...................................................................................................................................121
Tao Mao, Xueqing Sun, Laura E. Ray

A FLEXIBLE MULTI-CAMERA SYSTEM FOR PRECISE TRACKING OF MOVING
EFFECTORS.....................................................................................................................................................................128
Frank Boochs, Rainer Schutze, Christoph Raab

FLEXIBLE ROBOTIC ARM WITH HYDROSTATIC SKELETON DRIVING MECHANISM.............................135
Daisuke Maruyama, Shotaro Suzuki, Hitoshi Kimura, Norio Inou

SCALABLE MULTI AGENT SIMULATION ON THE GPU......................................................................................143
Avi Bleiweiss

AN OVERVIEW OF MOBILE ROBOTIC AGENTS' MOTION PLANNING IN DYNAMIC
ENVIRONMENTS............................................................................................................................................................152
S. Keshmiri, S. Payandeh

MULTI-ROBOTS, MULTI-LOCATIONS RECHARGING PARADIGM: A REGRESSION ROUTE
TECHNIQUE.....................................................................................................................................................................160
Soheil Keshmiri, Shahram Payandeh

AN EXAMINATION OF THE TRAJECTORIES TRAVELED BY TWO-MODE FLEXIBLE
SYSTEMS..........................................................................................................................................................................166
J. J. Marquez, D. Kim, W. Singhose

PATH PLANNING OF REDUNDANT MANIPULATOR BASED ON FCM.............................................................173
Vijayant Agarwal

A PATH PLANNING MODEL FOR AN AUTONOMOUS VEHICLE IN AN UNSTRUCTURED
OBSTACLE DOMAIN.....................................................................................................................................................180
V. O. S. Olunloyo, M. K. O. Ayomoh, O. Ibidapo-Obe

LINE TRACKING CONTROL USING VISUAL FEEDBACK OF A MOBILE INVERTED
PENDULUM:BALBOT IV...............................................................................................................................................188
Geun Hyung Lee, Seung Jun Lee, Seul Jung

HEURISTIC CORRELATION BASED LASER ODOMETRY METHOD FOR UNCONSTRUCTED
ENVIRONMENT..............................................................................................................................................................194
Heikki Hyyti, Matti Ohman, Mikko Miettinen, Arto Visala

OPTIMAL SAFE PLANNING USING A DANGER EVALUATION METHOD.......................................................201
Nima Najmaei, Mehrdad R. Kermani

MEDICAL AND PERSONAL ROBOTICS


A PROTOTYPE FOR AN ASSISTIVE SURGICAL MRI COMPATIBLE ROBOT.................................................209
T. Heikkila, P. Isto

DESIGN OF SELF-ADJUSTING ORTHOSES FOR REHABILITATION................................................................215
Dung Cai, Philippe Bidaud, Vincent Hayward, Florian Gosselin

IMAGE-ENABLED FORCE FEEDBACK FOR ROBOTIC TELE OPERATION OF A FLEXIBLE
SURGICAL TOOL............................................................................................................................................................224
Quentin J. Lindsey, Neil A. Tenenholtz, David I. Lee, Katherine J. Kuchenbecker

TOWARDS A LOW-COST ROBOTIC HAND FOR UPPER-LIMB PROSTHETIC
APPLICATIONS...............................................................................................................................................................234
C. Pasluosta, H. Tims, A. Chiu

MODEL-GUIDED EPICARDIAL INTERVENTIONS USING A NOVEL “SNAKE” ROBOT
(CARDIO-ARM) THROUGH A SUBXIPHOID PORT ACCESS................................................................................242
Marco A. Zenati, Takenori Yokota, David Schwartzma, Takeyoshi Ota, Brett Zubiate, Cornell Wright,
Constantinos Nikou, Howie Choset

AN AUTONOMOUS ROBOTIC WHEELCHAIR BASED ON A MULTI-LAYER DISTRIBUTED
PROCESSING ARCHITECTURE..................................................................................................................................247
V. Canals, A. Morro, D. Garcia, J. Segura, J. L. Rossello

HUMAN-ROBOTINTERACTION: INVARIANT 3-D FEATURES FOR LABAN MOVEMENT
ANALYSIS SHAPE COMPONENT................................................................................................................................255
Luis Santos, Jorge Dias

FIRST EVALUATION OF EMI MODEL OF INTERACTION..................................................................................263
Sebastien Saint-Aime, Brigitte Le-Pevedic, Dominique Duhaut

MODELLING, IDENTIFICATION, AND CONTROL


GEOMETRICAL PARAMETER IDENTIFICATION OF A HYBRID REDUNDANT ROBOT BY
UTILIZING DIFFERENTIAL EVOLUTION................................................................................................................271
Yongbo Wang, Huapeng Wu, Heikki Handroos

INTUITIVE ONE-HAND CONTROLS FOR ROBOTIC CAMERA ARMS..............................................................278
Markus Wilde, Ludwig Friedmann, Ulrich Walter

A REGION-BASED SWITCHING SCHEME FOR PRACTICAL VISUAL SERVOING UNDER
LIMITED FOV AND DYNAMICALLY CHANGING FEATURES............................................................................285
Dae-Jin Kim, Ryan Lovelett, Zhao Wang, Aman Behal

ROBOTIC POSE ESTIMATION VIA AN ADAPTIVE KALMAN FILTER USING STATE-
VARYING NOISE.............................................................................................................................................................289
G. K. Fricke, D. Milutinovic, D. P. Garg

MODEL-BASED CONTROLLER DESIGN FOR HIGH DYNAMIC RANGE CAMERAS.....................................296
O. Zendel, C. Sulzbachner, W. Kubinger

A TWO-LEVEL PARTICLE FILTER APPROACH TO RANGE ESTIMATION USING AN EYE-
IN-HAND CONFIGURED SINGLE CAMERA.............................................................................................................302
Z. Wang, D. Kim, A. Behal

ARTIFICIAL INTELLIGENCE, AUTONOMOUS, AND MOBILE ROBOTS


A VIEW-DEPENDENT ADAPTIVE MATCHED FILTER FOR LADAR-BASED VEHICLE
TRACKING.......................................................................................................................................................................310
Daniel Morris, Regis Hoffman, Paul Haley

MULTIMODAL ACTIVE EXPLORATION USING A BAYESIAN APPROACH....................................................319
Joao Filipe Ferreira, Jose Augusto Prado, Jorge Lobo

GROUND PLANE DETECTION FOR AUTONOMOUS ROBOTS IN COMPLEX
ENVIRONMENTS INCLINED WITH FLEXED FAR-FIELD TERRAINS..............................................................327
Isaac O. Sunmakinde, Thulani Ndhlovu

DEVELOPMENT OF AN OBSTACLE AVOIDANCE BASED ARCHITECHTURE FOR
AUTONOMOUS MOBILE ROBOTS.............................................................................................................................335
Ayman Abbas, Mohamed El-Samadony

OFF-ROAD OBSTACLE DETECTION WITH ROBUST PARAMETRIC MODELING OF THE
GROUND STEREO GEOMETRY..................................................................................................................................343
S. Kodagoda, G. Dong, C. H. Yan, S. H. Ong

ANALYZING UAV MISSIONS IN A SCALED ENVIRONMENT: EXPERIMENTAL RESULTS........................351
Keith W. Sevcik, James T. Hing, Paul Y. Oh

DEPENDABLE RECONFIGURATION OF MOBILE MANUFACTURING SYSTEMS.........................................359
Stefanie Angerer, Rob Pooley

MOBILE ROBOT NAVIGATION USING VISUAL TAGS: A REVIEW...................................................................367
Ali Gurcan Ozkil, Zhun Fan, Steen Dawids, Jens Klaestrup Kristensen, Kim Hardam Christensen, Henrik Aanaes

ROBOT DESIGN AND ARCHITECTURE


DEVELOPMENT OF ROBOTICS SYSTEMS FOR SEAPORTS BY MEANS OF MODULAR
APPROACHES..................................................................................................................................................................375
Matthias Burwinkel, Wolfgang Echelmeyer, Bernd Scholz-Reiter

CONTROL AD LIBITUM: AN APPROACH TO REAL-TIME CONSTRUCTION OF CONTROL
SYSTEMS FOR UNSTRUCTURED ROBOTIC TEAMS.............................................................................................383
Adrian Martin, M. Reza Emami

DESING AND CONTROL OF A QUASI-OMNIDIRECTIONAL MOBILE ROBOT F.A.A.K...............................391
I. Masar

OPTIMAL KINEMATIC DESIGN AND TRAJECTORY PLANNING OF A 5-DOF HYBRID
ROBOT...............................................................................................................................................................................398
Panfeng Wang, Haitao Liu, Jiangping Mei, Xueman Zhao, Yimin Song, Tian Huang

DESIGNING AND EVALUATION OF MOBILE ROBOT USING OPTICAL INFORMATION
TAU-MARGIN..................................................................................................................................................................404
H. Fujii, Y. Nagata, Isao Ono

AN EXPERIMENTAL MOBILE ROBOT PLATFORM FOR AUTONOMOUS SYSTEMS
RESEARCH AND EDUCATION....................................................................................................................................412
L. C. McNinch, R. A. Soltan, K. R. Muske, H. Ashrafiuon, J. C. P. Jones

A SOFTWARE FRAMEWORK FOR CONTROL OF UGVS IN COMPLEX TERRAIN........................................419
Howard Li, Jack Collier, Mike Trentini, Blake Beckman

RECONFIGURABLE PARALLEL KINEMATIC STRUCTURES FOR SPREADING
REQUIREMENTS............................................................................................................................................................426
J. Schmitt, C. Stechert, A. Raatz, J. Hesselbach, T. Victor, H.-J. Franke

HUMAN-INSPIRED ROBOTIC FORGETTING: FILTERING TO IMPROVE ESTIMATION
ACCURACY......................................................................................................................................................................434
Sanford T. Freedman, Julie A. Adams

ROBOT SIMULATION AND CONTROL


ON THE SYNTHESIS OF PID GAINS TO REDUCE VIBRATION ON THE SLENDER ROBOT
MANIPULATOR...............................................................................................................................................................442
D. Lim, Y. Lee, D. Swaroop

LOCALIZATION OF A SPACER OVER AND ESTIMATION OF ROTATIONAL PARAMETERS
WITHOUT CALCULATING DERIVATIVES..............................................................................................................450
Sayaka Kanata, Hiroaki Nakanishi, Tetsuo Sawaragi

VIRTUAL 3D ENVIRONMENT FOR ON-LINE ROBOT CONTESTS.....................................................................458
P. Bahnik, M. Gerke, I. Masar

HYBRID CONTROL OF BIPED ROBOT LEG............................................................................................................464
J. K. Rai,

WORKSPACE OPTIMIZATION OF THE ROBOCOASTER USED AS A MOTION SIMULATOR...................470
Simon Schaetzle, Carsten Preusche, Gerd Hirzinger

MOBILE HOPPING ROBOT DRIVEN BY ROTATING MASS................................................................................478
S. Jatsun, I. Lupekhina, A. Yatsun

API BASED GRAPHICAL SIMULATION OF ROBOTIZED SITES........................................................................485
Amel Meddahi, Khelifa Baizid, Ali Yousnadj, Jamshed Iqbal

INITIAL EXPERIMENTS WITH A SMALL-SCALE MOBILE BOOM CRANE....................................................493
Ehsan Maleki, William Singhose, Joshua Vaughan

A TAGLINE PROPORTIONAL-DERIVATIVE CONTROL FOR ANTI-SWING MOTION OF A
LOAD SUSPENDED BY A FLOATING CRANE..........................................................................................................501
Nam-Kug Ku, Ju-Hwan Cha, Jung-Han Kwon, Kyu-Yeul Lee

Author Index