Intelligent Autonomous Systems 12: Volume 2 Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea (Advances in Intelligent Systems and Computing, 194)

Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. Volume 1 includes contributions devoted to Autonomous Ground Vehicles and Mobile Manipulators, as well as Unmanned Aerial and Underwater Vehicles and Bio-inspired Robotics. Volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering Front Matter....Pages 1-11 Front Matter....Pages 1-2 Design of Master Console Haptic Handle for Robot Assisted Laparoscopy....Pages 3-10 A New Concept for a “Vaginal Hysterectomy” Robot....Pages 11-16 Mechanism of a Learning Robot Manipulator for Laparoscopic Surgical Training....Pages 17-26 Fusion of Inertial Measurements and Vision Feedback for Microsurgery....Pages 27-35 An Orbital Velocity-Based Obstacle Avoidance Algorithm for Surgical Robots....Pages 37-50 HOG-Based Person Following and Autonomous Returning Using Generated Map by Mobile Robot Equipped with Camera and Laser Range Finder....Pages 51-60 Fast Range Image Segmentation and Smoothing Using Approximate Surface Reconstruction and Region Growing....Pages 61-73 Resilient Navigation through Probabilistic Modality Reconfiguration....Pages 75-88 Scaling Vector Field SLAM to Large Environments....Pages 89-100 Observation Planning for Object Search by a Mobile Robot with Uncertain Recognition....Pages 101-110 Effects of a Frequency-Dependent Dissipative Element in Haptic Interaction....Pages 111-119 A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform....Pages 121-130 Classification of Modeling for Versatile Simulation Goals in Robotic Surgery....Pages 131-141 Role of Holographic Displays and Stereovision Displays in Patient Safety and Robotic Surgery....Pages 143-154 A Methodological Framework for the Definition of Patient Safety Measures in Robotic Surgery: The Experience of SAFROS Project....Pages 155-164 System Concept for Collision-Free Robot Assisted Surgery Using Real-Time Sensing....Pages 165-173 The Autonomous Photovoltaic MarXbot....Pages 175-183 Automatic Segmentation and Decision Making of Carotid Artery Ultrasound Images....Pages 185-196 Bilateral Telemanipulation with a Humanoid Robot Hand/Arm between USA and Japan....Pages 197-205 A Feasibility Study of Rate-Mode Mobile Robot Bilateral Teleoperation with Time Domain Passivity Approach....Pages 207-215 Front Matter....Pages 1-2 Backstepping Control of Quadrotor-Type UAVs and Its Application to Teleoperation over the Internet....Pages 217-225 Experiments on Intercontinental Haptic Control of Multiple UAVs....Pages 227-238 Textual Affect Detection in Human Computer Interaction....Pages 239-247 Face Alignment Based on 3D Face Shape Model and Markov Random Field....Pages 249-261 Spontaneous Facial Expression Recognition by Fusing Thermal Infrared and Visible Images....Pages 263-272 A Wearable Plantar Pressure Measurement System: Design Specifications and First Experiments with an Amputee....Pages 273-281 Human-Robot Interaction-Based Intention Sharing of Assistant Robot for Elderly People....Pages 283-291 Human Tracking Using Improved Sample-Based Joint Probabilistic Data Association Filter....Pages 293-302 Research on the Personalized Interaction Model Driven by User Behavior....Pages 303-310 A General Closed-Loop Framework for Multi-dimensional Sequence Processing....Pages 311-321 Facial Expression Recognition from Infrared Thermal Videos....Pages 323-333 Motion Planning of a Dual Manipulator System for Table Tennis....Pages 335-344 Integrated Balance Control on Uneven Terrain....Pages 345-354 Towards Metareasoning for Human-Robot Interaction....Pages 355-367 Learning Probabilistic Decision Making by a Service Robot with Generalization of User Demonstrations and Interactive Refinement....Pages 369-382 A Topic Recognition System for Real World Human-Robot Conversations....Pages 383-391 Semi-autonomous Car Control Using Brain Computer Interfaces....Pages 393-408 Perceptual Social Dimensions of Human - Humanoid Robot Interaction....Pages 409-421 Complex Emotional Regulation Process in Active Field State Space....Pages 423-432 A Development of Art Robot System for Representation of Brightness of Image....Pages 433-441 Front Matter....Pages 443-445 Effect of Mediolateral Knee Displacement on Ligaments and Muscles around Knee Joint: Quantitative Analysis with Three-Dimensional Musculoskeletal Ligament Knee Model....Pages 447-456 Robot Colony Mobility in a Thermodynamics Frame....Pages 457-468 Throwing Darts Training Support System Based on Analysis of Human Motor Skill....Pages 469-478 Muscle Activities Changing Model by Difference in Sensory Inputs on Human Posture Control....Pages 479-491 Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion....Pages 493-502 Dynamic Partition of Collaborative Multiagent Based on Coordination Trees....Pages 503-510 A Distributed Kinodynamic Collision Avoidance System under ROS....Pages 511-521 Authentication Using Shared Knowledge: Learning Agents....Pages 523-531 Cooperative Particle Swarm Optimization-Based Predictive Controller for Multi-robot Formation....Pages 533-541 Modeling Pedestrians in an Airport Scenario with a Time-Augmented Petri Net....Pages 543-551 Cooperation without Exploitation between Self-interested Agents....Pages 553-562 Controlling Formations of Robots with Graph Theory....Pages 563-574 Information Gathering Multi Agent Framework System....Pages 575-584 Study of Query Translation Dictionary Automatic Construction in Cross-Language Information Retrieval....Pages 585-592 A Multi-Agent Information Retrieval System Based on Ontology....Pages 593-602 Task Allocation for Spatially and Temporally Distributed Tasks....Pages 603-612 Learning Task Performance in Market-Based Task Allocation....Pages 613-621 A Framework for Unknown Environment Manipulator Motion Planning via Model Based Realtime Rehearsal....Pages 623-631 Embedded Joint Torque Sensor with Reduced Torque Ripple of Harmonic Drive....Pages 633-640 Design and Analysis of Variable Yielding-Torque Spring Clutch (VSC) for the Safety of Operating Robot Arm....Pages 641-649 Front Matter....Pages 443-445 Vibrotactile Cues for Motion Guidance....Pages 651-659 Driving and Turning Control of a Single-Wheel Mobile Robot....Pages 661-670 Modeling, Dynamics and Control of an Extended Elastic Actuator in Musculoskeletal Robot System....Pages 671-681 Towards Long-Term Collective Experiments....Pages 683-692 Control of a Trident Steering Walker - Design of Motion Parameters Based on a Propulsion Transfer Function....Pages 693-705 Real-Time 3D Model Reconstruction with a Dual-Laser Triangulation System for Assembly Line Completeness Inspection....Pages 707-716 An Evolution Strategy Based Autonomous Algorithm for Roll-to-Roll Web Control System....Pages 717-729 Mechanism Design and Locomotion of a Snake Robot....Pages 731-738 Expression Intensity Recognition Based on Multilayer Hybrid Classifier....Pages 739-748 Cooperative Multi-robot Searching Algorithm....Pages 749-756 Analysis of Affective Effects on Steady-State Visual Evoked Potential Responses....Pages 757-766 Effect of Potential Model on Monte-Carlo Go....Pages 767-774 Acquisition of Ground Behavior on the Locust Model under the Virtual Physical Environment....Pages 775-783 Behavior of Ships after the Great East Japan Earthquake....Pages 785-793 Target Enclosure for Multiple Targets....Pages 795-803 A Study on Acquisition Method of Nonverbal Cues for Intelligent Agents: A Case Study on Facial Expression Analysis....Pages 805-813 Study on Twining of Virtual Seaweed in Fluid Environment....Pages 815-824 Visualization of Spatial Expression Ability Using a 3-D Expression System....Pages 825-834 Application of Flocking Algorithm to Attitude Control of Humanoid Robot....Pages 835-842 Velocity Correlation in Swarm Robtos with Directional Neighborhood....Pages 843-851 Front Matter....Pages 443-445 Feedback Control of Traffic Signal Network of Less Traffic Sensors by Help of Machine Learning....Pages 853-861 Composite Artificial Neural Network for Controlling Artificial Flying Creature....Pages 863-871 Polycentric Framework for Robotic Kinematics....Pages 873-881 Cluster Analysis of Collective Behavior for a Robotic Swarm....Pages 883-891 Detection of Breast Cancer Based on Texture Analysis from Digital Mammograms....Pages 893-900 Back Matter....Pages 0--1 Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12 th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 1 includes contributions devoted to Autonomous Ground Vehicles and Mobile Manipulators, as well as Unmanned Aerial and Underwater Vehicles and Bio-inspired Robotics. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12 th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.