Intelligent Robotics and Applications: 13th International Conference, ICIRA 2020, Kuala Lumpur, Malaysia, November 5–7, 2020, Proceedings (Lecture Notes in Computer Science)

This book constitutes the proceedings of the 13th International Conference on Intelligent Robotics and Applications, ICIRA 2020, held in Kuala Lumpur, Malaysia, in November 2020. The 45 full papers and 3 short papers were carefully reviewed and selected from 66 submissions. The accepted papers were grouped into various subtopics including Advanced Measurement and Machine Vision System; Automation; Human-Robot Interaction; Mobile Robots and Intelligent Autonomous System; Recent Trends in Computational Intelligence; Robot Design, and Development and Control. Due to the Corona pandemic ICIRA 2020 was held as a virtual event. Preface Organization Contents Advanced Measurement and Machine Vision System An Efficient Calibration Method for 3D Nonlinear and Nonorthogonal Scanning Probe in Cylindrical CMM 1 Introduction 2 Kinematic Error Model Establishment 2.1 Coordinate System Establishment 2.2 Kinematic Error Model of the CMM 2.3 Forward and Inverse Kinematics 3 Probe and Calibration 3.1 Probe Model 3.2 Probing Procedure 3.3 Calibration Algorithm 4 Experimental Results 5 Verification of Accuracy 5.1 Verification of the Compensation 5.2 Uncertainty Analysis 6 Conclusion References A Matching Algorithm for Featureless Sparse Point Cloud Registration 1 Introduction 2 Multilinked List of Distance 3 Closed-Traversal Matching Algorithm 3.1 Subgraph Isomorphism 3.2 Verification of Matching Correctness 4 Point Cloud Registration 5 Experiments 5.1 Results and Analysis 5.2 Application 6 Conclusions References Iterative Phase Correction Method and Its Application 1 Introduction 2 Principle of Iterative Phase Correction Method 3 Application-Binocular Structured Light 3.1 Measurement Principle of Binocular Structured Light 3.2 Measurement Experiments 4 Conclusions References Automation An Improved Calibration Method of EMG-driven Musculoskeletal Model for Estimating Wrist Joint Angles 1 Introduction 2 Methodology 2.1 Subjects 2.2 Experimental Setup 2.3 Experimental Protocol 2.4 Data Processing 2.5 Musculoskeletal Model 2.6 Parameter Calibration 2.7 Performance Evaluation 2.8 Statistical Analysis 3 Results 3.1 Estimation Performance of the Proposed Calibration Method 3.2 Comparison of Estimation Performance of Different Calibration Methods 4 Discussion 5 Conclusion References Non-invasive Measurement of Pulse Rate Variability Signals by a PVDF Pulse Sensor 1 Introduction 2 Materials and Methods 2.1 Principle of the PVDF Film Pulse Sensor 2.2 Measurement and Analysis of Pusle Wave Signals 2.3 Data Collection and Processing 2.4 PRV Detection 3 Results 4 Discussion References Deep Learning for Plant Disease Identification from Disease Region Images 1 Introduction 2 Materials and Method 2.1 Image Dataset 2.2 Pathological Extended Region of Interest (EROI) Segmentation 2.3 Disease Identification with DL Classifiers 2.4 Performance Measures 3 Experimental Results and Discussion 4 Conclusion References Task-Oriented Collision Avoidance in Fixed-Base Multi-manipulator Systems 1 Introduction 2 Preliminaries 3 Method 3.1 Overall Framework 3.2 Dataset Construction 3.3 Learning Details 4 Numerical Simulations 5 Conclusion References An Adaptive Seam-Tracking System with Posture Estimation for Welding 1 Introduction 2 Basic Principle of Laser Vision Sensor 3 Welding Seam Tracking Algorithm 4 Welding Posture Calculation 4.1 Constructing Target Coordinate System of Welding Torch 4.2 Rotation Angles Calculation 5 Experiments and Results 5.1 Offline Weld Tracking Test 5.2 Welding Posture Estimation 6 Conclusion and Future Work References A Miniature Robot with Changeable Multiple Locomotion Modes 1 Introduction 2 The Robot System 2.1 Design Methods 2.2 Hardware System 2.3 Control System 3 Four Locomotion Modes 3.1 Caterpillar-Like Wriggling 3.2 Snake-Like Winding 3.3 Biped Walking 3.4 Biped Climbing Like an Inchworm 4 Transition Among Locomotion Modes 4.1 Transition Between Wriggling and Winding 4.2 Transition Between Wriggling and Walking 5 Experiments 6 Conclusion References Problem of Robotic Precision Cutting of the Geometrically Complex Shape from an Irregular Honeycomb Grid 1 Introduction 2 Problem of Cutting Honeycomb Blocks 3 Honeycomb Block Scanning 4 Software Implementation of the Proposed Approach 5 Operating Mechanism for Cutting 6 Result of the System Operation 7 Conclusion References Research on Key Technology of Logistics Sorting Robot 1 Introduction 2 The Overall Scheme of the System 3 End Effectors 3.1 Structural Design 3.2 The Perception and Control Strategy in Grasping 4 Object Segmentation and Pose Estimation 4.1 Object Recognition, Segmentation and Pose Estimation 4.2 Experimental Results 5 Real-Time Planning and Control of Mechanical Arm Sorting 5.1 The Overall Technical Scheme 5.2 Environmental Information Storage and Perception 5.3 Path Segmentation and Search 5.4 Real-Time Motion Planning 5.5 Actual Planning Process 6 System Integration and Verification 7 Conclusion References Towards Safe and Socially Compliant Map-Less Navigation by Leveraging Prior Demonstrations 1 Introduction 2 Related Work 3 Approach 3.1 Problem Formulation 3.2 Neural Network Model and Pre-training 3.3 Reinforcement Learning 4 Experiments 4.1 Model Training 4.2 Experiments on Navigation Ability 4.3 Experiments on Social Compliance 5 Conclusion References Human-Robot Interaction Variational Augmented the Heuristic Funnel-Transitions Model for Dexterous Robot Manipulation 1 Introduction 2 Related Work 3 Preliminaries 3.1 Data Augmentation with VAEs 3.2 Funnel Q-Learning 4 Method 4.1 Pre-process the Multimodal Signals 4.2 Funnelling the Trajectory as Transition Model 5 Experiments 5.1 Experiments Setup 5.2 Experiment Results 6 Discussion References A Guided Evaluation Method for Robot Dynamic Manipulation 1 Introduction 2 Background 2.1 Reinforcement Learning 2.2 DDPG 2.3 Dynamic Hindsight Experience Replay 3 Method 3.1 Expert Guiding 3.2 Behavior Cloning Auxiliary Loss 3.3 Evaluation Mechanism 4 Experiment 4.1 Environments 4.2 Experiment Details 4.3 Results 5 Conclusion References A Learning Approach for Optimizing Robot Behavior Selection Algorithm 1 Introduction 2 Methodology 3 Experimental Setup 3.1 Problem Formulation 3.2 Environment Representation 3.3 Robotic Platform 3.4 Navigation Framework 3.5 Evaluation Metric 3.6 Data Generation 3.7 Supervised Model Training 4 Experimental Results 5 Conclusion References sEMG Feature Optimization Strategy for Finger Grip Force Estimation 1 Introduction 2 Materials and Methods 2.1 System Structure and Experiment Platform 2.2 Data Acquisition 2.3 Feature Extraction 2.4 Regression Method 2.5 Performance Evaluation 2.6 Feature Optimization Strategy 3 Experiment Results 4 Conclusion References Master-Slave Control of a Bio-Inspired Biped Climbing Robot 1 Introduction 2 The Biped Climbing Robot: Climbot 3 Design of Master Robot 4 Development of Master-Slave System 5 Climbing Analysis and Mapping Strategy 6 Experiments 7 Conclusions References Mobile Robots and Intelligent Autonomous System Leveraging Blockchain for Spoof-Resilient Robot Networks 1 Introduction 2 Preliminaries 3 Methods 4 Experimental Results 5 Conclusion and Future Directions References ImPL-VIO: An Improved Monocular Visual-Inertial Odometry Using Point and Line Features 1 Introduction 2 Methodology 2.1 Graph Optimization 2.2 Line Triangulation 2.3 Line Representation and Jacobians 3 Experimental Results 3.1 System Implementation 3.2 Results 4 Conclusion References Recent Trends in Computational Intelligence Progressive Attentional Learning for Underwater Image Super-Resolution 1 Introduction 2 Approach 2.1 Progressive Learning 2.2 Residual Attention Upsampling Block 2.3 Objective Function 3 Experiments 3.1 Implementation Details 3.2 Ablation Study 3.3 Quantitative and Qualitative Evaluation 3.4 Computation Efficiency 4 Conclusion References Movie Genre Filtering for Automated Parental Control 1 Introduction 2 Related Work 3 Methodology 4 Experiment Result 5 Discussions 6 Conclusion References Bridging Explainable Machine Vision in CAD Systems for Lung Cancer Detection 1 Introduction 2 Related Work 2.1 Computer Assisted Detection of Lung Nodules (CADe) 2.2 Computer Assisted Diagnosis of Lung Nodules (CADx) 2.3 Explainability in CAD 3 Methodology 3.1 Nodule Detection 3.2 Classification Using Deep Learning 3.3 Explainability of CAD System 4 Results and Discussions 4.1 Nodule Detection Results 4.2 Deep Learning Results 4.3 Explainability of the System 5 Conclusion References Extending Egocentric Vision into Vehicles: Malaysian Dash-Cam Dataset 1 Introduction 2 Related Works 3 The Dataset 3.1 Data Collection 3.2 Class Definition 3.3 Annotation Process 3.4 Assumptions 4 Results and Discussion 4.1 Data Annotation 4.2 Road Activity Classification Using Deep Learning 5 Future Works 6 Conclusion References Robot Design, Development and Control Kinematic Calibration for Industrial Robot Using a Telescoping Ballbar 1 Introduction 2 Robot Calibration Model 2.1 Kinematic Model 2.2 Kinematic Parameter Errors Considered 3 Measurement and Parameter Identification 3.1 Description of Measurement System 3.2 Kinematic Parameters Identification 4 Simulation Study 5 Conclusion References Variable Impedance Control of Manipulator Based on DQN 1 Introduction 2 Preliminaries 2.1 Deep Reinforcement Learning: DQN Algorithm 2.2 Variable Impedance Control 3 Variable Impedance Control Based on DQN 4 Experiment 5 Conclusion References Simulation of Human Upright Standing Push-Recovery Based on OpenSim 1 Introduction 2 Single-Degree-of-Freedom Inverted Pendulum Model of Human Body 3 Experimental Setup and Data Analysis 3.1 Forward Dynamics Experiment 3.2 “Sandbag Disturbance” Experiment 3.3 Experimental Results and Analysis 4 Conclusion References Design and Development of sEMG-Controlled Prosthetic Hand with Temperature and Pressure Sensory Feedback 1 Introduction 2 Overall Structure and Principle Analysis of Prosthetic Hand 2.1 Mechanical Structure 2.2 Acquisition and Processing of sEMG Signal 2.3 Collection and Feedback for Pressure Signal 2.4 Collection and Feedback for Temperature Signal 3 Implementation Process 3.1 Workflow of the System 3.2 Control of the System 4 Experimental Performance and Analysis 5 Conclusion References Two-Wheel Balancing Robot Foot Plate Control Using Series Elastic Actuator 1 Introduction 2 Design and Control of Two-Wheel Balancing Robot with Attached SEA 2.1 System Configuration 2.2 Operational Principle of SEA 2.3 Foot Plate Angle Control Algorithm 3 Experiment 3.1 Foot Plate Angle Control with SEA 3.2 Compensation of Outer Force Change 4 Conclusions References Kinematics Analysis of a New Spatial 3-DOF Parallel Mechanism 1 Introduction 2 Analysis of DOF 3 Position Analysis 3.1 Position Inverse Solution 3.2 Position Positive Solution 3.3 Calculation Examples of Positive and Inverse Solutions 4 Analysis of Velocity and Acceleration 4.1 Velocity Analysis 4.2 Acceleration Analysis 5 Summary References Design of USV for Search and Rescue in Shallow Water 1 Introduction 2 Platform Design 2.1 Structure of the USV 2.2 Electronics Components 3 Robotics Algorithms and Control System 3.1 Robotics Algorithm 3.2 Control System 4 Drowning Detection 4.1 Data Collection 4.2 Model Evaluation 4.3 Model Optimization 5 Simulation and Experimental Analysis 5.1 Structural Analysis 5.2 Thermal Analysis 5.3 Robotics Algorithm and Control System Simulation Results 5.4 Model Deployment and Pool Site Testing 6 Conclusion References 4-Leg Landing Platform with Sensing for Reliable Rough Landing of Multi-copters 1 Introduction 2 Design and Control of 4-Leg Landing Platform 2.1 Landing Platform Modeling 2.2 Kinematics Model 2.3 Slope Correction Formula 3 Experiment 3.1 Matlab Simulation 3.2 Landing Platform Test 1 3.3 Landing Platform Test 2 4 Conclusions References Determination of Singularity Occurrence and Characteristic Analysis of Dual 6-DOF Manipulator Using Manipulability and Manipulability Ellipsoid 1 Introduction 2 Kinematics of Manipulator 2.1 Forward Kinematics 2.2 Inverse Kinematics 3 Parameters and Singularity 3.1 Determination of Singularity 3.2 Manipulability 3.3 Singularity and Manipulability Ellipsoid 4 Simulation 4.1 Simulator 4.2 Analysis of Path 5 Conclusion References Rapid Actuation for Soft Pneumatic Actuators Using Dynamic Instability Mechanism 1 Introduction 2 Design and Working Principle 3 Modeling 4 Experiments and Discussion 4.1 Bending Angle Test 4.2 Response Speed 4.3 Motion Trajectory 5 Conclusion References Robotic Vision, Recognition, and Reconstruction The Point Position and Normal Detection System and Its Application 1 Introduction 2 The Point Position and Normal Detection System 2.1 3D Point Calculation 2.2 Calculating the Incident Light 2.3 Calculating the Reflection Light 3 Three-Dimensional Reconstruction 3.1 Zernike Integration 3.2 Zernike Simulation 4 Experiment 4.1 Calibraiton 4.2 Single Point Experiment 4.3 Experiment of Specular Reflection 4.4 Experiment of Mixed Reflection 5 Conclusion References 6D Pose Estimation for Texture-Less Industrial Parts in the Crowd 1 Introduction 2 Related Work 2.1 Template-Based Methods 2.2 Point Cloud Registration Methods 2.3 Learning-Based Methods 3 The Proposed Method 3.1 Object Detection 3.2 Highlight Detection and Removal 3.3 Pose Hypothesis Generation 3.4 Pose Optimization Using IRLS 3.5 Pose Validation 4 Experimental Results 5 Conclusion References Multi-scale Crack Detection Based on Keypoint Detection and Minimal Path Technique 1 Introduction 2 Multi-scale Keypoint Detection and Selection 2.1 Multi-scale Keypoint Detection 2.2 Keypoint Selection 3 Crack Detection Based on Self-terminating Fast Marching Method 3.1 An Automatic Iteration Rule Based on FMM 3.2 A Suitable Termination Condition on Crack Detection 3.3 Burr-Free 4 Experimental Results 5 Conclusions and Future Works References A Self-correction Based Algorithm for Single-Shot Camera Calibration 1 Introduction 2 Calibration Parameters 2.1 Linear Imaging Mode 2.2 Lens Distortion Models 3 Image Distortion Self-correction 3.1 Identifying Good Lines 3.2 Solution of Distortion Model Parameters 4 Estimation of Camera Linear Model Parameters 4.1 Internal Parameters Estimation 4.2 External Parameters Estimation 4.3 Global Optimization for Calibration Parameters 5 Experiments and Evaluation 5.1 Experiment on Synthetic Image 5.2 Experiment on a Real Scene 6 Conclusion References An Automated View Planning Method of Robot 3D Measurement 1 Introduction 2 Overview of Robot Measuring System 3 View Planning 3.1 Generating Viewpoints 3.2 Calculating Optimal Viewpoints 3.3 Finding Measuring Path 4 Experiment 5 Conclusion References Research on Point Cloud Processing Algorithm Applied to Robot Safety Detection 1 Introduction 2 Point Cloud Segmentation Based on Neural Network 2.1 Edge Convolution 2.2 Neural Network Structure Design 3 Data Set Generation 3.1 Preliminary Generation and Combination of Point Clouds 3.2 Post-processing of Point Cloud Generation 4 Experiment 5 Conclusions and Future Works References A Brief Simulation Method for Coded Structured Light Based 3D Reconstruction 1 Introduction 2 Scene Reconstruction 2.1 Shadow Rendering 2.2 Simulation of Projecting 3 Point Cloud Collecting 3.1 Shadow Regions Filling 3.2 Edge Detection 3.3 Down-Sampling 4 Experimental Results 5 Conclusions and Future Works References Human Gait Analysis Method Based on Kinect Sensor 1 Introduction 2 Data Acquisition 2.1 Required Data 2.2 Data Acquisition Procedure 3 Pre-processing 3.1 Removal of Abnormal Frames 3.2 Coordinate System Transformation 3.3 Data Filtering 4 Gait Parameters Calculation 4.1 Gait Cycle Detection 4.2 Gait Parameters Calculation 4.3 Gait Phase Extraction 5 Experiments 5.1 Experimental Setup 5.2 Experimental Procedures 5.3 Data Processing 5.4 Statistical Analysis 5.5 Experimental Results 6 Conclusion References A Method for Welding Track Correction Based on Emulational Laser and Trajectory 1 Introduction 2 Welding Track Correction Based on Structured Light Sensor 2.1 Emulational Laser of Different Postures of Workpiece 2.2 Affine Transformation for the Correction of Emulational Laser 3 Robot Trajectory Correction Based on Emulational Trajectory for Different Conditions 4 Experimental Results 5 Conclusions and Future Works References A Novel Edge Detection and Localization Method of Depalletizing Robot 1 Introduction 2 Edge Detection Algorithm Based on 2D and 3D Data 2.1 Overall Framework 2.2 Acquisition and Preliminary Segmentation of 3D Point Cloud 2.3 Edge Detection Algorithm 3 Optimal Segmentation Strategy 4 Experiment and Results 4.1 Implementation 4.2 Results 5 Conclusion References Soft Actuators Control of a Series Elastic Actuator Based on Sigmoid-Proportional-Retarded (SPR) with Online Gravity Compensation 1 Introduction 2 Design and Modeling 3 Control Method 4 Stability Analysis 5 Hardware Experiments 6 Conclusion References A Flexible Mechanical Arm Based on Miura-Ori 1 Introduction 2 Miura-Ori Mechanical Arm Structure 2.1 The Miura-Ori 2.2 Structural Design of Miura-Ori FMA 3 Research on the Characteristics of Miura-Ori FMA 3.1 Selection of Materials 3.2 Inflatable Bending Test 3.3 Inflatable Elongation Test 4 Conclusions References Author Index