Intelligent Robotics and Applications: Second International Conference, ICIRA 2009, Singapore, December 16-18, 2009, Proceedings (Lecture Notes in Computer Science (5928))

This volume constitutes the refereed proceedings of the Second International Conference on Intelligent Robotics and Applications, ICIRA 2009, held in Singapore, in December 2009. The 128 revised full papers presented were thoroughly reviewed and selected from 173 submissions. They are organized in topical sections on ubiquitous and cooperative robots in smart space; advanced control on autonomous vehicles; intelligent vehicles: perception for safe navigation; novel techniques for collaborative driver support; robot and automation in tunneling; robot mechanism and design; robot motion analysis; robot motion control; visual perception by robots; computational intelligence by robots; robot and application; and robot and investigation. Front Matter....Pages - A Ubiquitous and Cooperative Service Framework for Network Robot System....Pages 1-10 The Hand-Bot, a Robot Design for Simultaneous Climbing and Manipulation....Pages 11-22 Human Multi-robots Interaction with High Virtual Reality Abstraction Level....Pages 23-32 Laser Based People Following Behaviour in an Emergency Environment....Pages 33-42 RENS – Enabling a Robot to Identify a Person....Pages 43-54 Classifying 3D Human Motions by Mixing Fuzzy Gaussian Inference with Genetic Programming....Pages 55-66 Pointing Gestures for a Robot Mediated Communication Interface....Pages 67-77 View-Invariant Human Action Recognition Using Exemplar-Based Hidden Markov Models....Pages 78-89 A Local Interaction Based Multi-robot Hunting Approach with Sensing and Modest Communication....Pages 90-99 Robot Formations for Area Coverage....Pages 100-111 Challenges of the Multi-robot Team in the GUARDIANS Project....Pages 112-125 Modelling and Control of a Train of Autonomous Electric Vehicles....Pages 126-134 Organization and Operation of Electronically Coupled Truck Platoons on German Motorways....Pages 135-146 Navigation Method Selector for an Autonomous Explorer Rover with a Markov Decision Process....Pages 147-156 Discrete-Time Adaptive Sliding Mode Control of Autonomous Underwater Vehicle in the Dive Plane....Pages 157-164 Emergent Behavior Control Patterns in Robotic Collectives....Pages 165-173 An Improved Road Network Modeling and Map Matching for Precise Vehicle Localization....Pages 174-184 A Vision System of Hazard Cameras for Lunar Rover BH2....Pages 185-194 Stereovision-Based Algorithm for Obstacle Avoidance....Pages 195-204 Improved Techniques for the Rao-Blackwellized Particle Filters SLAM....Pages 205-214 A Deceleration Assistance Control for Collision Avoidance Based on Driver’s Perceptual Risk....Pages 215-225 Toward Preventive ACC Systems against Crashes Due to Another Vehicle’s Cut-in....Pages 226-234 How Do Cognitive Distraction Affect Driver Intent of Changing Lanes?....Pages 235-244 Effects of Missed Alarms on Driver’s Response to a Collision Warning System According to Alarm Timings....Pages 245-254 SLAM Estimation in Dynamic Outdoor Environments: A Review....Pages 255-267 On the Analysis of Force Transmission Performance for the Thrust Systems of Shield Tunneling Machines....Pages 268-278 Passive Ultrasonic RFID Localization for Pipeline Pigs....Pages 279-287 Allocation of Measurement Error of Shield’s Pose....Pages 288-296 The Compliance Design on Thrust System of Shields Excavating in Various Geologic Conditions....Pages 297-306 Analysis for Dynamic Load Behavior of Shield Thrust System Considering Variable Boundary Constraints....Pages 307-316 Evaluation and Optimization Method of High Speed Cutting Parameters Based on Cutting Process Simulation....Pages 317-325 The Reconfiguration Design of Redundant Thrust of Shields Excavating in Various Geologic Conditions....Pages 326-335 Research of an Electric Laser System Based on the Non-diffracting Beam....Pages 336-344 Research on Multi-motor Synchronization Control for Cutter Head of Shield Machine Based on the Ring Coupled Control Strategy....Pages 345-354 Position and Attitude Precision Analysis of Segment Erector of Shield Tunneling Machine....Pages 355-363 An Improved Model of Loads Acting on Shield....Pages 364-373 Establishment of TBM Disc Cutter Dynamic Model for Vertical Vibration....Pages 374-382 Soft Rock Cutting Mechanics Model of TBM Cutter and Experimental Research....Pages 383-391 Neural Network Strata Identification Based on Tunneling Parameters of Shield Machine....Pages 392-401 Analysis of Chamber Pressure for Earth Pressure Balance Shield Machine by Discrete Numerical Model....Pages 402-411 Dynamic Mechanism and Key Rectification Techniques of Shield Machine in the Vertical Plane....Pages 412-422 A Precise Measurement Method of Azimuth Angle for TBM....Pages 423-432 Identification of Abnormal Operating Conditions and Intelligent Decision System for Earth Pressure Balance Shield Machine....Pages 433-442 Optimal Disc Cutters Plane Layout Design of the Full-Face Rock Tunnel Boring Machine (TBM) Using an Ant Colony Optimization Algorithm....Pages 443-452 Rotational Moment Analysis and Posture Rectification Strategy of Shield Machine....Pages 453-462 Compensation of Measurement Error for Inclinometer Based on Neural Network....Pages 463-473 Redundantly Actuated PRPRP Radial Mechanism in Segment Erector of Shield Machine for Synchronization Control....Pages 474-481 Electrohydraulic Control of Thrust Hydraulic System for Shield Tunneling Machine....Pages 482-492 Simulation Analysis of Pressure Regulation of Hydraulic Thrust System on a Shield Tunneling Machine....Pages 493-503 Variable Rheological Joints Using an Artificial Muscle Soft Actuator and Magneto-Rheological Fluids Brake....Pages 504-514 A Dexterous and Self-adaptive Humanoid Robot Hand: Gesture-Changeable Under-Actuated Hand....Pages 515-525 Design of the Upper Limb Rehabilitation Support Device Using a Pneumatic Cylinder....Pages 526-534 Spike: A Six Legged Cube Style Robot....Pages 535-544 The Similarity Design of Heavy Forging Robot Grippers....Pages 545-553 The Research of Mechanism Synthesis Based on Mechanical System Chaos Anti-control Methods....Pages 554-561 A Method of Stiffness Analysis of Parallel Mechanisms....Pages 562-570 Numerical Methods for Frictional Contact of Multi-rigid-body with Redundant Constraints....Pages 571-579 Inverse Dynamic Modeling of Two Unsymmetrical 3UPU Parallel Manipulators....Pages 580-591 Kinematic Analysis of the SPKM165, a 5-Axis Serial-Parallel Kinematic Milling Machine....Pages 592-602 Kinematics Model of Bionic Wheel-Legged Lunar Rover and Its Simulation Analysis....Pages 603-612 Dynamics and GA-Based Optimization of Rectilinear Snake Robot....Pages 613-622 Optimum Dynamic Modeling of a Wall Climbing Robot for Ship Rust Removal....Pages 623-631 Stiffness and Singularity Analysis of 2SPS+2RPS Parallel Manipulator by Using Different Methods....Pages 632-644 A Simulation Model to Evaluate and Verify Functions of Autonomous Vehicle Based on Simulink ® ....Pages 645-656 Experimental Evaluation on Dynamic Characteristics of Coaxial Magnetic Couplings for Vacuum Robot....Pages 657-665 Complex Surface Machining: Thermo-mechanical Analysis for Error Prediction of Low-Rigidity Workpiece....Pages 666-677 Modeling and Optimization of Contact Forces for Heavy Duty Robot Grippers....Pages 678-686 Performance of Inertia Force Analysis for Spherical Bearing Test Stand Mechanism....Pages 687-695 Reordering and Partitioning Jacobian Matrices Using Graph-Spectral Method....Pages 696-705 Workspace Analysis and Parameter Optimization of a Six DOF 6-3-3 Parallel Link Machine Tool....Pages 706-712 Keeping a Stable Position of Walking Robot with Vibration....Pages 713-722 An Algebraic Approach for Accurate Motion Control of Humanoid Robot Joints....Pages 723-732 Modeling and Impedance Control of a Chewing Robot with a 6RSS Parallel Mechanism....Pages 733-743 Decentralized Control for Swarm Flocking in 3D Space....Pages 744-754 Nonlinear Analysis and Application of Servo Control System Based on Relay Feedback....Pages 755-764 Kalman Estimator-Based State-Feedback High-Precision Positioning Control for a Micro-scale Air-Bearing Stage....Pages 765-775 Dynamic Control and Analysis of a Nonholonomic Mobile Modular Robot....Pages 776-791 Quantitative and Qualitative Evaluation of Vision-Based Teleoperation of a Mobile Robot....Pages 792-801 An Embedded Vision System for a Power Transmission Line Inspection Robot....Pages 802-811 What Visual Cues Do We Use to Perceive Depth in Virtual Environments?....Pages 812-823 Combination of Annealing Particle Filter and Belief Propagation for 3D Upper Body Tracking....Pages 824-833 Stereo Vision Based Floor Plane Extraction and Camera Pose Estimation....Pages 834-845 Autonomous Mapping Using a Flexible Region Map for Novelty Detection....Pages 846-855 A Fast Connected-Component Labeling Algorithm for Robot Vision Based on Prior Knowledge....Pages 856-865 Simultaneous Visual Object Recognition and Position Estimation Using SIFT....Pages 866-875 Active Contour Method with Separate Global Translation and Local Deformation....Pages 876-884 Automatic Soldering System Based on Computer Vision....Pages 885-896 PLG-Based Visual Tracing for Eye-in-Hand Puma 560 Robot....Pages 897-905 Obtaining Reliable Depth Maps for Robotic Applications from a Quad-Camera System....Pages 906-916 Surface Reconstruction of Engine Intake Ports with Mixed Constraints....Pages 917-928 Binocular Based Moving Target Tracking for Mobile Robot....Pages 929-935 Robust Calibration of a Color Structured Light System Using Color Correction....Pages 936-946 Close Range Inspection Using Novelty Detection Results....Pages 947-956 The Vision System of the ACROBOTER Project....Pages 957-966 Prediction Surface Topography in Flank Milling....Pages 967-975 Cognition Dynamics: Time and Change Aspects in Quantitative Cognitics....Pages 976-993 Adaptive Cellular Automata Traffic System Model Based on Hybrid System Theory....Pages 994-1003 Study on a Location Method for Bio-objects in Virtual Environment Based on Neural Network and Fuzzy Reasoning....Pages 1004-1012 Planner9, a HTN Planner Distributed on Groups of Miniature Mobile Robots....Pages 1013-1022 An Adaptive Rolling Path Planning Method for Planet Rover in Uncertain Environment....Pages 1023-1031 Planning and Control of Biped Walking along Curved Paths on Unknown and Uneven Terrain....Pages 1032-1043 Experimental Study on Alpine Skiing Turn Using Passive Skiing Robot....Pages 1044-1050 Design and Application of High-Sensitivity Hexapod Robot....Pages 1051-1064 Study on Mine Rescue Robot System....Pages 1065-1072 A Hybrid FES Rehabilitation System Based on CPG and BCI Technology for Locomotion: A Preliminary Study....Pages 1073-1084 Introduction to the Development of a Robotic Manipulator for Nursing Robot....Pages 1085-1096 On the Design of Exoskeleton Rehabilitation Robot with Ergonomic Shoulder Actuation Mechanism....Pages 1097-1110 A Novel Five Wheeled Rover for All Terrain Navigation....Pages 1111-1122 A Study on Wafer-Handling Robot with Coaxial Twin-Shaft Magnetic Fluid Seals....Pages 1123-1137 A Study on the Key Technology of Autonomous Underwater Vehicle–AUV’s Self Rescue Beaconing System....Pages 1138-1145 The Research on Mechanism, Kinematics and Experiment of 220kv Double-Circuit Transmission Line Inspection Robot....Pages 1146-1155 The Design of the GPS-Based Surveying Robot Automatic Monitoring System for Underground Mining Safety....Pages 1156-1162 Acquisition of Movement Pattern by Q-Learning in Peristaltic Crawling Robot....Pages 1163-1169 The Study on Optimal Gait for Five-Legged Robot with Reinforcement Learning....Pages 1170-1175 Study on External Load Domain of Shield Machine Cutterhead....Pages 1176-1182 Obstacle-Climbing Capability Analysis of Six-Wheeled Rocker-Bogie Lunar Rover on Loose Soil....Pages 1183-1189 Optimal Design on Cutterhead Supporting Structure of Tunnel Boring Machine Based on Continuum Topology Optimization Method....Pages 1190-1195 The Flexible Two-Wheeled Self-balancing Robot Based on Hopfield....Pages 1196-1204 Real-Time Simulation System of Virtual Picking Manipulator Based on Parametric Design....Pages 1205-1210 Study of Modeling and Simulating for Picking Manipulator Based on Modelica....Pages 1211-1216 Automatic Reconstruction of Unknown 3D Objects Based on the Limit Visual Surface and Trend Surface....Pages 1217-1223 Hyper-chaotic Newton-Downhill Method and Its Application to Mechanism Forward Kinematics Analysis of Parallel Robot....Pages 1224-1229 Inverted Pendulum System Control by Using Modified Iterative Learning Control....Pages 1230-1236 Dynamic Simulation of Passive Walker Based on Virtual Gravity Theory....Pages 1237-1245 A New Strategy of the Robot Assembly Motion Planning , ....Pages 1246-1254 From Morphologies of Six-, Four- and Two-Legged Animals to the HexaQuaBip Robot’s Reconfigurable Kinematics....Pages 1255-1265 Symbricator3D – A Distributed Simulation Environment for Modular Robots....Pages 1266-1277 Mono Landmark Localization for an Autonomous Navigation of a Cooperative Mobile Robot Formation....Pages 1278-1292 Back Matter....Pages - The market demands for skills, knowledge and personalities have positioned robotics as an important field in both engineering and science. To meet these challenging - mands, robotics has already seen its success in automating many industrial tasks in factories. And, a new era will come for us to see a greater success of robotics in n- industrial environments. In anticipating a wider deployment of intelligent and auto- mous robots for tasks such as manufacturing, eldercare, homecare, edutainment, search and rescue, de-mining, surveillance, exploration, and security missions, it is necessary for us to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. After the success of the inaugural conference, the purpose of the Second Inter- tional Conference on Intelligent Robotics and Applications was to provide a venue where researchers, scientists, engineers and practitioners throughout the world could come together to present and discuss the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. In particular, the emphasis of this year's conference was on “robot intelligence for achieving digital manufact- ing and intelligent automations. ” This volume of Springer's Lecture Notes in Artificial Intelligence and Lecture Notes in Computer Science contains accepted papers presented at ICIRA 2009, held in Singapore, December 16–18, 2009. On the basis of the reviews and recommendations by the international Program Committee members, we decided to accept 128 papers having technical novelty, out of 173 submissions received from different parts of the world.