Intelligent Robotics and Applications 12th International Conference, ICIRA 2019, Shenyang, China, August 8-11, 2019, Proceedings, Part I

• Main Authors: Yu, Haibin, Liu, Jinguo, Liu, Lianqing, Ju, Zhaojie, Liu, Yuwang, Zhou, Dalin
• Format: eBook
• Language: English
• Published: Cham Springer International Publishing AG 2019
• Edition: 1
• Subjects: Robotics-Congresses
• ISBN: 3030275256; 9783030275259

Table of Contents:

• Screw Displacement and Its Application to the In Vivo Identification of Finger Joint Axes -- 1 Introduction -- 2 Note on Exponential Derivation of Screw Displacement -- 2.1 Exponential Derivation for Rotation -- 2.2 Exponential Derivations for Spatial Rigid-Body Motion -- 3 Application of Screw Displacement in In Vivo Finger Joint Axes Identification -- 4 Conclusions -- References -- Robotics for Cell Manipulation and Characterization -- A Cell Manipulation Method Based on Stagnation Point of Swirl -- Abstract -- 1 Introduction -- 2 Mechanism of Cell Manipulation Using Swirl -- 2.1 Constructing Swirling Flow Field -- 2.2 Manipulation Mechanism -- 3 Simulation Analysis -- 3.1 Simulation Model -- 3.2 Stagnation Point Movement -- 3.3 Cell Movement in the Swirling Flow Field -- 4 Conclusion -- References -- Adaptive Threshold Processing of Secondary Electron Images in Scanning Electron Microscope -- Abstract -- 1 Introduction -- 2 Experiment Platform and Procedure -- 3 Experimental Analysis and Results -- 4 Conclusion -- Acknowledgments -- References -- Experimental Study of the Behavior of Muscle Cells on Projection Micro-stereolithography Printed Micro-structures -- Abstract -- 1 Introduction -- 2 Preparation of Functionalized PμSL PEGDA -- 3 Adhesion and Viability Test of Muscle Cells on Functionalized PμSL PEGDA -- 3.1 Muscle Cell Culture and Behavior -- 3.2 Adhesion Test -- 3.3 Viability Assay -- 3.4 Behavior of Muscle Cells on Functionalized PμSL PEGDA -- 4 Experimental Study of Differentiation of Muscle Cells -- 5 Discussions and Conclusion -- Acknowledgments -- References -- Automatic Micropipette Tip Detection and Focusing in Industrial Micro-Imaging System -- Abstract -- 1 Introduction -- 2 System Design -- 2.1 System Architecture -- 3 Key Methods -- 3.1 Micropipette Tip Detection -- 3.2 Micropipette Focusing -- 4 Experiment Results
• 7 Conclusion
• Intro -- Preface -- Organization -- Contents - Part I -- Collective and Social Robots -- Promoting Constructive Interaction and Moral Behaviors Using Adaptive Empathetic Learning -- 1 Introduction -- 2 Learning with Adaptive Empathy -- 2.1 Building Value Model -- 2.2 Extended Structure of Reinforcement Learning -- 3 Experimental Results -- 3.1 Iterated Prisoner's Dilemma -- 3.2 Ultimatum Game -- 4 Conclusions -- References -- A Fast Visual Feature Matching Algorithm in Multi-robot Visual SLAM -- Abstract -- 1 Introduction -- 2 Traditional Bag of Words Feature Matching Algorithm -- 3 Fast Multi-robot Vision Matching Association Algorithm -- 4 Experiments -- 4.1 Experiment Setup and Data Collection -- 4.2 Parameter Selection -- 4.3 Performance Analysis -- 5 Conclusion -- Acknowledgments -- References -- Mechanical Design and Kinematic Control of a Humanoid Robot Face -- 1 Introduction -- 2 Design Philosophy -- 3 Design of the Robot -- 3.1 Eyebrow Mechanism Design -- 3.2 Eye Mechanism Design -- 3.3 Mouth Mechanism Design -- 3.4 Control System -- 4 Kinematics -- 4.1 Eyebrows -- 4.2 Eye -- 4.3 Mouth -- 5 Experiments -- 5.1 Movement of Eyebrows -- 5.2 Movement of Eye -- 5.3 Movement of Mouth -- 5.4 Six Basic Expressions -- 6 Conclusion and Future Work -- References -- LTF Robot: Binocular Robot with Laser-Point Tracking and Focusing Function -- Abstract -- 1 Introduction -- 2 Design of the LTF Robot -- 2.1 Structure Design of the LTF Robot -- 2.2 Control System Design of the LTF Robot -- 3 Kinematics Analysis of the LTF Robot -- 4 Experiments of the LTF Robot -- 5 Conclusion -- Acknowledgements -- References -- Human Biomechanics and Human-Centered Robotics -- New Rigid-Soft Coupling Structure and Its Stiffness Adjusting Device -- Abstract -- 1 Introduction -- 2 Proposal of a New Rigid-Soft Coupling Structure -- 3 Structural Interface Design Analysis
• 3.3 Summary of Analysis Method -- 4 Comparison Between Simulation and Experimental Results -- 5 Conclusion -- Acknowledgment -- References -- A Self-calibration Method for Mobile Manipulator -- 1 Introduction -- 2 Principle and Methodology -- 2.1 Different Configurations at a Specified Point -- 2.2 Grouping the Data -- 2.3 Identification -- 3 Experiment -- 3.1 Experimental Method and Equipments -- 3.2 Kinematic Parameters -- 3.3 Verification Experiment -- 4 Verifications and Results -- 4.1 Configurations of the Manipulator -- 4.2 The Norminal Deviation of the Endpoint -- 4.3 Verified by SA -- 4.4 The Norminal Orientation of the Endeffector -- 5 Conclusion -- References -- Design and Development of a Linkage-Tendon Hybrid Driven Anthropomorphic Robotic Hand -- 1 Introduction -- 2 Design of a Linkage-Tendon Hybrid Driven Anthropomorphic Robotic Hand -- 2.1 Design Rationales -- 2.2 Mechanical Design of the MCR-Hand II -- 3 Kinematics of the Linkage-Based Drive System -- 3.1 Linkage-Based Robotic Finger -- 3.2 Workspace -- 4 Prototype and Evaluation -- 5 Conclusions -- References -- Predict Afferent Tactile Neural Signal for Artificial Nerve Based on Finite Element Human Hand Model -- Abstract -- 1 Introduction -- 2 Finite Element Human Hand Model Development -- 2.1 3D Model Construction -- 2.2 Finite Element Model Development -- 3 Finite Element Model Validation -- 3.1 Loading and Boundary Conditions Defined for Grasping Simulation and the Corresponded In-Vivo Test -- 3.2 Numerical Model Validation -- 4 Dynamic Neural Model for Afferent Signal Prediction and the In-Vivo Microneurography Test -- 4.1 Strain Energy Density and Bi-phasic Sub Model -- 4.2 Parameter Optimization -- 5 Results and Discussion -- 5.1 Predict Neural Spike Information During Active Touch -- 5.2 Artificial Neural Nerve Prototype -- 6 Conclusion -- References
• 4.1 Image Capture -- 4.2 Positioning Results -- 4.3 Focusing Results -- 5 Conclusion -- Acknowledgment -- References -- Morphologic Reconstruction of 2D Cellular Micro-scaffold Based on Digital Holographic Feedback -- Abstract -- 1 Introduction -- 2 Micro-robotic System for 2D Cellular Micro-scaffold Fabrication -- 2.1 Overview -- 2.2 DMD-Based Manipulation System Setup -- 2.3 Digital Holographic Microscope System Setup -- 2.3.1 The Traditional Holographic Principle -- 2.3.2 The Digital Holographic Microscope System -- 2.4 Principle of Loop Feedback System of GUI -- 3 Method for Cellular Micro-scaffold Fabrication -- 4 Experiment Result -- 4.1 Fabrication of 2D Cellular Micro-scaffold -- 4.2 Cell Behavior and Viability -- 4.3 Discussion -- 5 Conclusion -- Acknowledgment -- References -- Field Robots -- An Improved Artificial Potential Field Method for Path Planning of Mobile Robot with Subgoal Adaptive Selection -- 1 Introduction -- 2 Local Minimum Problem Description -- 3 Subgoal Adaptive Selection Strategy -- 3.1 Improvement of Local Minimum Problem -- 3.2 The Simulation of Local Minimum Problem -- 4 Robot Trajectory Tracking Controller -- 4.1 System Simulation Platform Modelling -- 4.2 Controller Description -- 5 Controller Simulation -- 5.1 Robot Path Planning Simulation -- 5.2 Robot Trajectory Tracking Simulation Results -- 6 Conclusion -- References -- Trajectory Planning for Digital Camouflage Spray Painting Robot Based on Projection Method -- Abstract -- 1 Introduction -- 2 Overview of Trajectory Planning Methods -- 3 Space Transformation -- 4 "Scanning" Grid Trajectory Planning -- 4.1 Trajectory Types and Bias Algorithms -- 4.2 "Scanning" Trajectory Planning -- 4.3 Trajectory Space Correction -- 5 Parameter Setting -- 5.1 Determination of Spraying Gun Posture -- 5.2 Determination of Track Spacing and Velocity of the Gun -- 6 Experiment
• 4 Structural Improvement -- 5 Security Monitoring Information Management System -- 5.1 Ratchet Manual Variable Stiffness Device -- 5.2 Tubular Pneumatic Variable Stiffness Device -- 5.3 Spherical Pneumatic Variable Stiffness Device -- 6 Conclusion -- References -- Capacitive Sensing Based Knee-Angle Continuous Estimation by BP Neural Networks -- 1 Introduction -- 2 Material and Method -- 2.1 Capacitive Sensing System and Motion Capture System -- 2.2 Experimental Protocol -- 2.3 Signal Processing -- 2.4 BP Neural Networks -- 2.5 System Evaluation -- 3 Experimental Results -- 4 Conclusion -- References -- Concept and Prototype Design of a Soft Knee Exoskeleton with Continuum Structure (SoftKEX) -- 1 Introduction -- 2 SoftKEX -- 2.1 Biological Requirements -- 2.2 Bionic Structure Design -- 2.3 Actuator Design -- 2.4 Sensory System -- 2.5 Control System -- 3 Experimental Results -- 3.1 Tension Control Performance -- 3.2 Level-Walking Wearing SoftKEX -- 4 Conclusions -- References -- An Improved Model to Estimate Muscle-Tendon Mechanics and Energetics During Walking with a Passive Ankle Exoskeleton -- 1 Introduction -- 2 Modeling Method -- 2.1 Ankle Musculoskeletal Model Construction -- 2.2 Model Parameter Values Determination -- 2.3 Modeling the Function of the Elastic Ankle Exoskeleton -- 3 Results -- 3.1 EXO Moment, PF and DF Muscle Moment -- 3.2 Muscle Mechanical Power and Work -- 3.3 Muscle Activation, Metabolic Power -- 3.4 Muscle Metabolic Cost and Muscle Efficiency -- 4 Discussion -- 4.1 Modeling of Dorsiflexor MTU -- 4.2 Analysis of Minimum PF Passive Moment -- 5 Conclusion -- References -- Modeling and Analysis of Human Lower Limb in Walking Motion -- Abstract -- 1 Introduction -- 2 Plant Model of Human Lower Limb -- 3 Analysis Methods of the Plant Model -- 3.1 Kinematic Analysis Method -- 3.2 Dynamic Analysis Method