Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers (eBook)

Preface 6
Organization 8
Conference Co-Chairs 8
Program Co-Chairs 8
Program Committee 8
Additional Reviewers 13
Invited Speakers 14
Contents 15
Part I Invited Papers 18
Formation Control and Vision Based Localization of a System of Mobile Robots 19
1 Introduction 19
2 Model of the System 20
3 Tracking Algorithms 22
3.1 Do Algorithm 22
3.2 VFO Algorithm 26
3.3 Artificial Potential Function 28
4 Multirobot Testbed 30
5 Simulation Results 33
5.1 Do Algorithm 33
5.2 VFO Algorithm 33
6 VFO Algorithm---Experimental Results 37
6.1 Conclusions 41
References 42
Path Tracking Controllers for Fast Skidding Rover 44
1 Introduction 45
2 Lateral Dynamics Model 46
3 Linear Path Tracking Controller Design 49
3.1 Robot-Path Kinematic Model 49
3.2 Design Control 51
3.3 Tracking Performance of the Linear Controller 51
4 Nonlinear Predictive Approach 54
4.1 NCGPC Based Controller Design 54
4.2 Simulation and Experimental Results 55
5 Conclusion 60
References 61
Part II Intelligent Control Systems and Optimization 63
Gravitational Search Algorithm-Based Evolving Fuzzy Models of a Nonlinear Process 64
1 Introduction 65
2 Gravitational Search Algorithm-Based Online Identification Algorithm 65
3 Case Study and Experimental Results 68
4 Conclusions 72
References 73
Speech Phoneme Classification by Intelligent Decision-Level Fusion 76
1 Introduction 76
2 Related Works 78
2.1 Overview on Phoneme Classification 78
2.2 Decision-Level Fusion Methods 79
3 Classification Methods and Algorithms 80
3.1 Naive Bayes Classifier 80
3.2 Learning Vector Quantization Classifier 81
4 Proposed Phoneme Classification System 82
4.1 Overview of Classification System 82
4.2 Speech Feature Extraction 82
4.3 Decision Fusion Using Simple Weighted Mean 82
4.4 Fuzzy Logic Based Fusion 83
4.5 DBN Based Fusion 85
5 Experimental Results and Analysis 87
5.1 Speech Data Structure 87
5.2 Classification Results 87
5.3 Decision Fusion Results of Classifiers 88
5.4 Performance Analysis 88
6 Conclusion 89
References 90
Genetic Algorithm for Automated X-Ray Diffraction Full-Profile Analysis of Electrolyte Composition on Aluminium Smelters 92
1 Introduction 93
2 The Method and Program of Evolutionary Full-Profile Phase Analysis 95
3 Accuracy Evaluation of the CR Analysis and Discussion 100
4 Conclusions 105
References 105
Part III Robotics and Automation 107
Improving the 3D Positioning for Low Cost Mobile Robots 108
1 Introduction 108
2 3D Positioning and Orientation 109
2.1 Position and Orientation Estimation via Odometry 110
2.2 Tilt Estimation 111
3 Algorithm Architecture 112
3.1 Low Pass Filter 113
3.2 Threshold Calculator 114
3.3 Finite State Machine 115
3.4 Position and Orientation Estimation 117
3.5 Heading Reference System Based on Tilt Angle 119
4 Experimental Results 121
4.1 Behaviour of the FSM 122
4.2 3D Positioning Estimation 122
5 Conclusions 124
References 125
Kinematics, Simulation, and Analysis of the Planar and Symmetric Postures of a Serial-Parallel Climbing Robot 126
1 Introduction 127
2 Description of the Robot 128
3 Forward Kinematics 130
3.1 FKP of the Parallel Modules 130
3.2 FKP of the Complete Robot 131
4 Inverse Kinematics 133
5 Simulation 135
5.1 Phase 1: Walking Along a Beam 137
5.2 Phase 2: Concave Change of Plane 137
5.3 Phase 3: Convex Change of Plane 140
6 Workspace of the PSIK Problem 142
7 Conclusion 145
References 146
A Standing Assistance Scheme Using a Patient's Physical Strength by a Load Estimation Considering the Muscle Arrangements of a Human Leg 147
1 Introduction 148
2 Physical Activity Estimate 149
2.1 Overview of the Proposed Estimate Scheme 149
2.2 Derivation of the Required Traction 151
3 Assistance Control 154
3.1 System Overview 154
3.2 Standing Motion as Recommended by Nursing Specialists 155
3.3 Assistance Control Scheme Based on Physical Activity 156
4 Experiments 158
4.1 Experimental Setup 158
4.2 Experimental Results 159
5 Conclusions 164
References 165
Multimodal Image Registration and Visual Servoing 167
1 Introduction 167
2 Medical Application 169
3 Mutual Information and Registration 170
3.1 Mutual Information in the Image 171
4 Simplex-Based Registration 172
4.1 Cost-Function Shape 173
4.2 Modified Simplex Algorithm 173
5 Registration Versus Visual Servoing 175
5.1 Image Transformation 175
5.2 Visual Servoing 176
6 Real-World Validation 177
6.1 Planar Positioning 177
6.2 3D Positioning 181
7 Conclusion 184
References 184
Trajectory Tracking Control of an Excavator Arm Using Guaranteed Cost Control 186
1 Introduction 187
2 Excavator Modelling 188
2.1 Modelling of an Excavator Arm 188
2.2 Digging Resistance Force 189
2.3 Controller Model 190
3 Controller Design 191
3.1 Trajectories planning 191
3.2 Robust Control 192
4 Determination of a Set of Possible States 194
5 Simulations 195
6 Sensing 197
6.1 Joint Angle Sensor 197
6.2 Laser Scanning Technical Vision System 202
7 Conclusions 203
References 204
Computation of Curvature Skeleton to Measure Deformations in Surfaces 206
1 Introduction 207
2 Mathematical Approach to Compute Curvature of Surfaces 208
3 Our Method to Find Surface Variations 209
3.1 Histogram of Curvatures 210
3.2 Path of Critical Points to Measure the Surface Variations 212
4 Experiments 212
4.1 Experiments to Compute Curvatures Skeleton 212
4.2 Experiments Applied to Grasping Tasks 213
5 Conclusions 215
References 216
On Structure and Distribution of Software for Mobile Manipulators 217
1 Introduction 218
2 Different Levels of Structuring Robotics Software 219
3 Real-Time Level 221
3.1 Software Structure on the Real-Time Level 221
3.2 Distribution of Real-Time Contexts 223
4 System Level 224
4.1 Software Structure on the System Level 224
4.2 Distribution of Systems 225
5 Application Level 226
5.1 Software Structure on the Application Level 226
5.2 Distribution of Applications 228
6 World Model 228
7 Support in Software Frameworks 230
8 Experimental Results 231
9 Conclusion and Outlook 233
References 234
Combination of HMM and DTW for 3D Dynamic Gesture Recognition Using Depth Only 236
1 Introduction 236
1.1 Motivation 236
1.2 Related Work 237
2 Proposed Approach 239
2.1 Human Tracking and Data Extraction 239
2.2 Gesture Classification Method 242
3 Experimental Results 245
3.1 Experimental Protocol 245
3.2 Recognition Results 246
4 Conclusion and Future Work 250
References 251
Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality 253
1 Introduction 253
2 System Setup 255
2.1 Latency Minimization Scenario 255
2.2 Frame Rate Optimization Scenario 256
2.3 Tracking Reconstruction Scenario 256
3 Methods 256
3.1 Processing Pipelines 256
3.2 Background Modelling 259
3.3 Optical Flow Estimation 260
3.4 Tracking Probability Propagation 260
3.5 Tracking Estimation 261
4 Results 262
4.1 Latency Minimization 262
4.2 Frame Rate Optimization 265
4.3 Tracking Reconstruction 266
5 Discussion 269
6 Conclusions 270
References 271
Highly Parallelizable Algorithm for Keypoint Detection in 3-D Point Clouds 273
1 Introduction 273
2 Related Work 274
3 Our Algorithm 275
3.1 Point Cloud Resolution 276
3.2 Fast Creation of a Watertight 3-D Model 276
3.3 Convolution 278
3.4 Histograms 280
3.5 Clustering 281
4 Results 281
4.1 Repeatability Under Rotation 281
4.2 Repeatability Under Noise 286
4.3 Computation Time 286
5 Conclusion 287
References 291
3D Modelling of Biped Robot Locomotion with Walking Primitives Approach in Simulink Environment 292
1 Introduction 293
2 System Setup 294
3 Biped Robot Locomotion Modelling 294
4 3D Modelling of Biped Robot in Simulink 296
4.1 The 6 DoFs Robot Model 298
4.2 The 12 DoFs Robot Model 299
4.3 Contact Force Modelling in SimMechanics 301
5 Simulation Results 303
6 Conclusions and Future Work 307
References 308
Part IV Signal Processing, Sensors, Systems Modelling and Control 310
Freezing Method Approach to Stability Problems 311
1 Introduction 311
2 Preliminaries 314
3 Main Result 317
4 Possible Extensions of the Presented Approach 320
5 Conclusions 321
References 322
Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization 324
1 Introduction 324
2 Materials and Methods 326
2.1 Principle of the Lateration Technique 326
2.2 Principle of the ASR Technique 328
2.3 Consideration on Erroneous Influences 329
3 Experiments 331
3.1 Single Scan with the Lateration Technique 331
3.2 Single Scan with the ASR Technique 332
3.3 Gridmapping with Low Bandwidth Radar 333
3.4 Feature Mapping with Low Bandwidth Radar 334
4 Results and Discussion 335
5 Conclusion 336
References 337
Pole Placement of Linear Time-Varying Discrete Systems and Its Application to Trajectory Tracking Control of Nonlinear Systems 339
1 Introduction 339
2 Basic Properties of Linear Time-Varying Discrete Systems 340
3 Design of Discrete Time-Varying Pole Placement Controller 344
4 Trajectory Tracking Control of 2-Link Manipulators 348
4.1 The Model of the Manipulator 348
4.2 Experimental Results 350
5 Conclusions 354
References 355
Bayesian Quadrature Variance in Sigma-Point Filtering 357
1 Introduction 357
2 Problem Formulation 359
3 Gaussian Process Priors and Bayesian Quadrature 361
3.1 Gaussian Process Priors 361
3.2 Bayesian Quadrature 362
4 Bayes-Hermite Kalman Filter 363
4.1 Incorporating Integral Uncertainty 364
4.2 BHKF Algorithm 365
5 Numerical Illustration 367
6 Conclusions 370
References 370
Adaptive Nonlinear Information Filters for Multiple Sensor Fusion 373
1 Introduction 373
2 Problem Statement 375
3 Algorithm for Adaptive Nonlinear Information Filters 376
3.1 Basic (Non Adaptive) Information Filters 376
3.2 Q-Adaptation 382
4 Case Study 385
4.1 Kinematic Model 386
4.2 Simulation Procedure and Parameters 387
4.3 Simulation Results 388
5 Concluding Discussions 391
References 392
Decentralized Control: Application to a Turboprop Engine 393
1 Introduction 393
2 Functioning of a Turboprop Engine 394
2.1 Turboprop Overview 394
2.2 Technical Specifications 394
2.3 Plant Identification 395
3 Interaction Analysis 395
3.1 Objectives of the Analysis 395
3.2 Proposed Procedure 396
3.3 Interaction Analysis of the Turboprop Engine 399
4 Decoupling Methods 399
4.1 Proposed Procedure 400
4.2 Decoupling of the Turboprop Engine 403
5 Decentralized Control 403
5.1 Single-Loop Tuning Method 404
5.2 Multi-loop Tuning Method 404
5.3 Decentralized Control of the Turboprop Engine 405
6 Robustness Analysis 406
6.1 Uncertain Turboprop Engine Under an LFT Form 407
6.2 Results 408
6.3 Interpolation 408
7 Simulation Results 409
8 Conclusions 410
References 410
Author Index 412