Table Of ContentAdvances in Intelligent Systems and Computing 274
Jong-Hwan Kim · Eric T. Matson
Hyun Myung · Peter Xu
Fakhri Karray Editors
Robot Intelligence
Technology and
Applications 2
Results from the 2nd International Conference
on Robot Intelligence Technology
and Applications
Advances in Intelligent Systems and Computing
Volume 274
Serieseditor
JanuszKacprzyk,PolishAcademyofSciences,Warsaw,Poland
e-mail:[email protected]
Forfurthervolumes:
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AboutthisSeries
The series “Advances in Intelligent Systems and Computing” contains publications on theory,
applications,anddesignmethodsofIntelligentSystemsandIntelligentComputing.Virtuallyall
disciplinessuch asengineering, natural sciences, computer and informationscience, ICT,eco-
nomics,business,e-commerce,environment,healthcare,lifesciencearecovered.Thelistoftop-
icsspansalltheareasofmodernintelligentsystemsandcomputing.
The publications within “Advances in Intelligent Systems and Computing” are primarily
textbooksandproceedingsofimportantconferences,symposiaandcongresses.Theycoversig-
nificant recent developments in the field, both of a foundational and applicable character. An
importantcharacteristicfeatureoftheseriesistheshortpublicationtimeandworld-widedistri-
bution.Thispermitsarapidandbroaddisseminationofresearchresults.
AdvisoryBoard
Chairman
NikhilR.Pal,IndianStatisticalInstitute,Kolkata,India
e-mail:[email protected]
Members
EmilioS.Corchado,UniversityofSalamanca,Salamanca,Spain
e-mail:[email protected]
HaniHagras,UniversityofEssex,Colchester,UK
e-mail:[email protected]
LászlóT.Kóczy,SzéchenyiIstvánUniversity,Gyo˝r,Hungary
e-mail:[email protected]
VladikKreinovich,UniversityofTexasatElPaso,ElPaso,USA
e-mail:[email protected]
Chin-TengLin,NationalChiaoTungUniversity,Hsinchu,Taiwan
e-mail:[email protected]
JieLu,UniversityofTechnology,Sydney,Australia
e-mail:[email protected]
PatriciaMelin,TijuanaInstituteofTechnology,Tijuana,Mexico
e-mail:[email protected]
NadiaNedjah,StateUniversityofRiodeJaneiro,RiodeJaneiro,Brazil
e-mail:[email protected]
NgocThanhNguyen,WroclawUniversityofTechnology,Wroclaw,Poland
e-mail:[email protected]
JunWang,TheChineseUniversityofHongKong,Shatin,HongKong
e-mail:[email protected]
·
Jong-Hwan Kim Eric T. Matson
· ·
Hyun Myung Peter Xu Fakhri Karray
Editors
Robot Intelligence
Technology and Applications 2
Results from the 2nd International Conference
on Robot Intelligence Technology
and Applications
ABC
Editors
Jong-HwanKim PeterXu
ElectricalEngineering DepartmentofMechanicalEngineering
KAIST UniversityofAuckland
Daejeon Auckland
Korea NewZealand
EricT.Matson FakhriKarray
ComputerandInformationTechnology UniversityofWaterloo
PurdueUniversity Ontario
Indiana Canada
USA
HyunMyung
CivilandEnvironmentalEngineering
KAIST
Daejeon
Korea
ISSN2194-5357 ISSN2194-5365 (electronic)
ISBN978-3-319-05581-7 ISBN978-3-319-05582-4 (eBook)
DOI10.1007/978-3-319-05582-4
SpringerChamHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2014934673
(cid:2)c SpringerInternationalPublishingSwitzerland2014
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Preface
Sincetheindustrialrevolution,technologicalevolutionhasbeenthedefiningaspectof
the societal progress. Among all the technologiesthat emerged over the years, infor-
mation technology (IT) is the one that truly revolutionized the modern lifestyle. IT,
firstcoinedin1958andboomingsincetheearly1990s,istheapplicationofcomputers
andtelecommunicationequipmentstostore,retrieve,transmitandmanipulatedata.In
1990s,theconceptofInformationSuperhighwaywasdevelopedtorealizethegoalsof
ITacrosstheglobe.
Nowwearefacinganewtechnologicalchallengeonhowtostoreandretrieveknowl-
edge and manipulate intelligence, in addition to the management of information and
data, for autonomousservices by intelligentsystems. By utilizing the technology,the
systems shouldbe capableof carryingoutrealworld tasks autonomously.To address
this issue, robot researchers have been developing intelligence technology (InT) for
“robotsthatthink.”InTisintelligenceoperatingtechnology,whichistheapplicationof
machinesandagentstoperceiveandprocessdataandinformationforknowledge-based
reasoningandutilizetheirownreasoningtoexecuteanappropriateaction.InTcovers
all aspects of intelligence from perception at sensor level and reasoning at cognitive
leveltobehaviorplanningatexecutionlevelforeachlowlevelsegmentofthemachine.
It is equipped with technologies for cognitive reasoning, social interaction with hu-
mans,behaviorgeneration,abilitytocooperatewithotherrobots,ambienceawareness,
andanartificialgenomethatcanbepassedontootherrobots.Thesetechnologiesareto
materializecognitiveintelligence,socialintelligence,behavioralintelligence,collective
intelligence,ambientintelligenceandgeneticintelligence.
AsIThasbeenflourishedthroughinformationsuperhighwayforthelasttwodecades,
InTalsoneedsacentralandubiquitousmediumwiththeabilitytointelligentlyprocess
andautonomouslyactondatabyoperatingthetechnology.Themediumshouldbein-
terconnectedwiththeinformationsuperhighway.Utilizingtherevolutionaryadvances
ininformationtechnologyandcombiningthemwiththepotentialprospectsofInT,the
medium would be intelligence super agent (iSA) that can enhance human capability
in perception,reasoning and action and provide intelligentsupervision to the less in-
telligentagentsandrobotswithinitsdomain.iSAderivessomeofitsinspirationfrom
similarintelligentagentsinpopularsciencefictions,suchasVIKI(VirtualInteractive
VI Preface
Kinetic Intelligence) and JARVIS (Just A Rather Very IntelligentSystem). VIKI is a
supercomputerbasedintelligentagentresponsibleformanagingacommercialbuilding
inthefamoussciencefictionmovieI,Robot(2004).JARVISisasuperintelligentand
multifunctionalsoftwareagentthatmanagesitsowner’slabandmansioninthefamous
science fiction series called Iron Man (2008). The key properties of these agents are
intelligence,autonomyandubiquity.Inthissense,thefutureresearchdirectionofInT
wouldbethedevelopmentofiSAwithsuchchallengingproperties.
Following the first edition, this second edition also aims at serving the researchers
and practitioners in related fields with a timely dissemination of the recent progress
on robotintelligence technologyand its applications, based on a collection of papers
presented at the 2nd International Conference on Robot Intelligence Technology and
Applications (RiTA), held in Denver, USA, December 18–20, 2013. For better read-
ability, this edition has the total 84 papers grouped into 3 chapters: Part I: Ambient,
Collective, Cognitive and Social Intelligence, Part II: Behavioral, Collective and Ge-
netic Intelligence, Part III: Emerging Applications of Robot Intelligence Technology,
whereindividualchapters,editedrespectivelybyEricT.Matson,HyunMyung,Peter
Xu,FakhriKarrayalongwithJong-HwanKim,beginwithabriefintroductionwritten
bytherespectivechaptereditors.
IdohopethatreadersfindthesecondeditionofRobotIntelligenceTechnologyand
Applications2,RiTA2,stimulating,enjoyableandhelpfulfortheirfurtherresearch.
Jong-HwanKim
GeneralChair
RiTA2013
Contents
PartI:Ambient, Collective, Cognitiveand SocialIntelligence
Feature-Based6-DoFCameraLocalizationUsing PriorPoint Cloud
andImages....................................................... 3
HyongjinKim,DonghwaLee,TaekjunOh,SangWonLee,YungeunChoe,
HyunMyung
ProgramminganE-PuckRobottoCreateMapsofVirtualandPhysical
Environments..................................................... 13
PabloTarquino,KevinNickels
AMethodtoLocalizeTransparentGlassObstacleUsingLaserRange
FinderinMobileRobotIndoorNavigation ............................ 29
JungsooPark,EricT.Matson,Jin-WooJung
RoboticFollowerSystemUsingBearing-OnlyTrackingwithDirectional
Antennas ........................................................ 37
Byung-CheolMin,EricT.Matson
OscillatorAggregationinRedundantRoboticSystemsforEmergence
ofHomeostasis.................................................... 59
ShoYamauchi,HidenoriKawamura,KeijiSuzuki
TheChIRPRobot:AVersatileSwarmRobotPlatform.................. 71
Christian Skjetne, Pauline C. Haddow, Anders Rye, Håvard Schei,
Jean-MarcMontanier
AeroponicGreenhouseasanAutonomousSystemUsingIntelligentSpace
forAgricultureRobotics............................................ 83
MartinPala,LadislavMizenko,MarianMach,TylerReed
AConvexFuzzyRange-FreeSensorNetworkLocalizationMethod........ 95
FatmaKiraz,Barıs¸Fidan,FakhriKarray
VIII Contents
Multi-DirectionalWeightedInterpolationforWi-FiLocalisation.......... 105
DaleBowie,JolonFaichney,MichaelBlumenstein
Visual Loop-Closure Detection Method Using Average Feature
Descriptors....................................................... 113
Deok-HwaKim,Jong-HwanKim
MobileRobotLocalizationUsingMultipleGeomagneticFieldSensors ..... 119
Seung-MokLee,JongdaeJung,HyunMyung
GA-BasedOptimal WaypointDesign for ImprovedPathFollowing
ofMobileRobot................................................... 127
Jae-SeokYoon,Byung-CheolMin,Seong-OgShin,Won-SeJo,Dong-HanKim
Indoor Mobile Robot LocalizationUsing Ambient Magnetic Fields
andRangeMeasurements .......................................... 137
JongdaeJung,Seung-MokLee,HyunMyung
CombinedTrajectoryGenerationandPathPlanningforMobileRobots
UsingLatticeswithHybridDimensionality ............................ 145
JankoPetereit,ThomasEmter,ChristianW.Frey
Organization and Selection Methods of Composite Behaviors
for Artificial CreaturesUsing the Degree of Consideration-Based
MechanismofThought............................................. 159
Woo-RiKo,Jong-HwanKim
BrainwaveVariabilityIdentificationinRoboticArmControlStrategy ..... 173
ChiemelaOnunka,GlenBright,RiaanStopforth
AcquisitionofContext-BasedActiveWordRecognitionbyQ-Learning
UsingaRecurrentNeuralNetwork................................... 191
AhmadAfifMohdFaudzi,KatsunariShibata
An Ontology Based Approach to Action Verification for Agile
Manufacturing.................................................... 201
StephenBalakirsky,ZeidKootbally
EvaluatingState-BasedIntentionRecognitionAlgorithmsagainstHuman
Performance ..................................................... 219
CraigSchlenoff,SebtiFoufou
KnowledgeandDataRepresentationforMotionPlanninginDynamic
Environments..................................................... 233
SeyedshamsFeyzabadi,StefanoCarpin
ASimulatedSensor-BasedApproachforKitBuildingApplications........ 241
Zeid Kootbally, Craig Schlenoff, Teddy Weisman, Stephen Balakirsky,
ThomasKramer,AnthonyPietromartire
Contents IX
A Survey on Biomedical Knowledge Representation for Robotic
OrthopaedicSurgery .............................................. 259
PauloJ.S.Gonçalves,PedroM.B.Torres
Consideration about the Application of Dynamic Time Warping
toHumanHandsBehaviorRecognitionforHuman-RobotInteraction ..... 269
Ji-HyeongHan,Jong-HwanKim
LessonsLearnedinDesigningUser-ConfigurableModularRobotics....... 279
HenrikHautopLund
PlaywareExplorationsinRobotArt.................................. 287
LuigiPagliarini,HenrikHautopLund
NavigationControlofaRobotfromaRemoteLocationviatheInternet
UsingBrain-MachineInterface...................................... 297
JorgeIerache,GustavoPereira,JuanIribarren
DesignofKnowledge-BasedCommunicationbetweenHumanandRobot
UsingOntologicalSemanticTechnologyinFirefightingDomain........... 311
JiHyeonHong,EricT.Matson,JuliaM.Taylor
PartII:Behavioral,Collective,andGeneticIntelligence
TowardsHoneycombPneuNetsRobots ............................... 331
HaoSun,Xiao-PingChen
ProgressofResearchonaNewAsteroidExplorationRoverConsidering
ThermalControl.................................................. 341
YosukeMiyata,TetsuoYoshimitsu,TakashiKubota
A Proposal of Exploration Robot with Wire for Vertical Holes
intheMoonorPlanet.............................................. 351
ShuheiShigeto,MasatsuguOtsuki,TakashiKubota
ScanpathsAnalysiswithFixationMapstoProvideFactorsforNatural
GazeControl ..................................................... 361
Bum-SooYoo,Jong-HwanKim
DesignofaBipedalWalkerwithaPassiveKneeandPartedFoot.......... 369
HongguLee,SunghoJo
An Adaptive Sliding Mode Control for Trajectory Tracking
ofaSelf-reconfigurableRoboticSystem............................... 381
R.AlSaidi,B.Minaker
Position-Trajectory Control of Advanced Tracked Robots
withDiesel-ElectricPowertrain...................................... 393
DenisPogosov
