Note: Intro -- Preface -- Organization -- Table of Contents - Part I -- Recent Advances in Research and Application of Modern Mechanisms -- Task-Oriented Design Method and Experimental Research of Six-Component Force Sensor -- 1 Introduction -- 2 Task Model of Sensor -- 2.1 Mathematic Model -- 2.2 Task Model -- 3 Task-Oriented Design Method -- 4 Structural Design of Sensor Prototype -- 4.1 Fully Pre-stressed Structure -- 4.2 Mathematic Model -- 4.3 Design of Prototype Parameters -- 5 Pose Data Based Identification -- 5.1 Experimental Method -- 5.2 Experimental Result -- 6 Conclusions -- References -- Mobility Analysis of Two Limited-DOF Parallel Mechanisms Using Geometric Algebra -- 1 Introduction -- 2 Fundamentals of GA-Based Method for Mobility Analysis of Limited-DOF PMs -- 3 Mobility Analysis of a 2-UPR-RPU PM -- 4 Mobility Analysis of a 3-PRRR PM -- 5 Conclusions -- References -- Design and Kinematic Analysis of a Novel Flight Simulator Mechanism -- 1 Introduction -- 2 Description of the New Flight Simulator Mechanism -- 2.1 Introduction of Redundant Parallel Manipulator -- 2.2 Assembling Condition of 4PUS-PPPS Redundant Parallel Manipulator -- 2.3 Analysis of Degrees of Freedom -- 3 Kinematic Analysis -- 3.1 Inverse Solutions -- 3.2 Forward Solutions -- 4 Workspace Analysis -- 4.1 Locational Space -- 4.2 Posture Space -- 5 Kinematics Simulation -- 6 Conclusion -- References -- Performance Indices for Parallel Robots Considering Motion/Force Transmissibility -- 1 Introduction -- 2 State of the Art -- 3 Performance Indices Considering Motion/Force Transmissibility -- 4 Optimal Design and Application Cases -- 5 Conclusions -- References -- Instantaneous Motion of a 2-RCR Mechanism with Variable Mobility -- 1 Introduction -- 2 Analytical Method for Mobility Analysis -- 3 Instantaneous Motion of the 2-RCR Mechanism -- 4 Conclusions -- References. , Rehabilitation Robotics -- Mechatronic Design of an Upper Limb Prosthesis with a Hand -- 1 Introduction -- 2 Mechanical Design -- 2.1 Arm Mechanics -- 2.2 Hand Mechanics -- 3 Electronics and Control -- 3.1 Prosthetic Electronics -- 3.2 Prosthetic Control Architecture -- 4 Experiment Validation -- 4.1 Multi-mode Hand Grasping -- 4.2 Drinking Water Activity -- 5 Conclusion and Future Work -- References -- Synergistic Characteristic of Human Hand during Grasping Tasks in Daily Life -- 1 Introduction -- 2 Experimental Protocol -- 3 Assessing the Effect of Functional Realization -- 4 Correlation Analysis of Human Hand Movement -- 5 Conclusion -- References -- UKF-SLAM Based Gravity Gradient Aided Navigation -- 1 Introduction -- 2 Process Model and Measurement Model in the UKF-SLAM Algorithm -- 2.1 Process Model -- 2.2 Measurement Models -- 3 UKF-SLAM Algorithm Based on Gravity Gradient Measurement Information -- 4 Simulation and Experimental Results -- 5 Conclusions -- References -- Fuzzy Entropy-Based Muscle Onset Detection Using Electromyography (EMG) -- 1 Introduction -- 2 Methods -- 2.1 Subjects -- 2.2 Data Acquisition -- 2.3 Experimental Protocol -- 2.4 Fuzzy Entropy -- 3 Results -- 3.1 Parameter Selection of FuzzyEn -- 3.2 Performance with Synthetic EMG Signals -- 3.3 Performance with Real EMG Signals with ECG -- 3.4 EMG-Based Upper-Extremity Rehabilitation Robotic Control -- 4 Discussion -- 5 Conclusion -- References -- Experimental Study on Cutter Deflection in Multi-axis NC Machining -- 1 Introduction -- 2 Online Measurement of Cutter Deflections -- 3 Analysis and Compensation of Measurement Error -- 3.1 Analysis of Measurement Errors -- 3.2 Compensation of Measurement Errors -- 3.3 Comparison of Uncompensated and Compensated Values -- 4 Conclusions -- References -- Underwater Robotics and Applications. , A Visual Measurement of Fish Locomotion Based on Deformable Models -- 1 Introduction -- 2 Structure of Fish Observation System -- 3 Visual Measurement of Fish Locomotion -- 3.1 Extraction of Individual Fish Image -- 3.2 Construction of Deformable Fish Model -- 3.3 Locomotion Measurement Using Fish Model -- 3.4 Calculating Skeleton of Fish -- 4 Experiments and Results -- 5 Conclusion -- References -- Design and Pressure Experiments of a Deep-Sea Hydraulic Manipulator System -- 1 Introduction -- 2 The 7-Function Manipulator System Design -- 2.1 System Overview -- 2.2 Mechanical Design -- 2.3 Electronic Design -- 2.4 Algorithm Design and Simulation -- 2.5 Slave Arm Control Contrast Experiment -- 3 7000M Experiment System Design -- 3.1 Experiment System Overview -- 3.2 Experiment Process Design -- 3.3 Problems in the Experiment -- 4 Application Test in the Sea -- 5 Conclusion -- References -- Optimal Sensors Deployment for Tracking Level Curve Based on Posterior Cramér-Rao Lower Bound in Scalar Field -- 1 Introduction -- 2 Model of State Dynamics and Measurement -- 2.1 State Model -- 2.2 Measurement Model -- 3 PCRLB for Adaptive Space Distance -- 4 Simulation Results -- 5 Future Works -- References -- Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment -- 1 Introduction -- 2 The Description of Current Field of Adjustable Speed Glider Path Planning -- 3 Path Planner Introduction -- 4 Simulation and Analysis -- 5 Conclusion and Future Works -- References -- Visual Features Extraction and Types Classification of Seabed Sediments -- 1 Introduction -- 2 Paper Preparation -- 2.1 Types of Seabed Sediments -- 2.2 Texture Features Extraction from GLCM -- 2.3 Box-counting Approach to Estimate Fractal Dimension -- 2.4 Support Vector Machines -- 3 Experiments and Results -- 4 Conclusions -- References. , Agricultural Robot -- Cymbal Piezoelectric Micro Displacement Actuator Characteristics Analysis -- 1 Introduction -- 2 Cymbal Piezoelectric Micro Displacement Actuator Structure -- 2.1 Cymbal Piezoelectric Vibrator Structure -- 2.2 Cymbal Piezoelectric Micro Displacement Actuator Structure -- 3 Cymbal Piezoelectric Micro Displacement Actuator Test System -- 4 Cymbal Piezoelectric Micro Displacement Actuator Static Characteristic Test and Analysis -- 5 Cymbal Piezoelectric Micro Displacement Actuator Dynamic Characteristics Test and Analysis -- 6 Conclusion -- References -- FEM Analysis and Parameter Optimization of a Linear Piezoelectric Motor Macro Driven -- 1 Introduction -- 2 Working Principle of the Piezoelectric Motor -- 3 Finite Element Analysis of the Composite Vibrator -- 3.1 Finite Element Modelling -- 3.2 Modal Analysis -- 4 The Sensitivity Analysis of Compound Vibrator and Modal Identification -- 4.1 The Sensitivity Analysis of Compound Vibrator -- 4.2 Automatic Identification of Modal Vibration Mode -- 5 The Optimization of Composite Vibrator -- 5.1 The Objective Function and the Optimization Process -- 5.2 The Results and Analysis of the Structural Parameters Optimization -- 6 Conclusion -- References -- Finite Element Study on the Cylindrical Linear Piezoelectric Motor Micro Driven -- 1 Introduction -- 2 Working Principle of the Piezoelectric Motor -- 3 The Static Finite Element Analysis of the Composite Vibrator -- 3.1 The Static Finite Element Model -- 3.2 The Static Finite Element Analysis -- 4 The Optimization Design for Structure Parameters of the Composite Oscillator Micro Drive -- 4.1 The Relation between Drive Range and Voltage -- 4.2 The Sensitivity Analysis of the Micro Drive -- 4.3 The Structure Parameter Optimization of the Micro Drive -- 5 The Material Analysis of the Composite Vibrator. , 5.1 The Material Analysis on Both Ends of the Elastomer Material -- 5.2 The Material Analysis of the Micro Displacement Amplification Elastomer -- 6 Test System and the Result Analysis -- 7 Conclusion -- References -- Friction Experiment Study on the Standing Wave Linear Piezoelectric Motor Macro Driven -- 1 Introduction -- 2 Piezoelectric Motor Friction Drive Model -- 3 The Selection Principle of the Piezoelectric Motor Friction Material -- 4 The Friction Pair Paired Test Scheme -- 5 Characteristic Test of Friction Operation -- 5.1 Surface Morphology -- 5.2 Mechanical Properties -- 5.3 Characteristics of Transient Response -- 6 Conclusion -- References -- Research on Intelligent Mobile Platform Base on Monocular Vision and Ultrasonic Sensor -- 1 Introduction -- 2 The Structure of Mobile Platform -- 2.1 Position of the Ultrasonic Sensor and Camera -- 2.2 Structure of Automobile Body -- 3 Multi-ultrasonic Sensor Detection and Obstacle Avoidance -- 4 Visual Path Identification and Navigation -- 4.1 Road Identification Method of Digital Image Processing -- 4.2 Adaptive Fuzzy PID Controller of Path Tracking -- 5 Conclusion -- References -- Bionic Robotics -- A Novel Robot Leg Designed by Compliant Mechanism -- 1 Introduction -- 2 A Novel Robot Leg Design -- 2.1 Traditional Mechanical Designs of a Single Leg -- 2.2 The Design of Compliant Mechanism -- 3 Pseudo-Rigid-Body Model (PRBM) of the Robot Leg -- 4 Calculation and Analysis -- 5 Kinematics and Static Simulation -- 6 Bistable Design -- 7 Conclusion -- References -- Master-Slave Gesture Learning System Based on Functional Electrical Stimulation -- 1 Introduction -- 2 Master-Slave Gesture Learning System -- 2.1 Master Unit -- 2.2 Slave Unit -- 2.3 Communicating Protocol -- 3 Experiments -- 3.1 Finger Movement Recognition on the Slave Side -- 3.2 Accuracy of Master-Slave Control. , 4 Conclusion and Future Work.

Note: Intro -- Preface -- Organization -- Table of Contents - Part II -- Parallel Robotics -- Kinematics Dexterity Analysis and Optimization of 4-UPS-UPU Parallel Robot Manipulator -- 1 Introduction -- 2 4-UPS-UPU Parallel Manipulator Model -- 3 4-UPS-UPU Parallel Manipulator Kinematics Model -- 3.1 Inverse Kinematics Solution -- 3.2 Jacobian Matrix of the Parallel Manipulator -- 4 Performance Index of Kinematics Dexterity -- 4.1 The Global Condition Index -- 4.2 The Global Gradient Index -- 4.3 The Workspace Analysis -- 5 The Multi-objective Optimization Problem of 4-UPS-UPU Parallel Robot Manipulator -- 5.1 The Optimization Model -- 5.2 The Optimization Results Analysis -- 6 Conclusion -- References -- Inverse Dynamics Analysis of a 6-PSS Parallel Manipulator -- 1 Introduction -- 2 Kinematic Analysis -- 2.1 Illustration of the 6-PSS Parallel Manipulator -- 2.2 Kinematics Model -- 2.3 Velocity Analysis -- 2.4 Acceleration Analysis -- 3 Jacobian Matrices -- 3.1 Jacobian Matrix of the Moving Platform -- 3.2 Jacobian Matrix of the Sliders -- 3.3 Jacobian Matrix of the Limbs -- 4 Virtual Work -- 4.1 Applied and Inertia Wrenches -- 4.2 Equations of Motion -- 5 Numerical Simulation -- 6 Conclusion -- References -- Elastodynamics of the Rigid-Flexible 3-RRR Mechanism Using ANCF Method -- 1 Introduction -- 2 Planar ANCF Based Beam Element -- 3 Modeling of the 3-RRR Mechanism -- 4 Solving the Equations of Motion -- 5 Results and Discussions -- 6 Conclusions -- References -- Kinematic Analysis and Control of a 3-DOF Parallel Mechanism -- 1 Introduction -- 2 Kinematic Analysis of Mechanism -- 2.1 Mechanism Description -- 2.2 Inverse Kinematics -- 2.3 Kinematic Jacobian Matrix -- 2.4 Forward Kinematics -- 3 Control Method -- 3.1 Iterative Learning Controller -- 3.2 Control System Based on the Task Space -- 3.3 Control System Based on the Joint Space. , 4 Simulations and Results Analysis -- 4.1 PD Control Based on the Task Space -- 4.2 Iterative Learning Control Based on the Joint Space -- 5 Conclusion -- References -- Experimental Study on Joint Positioning Control of an Ultrasonic Linear Motor Driven Planar Parallel Platform -- 1 Introduction -- 2 System Modeling and Identification -- 2.1 System Modeling -- 2.2 System Identification -- 3 Positioning Experiments -- 3.1 Absolute Accuracy Test -- 3.2 Repeatability Test -- 3.3 Sine Wave Trajectory Tracking -- 4 Conclusion -- References -- Stiffness Modeling and Optimization Analysis of a Novel 6-DOF Collaborative Parallel Manipulator -- 1 Introduction -- 2 Description of the CPM -- 3 Inverse Kinematics Modeling -- 4 Stiffness Analysis -- 4.1 Stiffness Modeling -- 4.2 Numerical Simulation -- 5 Optimization Study -- 5.1 Optimal Design of the Mechanism -- 5.2 Characteristics Analysis before and after Optimization -- 6 Conclusion -- References -- Experimental Characterization of Self-excited Vibration of a 3-RRR Parallel Robot -- 1 Introduction -- 2 Model of the 3-RRR Planar Parallel Robot -- 3 Experimental Characterization of Self-excited Vibration -- 3.1 The Positioning Self-oscillation -- 3.2 The Characteristics of the Mechatronics Servo System -- 4 Conclusion -- References -- Design of Less-Input More-Output Parallel Mechanisms -- 1 Research Background -- 1.1 The Li-Mo PMs Existing in Industrial Fields -- 1.2 The Needs of Emerging Industries -- 2 Classification of PMs and Definition of Li-Mo PMs -- 2.1 Classification of PMs and Description of the Design Problem -- 2.2 The Relationship among PMs Type and Number of Outputs and Inputs -- 3 Design for 3-Output PMs with Single Input -- 3.1 Study on 3D Parallel Vibration Sieve with Single Input -- 3.2 Study on the 3-Rotation Parallel Rehabilitation Training Device for Shoulder Joint with Single Input. , 4 Conclusions -- References -- Type Synthesis Approach for 2-DOF 1T1R Parallel Mechanisms Based on POC -- 1 Introduction -- 2 General Procedure of Type Synthesis Based on the POC Set -- 3 Type Synthesis for 1T1R Parallel Mechanism -- 4 Classification of Structure Type -- 5 Conclusions -- References -- Error Modeling and Simulation of a 2- DOF High-Speed Parallel Manipulator -- 1 Introduction -- 2 Inverse Kinematic -- 3 Error Modeling of the Manipulator -- 4 Simulation -- 4.1 Influence Coefficient -- 4.2 Pose Error Distribution in the Workspace -- 5 Improvement of the Manipulator -- 6 Conclusion -- References -- Robot Vision -- Fuzzy PD Compliance Control of 6-DOF Robot Using Disturbed Force Sense -- 1 Introduction -- 2 System Schematic (Plus Physical Model) -- 3 Controller Design -- 3.1 Character of Lowpass Filter -- 3.2 Using PD Control -- 3.3 Fuzzy PD Control -- 3.4 Evaluate the Controller -- 4 Experimental Results -- 5 Conclusions -- References -- Research Scheduling Problem of Job-Shop Robotic Manufacturing Cell with Several Robots -- 1 Introduction -- 2 Problem Formulation -- 3 Disjunctive Graph -- 4 Improved Genetic Algorithm -- 4.1 Local Search -- 5 Computational Results -- 6 Concluding Remarks -- References -- Research on Robotic Trajectory Automatic Generation Method for Complex Surface Grinding and Polishing -- 1 Introduction -- 2 Researching of the Trajectory Generation Problem of Robot for Complex Surface Grinding and Polishing -- 3 Algorithm of Grinding and Polishing Trajectory Generation for Complex Surface -- 3.1 Extracting Data Points from Complex Surface -- 3.2 Mathematical Model of Line-Section -- 3.3 Self-adaptive Sampling Base on Curvature for The Curve -- 4 Implementation of Algorithm and Instance Simulation -- 4.1 Description of Algorithm for Trajectory Automatic Generation -- 4.2 Instance Simulation -- 5 Conclusion. , References -- The Control System Design of A SCARA Robot -- 1 Introduction -- 2 The Mechanism and Kinematics of the SCARA Robot -- 3 The Framework of the Control System -- 4 The Design of Motion Interpolation -- 5 The Trajectory Planning Using Bezier Curve -- 6 Experiment Using Laser Tracker -- 7 Conclusions -- References -- Trajectory Planning with Bezier Curve in Cartesian Space for Industrial Gluing Robot -- 1 Introduction -- 2 Trajectory Planning with Bezier Curve in Cartesian Space -- 2.1 Generating the Path -- 2.2 Speed Controlling -- 3 Trajectory Planning with Cubic Spline in Joint Space -- 4 Performance of the Trajectory Generated by Bezier Curve and Cubic Spline -- 5 Conclusion -- References -- CogRSim: A Robotic Simulator Software -- 1 Introduction -- 2 Related Work -- 3 Architecture of CogRSim -- 3.1 General Architecture -- 3.2 Module Management -- 4 Detailed Implementation -- 4.1 Main Window -- 4.2 Scene Editor -- 4.3 2D Display in Real-Time -- 4.4 Camera -- 4.5 Infrared Sensor -- 4.6 Data Analysis and Display -- 4.7 World Model -- 5 Experimental Validation -- 6 Conclusions and Future Work -- References -- A Study of Positioning Error Compensation Using Optical-Sensor and Three-Frame -- 1 Introduction -- 2 The Problems of Experimental Environment -- 3 Moving Arrow Position Measurement System -- 4 Calibration Data Configuration and Precision Result -- 5 Result -- References -- An Ultrasonic Instrument for Osteoporosis Detecting -- 1 Introduction -- 2 Method -- 3 The Design of Ultrasonic Probe -- 4 Circuit Design of Crystal Straight Probe Detection System -- 4.1 Ultrasonic Transmission Circuit Design -- 4.2 Ultrasonic Receiving Circuit Design -- 5 Mechanical Design -- 6 Conclusion -- Reference -- Avoiding of the Kinematic Singularities of Contemporary Industrial Robots -- 1 Introduction -- 2 The Global Description of the Kinematics. , 3 The Differential Description of the Kinematics -- 4 The Singular Configurations -- 5 Summary -- References -- Mechatronics -- A Review of 3-D Reconstruction Based on Machine Vision -- 1 Introduction -- 2 Stereo Vision -- 3 Monocular Vision -- 3.1 Camera Parameters -- 3.2 Depth from Focus -- 3.3 Depth from Defocus -- 4 Shape from Shading -- 4.1 Methods and Algorithms -- 4.2 Reflection Models -- 5 Conclusions -- 5.1 Performance Comparison of 3-D Methods Based on MV -- 5.2 Development Trends -- References -- Research on Surface Mounted IC Devices Inspection Based on Lead's Features* -- 1 Introduction -- 2 Illumination System and Devices Image -- 2.1 Light Illumination System and Optical Structure -- 2.2 Device Image Analyzing -- 3 Leads Location -- 3.1 Location of Left and Right Boundary -- 3.2 Location of Top and Bottom Boundary -- 4 Feature Analyzing and Inspection -- 5 Experiments Results -- 5.1 Training Procedure -- 5.2 Performance Evaluation of the Proposed Method -- 6 Conclusion -- References -- A Fast Coplanarity Inspection System for Double-Sides IC Leads Using Single Viewpoint -- 1 Introduction -- 2 Imaging Optical Structure -- 3 Inspection Algorithm -- 3.1 IC Lead Tips Searching -- 3.2 Sub-pixel Positioning -- 3.3 Judgment Criterion -- 4 Experiments and Results -- 4.1 Experiment Platform -- 4.2 Statistical Procedure -- 4.3 Inspection Procedure -- 5 Conclusion -- References -- An Adaptive Enhancement Algorithm of Materials Bag Image of Industrial Scene -- 1 Introduction -- 2 Pal -k Fuzzy Enhancement Algorithm -- 3 Image Classification Based on OTSU Algorithm -- 4 Adaptive Image Contrast Enhancement Algorithm -- 4.1 Image Local Contrast Transformation -- 4.2 Selection of the Crossover Point -- 4.3 A Novel Membership Function -- 4.4 Fuzzy Contrast Image Enhancement -- 4.5 The Description of Proposed Algorithm. , 5 Experimental Results and Discussions.

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