Intelligent Robotics and Applications First International Confer

These two volumes constitute the refereed proceedings of the First International Conference on Intelligent Robotics and Applications, ICIRA 2008, held in Wuhan, China, in October 2008. The 265 revised full papers presented were thoroughly r

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Subseries of Lecture Notes in Computer Science

5314

Caihua Xiong Honghai Liu Yongan Huang Youlun Xiong (Eds.)

Intelligent Robotics and Applications First International Conference, ICIRA 2008 Wuhan, China, October 15-17, 2008 Proceedings, Part I

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Series Editors Randy Goebel, University of Alberta, Edmonton, Canada Jörg Siekmann, University of Saarland, Saarbrücken, Germany Wolfgang Wahlster, DFKI and University of Saarland, Saarbrücken, Germany Volume Editors Caihua Xiong Yongan Huang Youlun Xiong Huazhong University of Science and Technology School of Mechanical Science and Engineering Wuhan 430074, China E-mail: {chxiong, yahuang, ylxiong}@mail.hust.edu.cn Honghai Liu University of Portsmouth Institute of Industrial Research Burnaby Building, Portsmouth PO1 3QL, UK E-mail: [email protected]

Library of Congress Control Number: 2008936489

CR Subject Classification (1998): I.2.9, J.3, I.4, I.2.10, I.5.4 LNCS Sublibrary: SL 7 – Artificial Intelligence ISSN ISBN-10 ISBN-13

0302-9743 3-540-88512-9 Springer Berlin Heidelberg New York 978-3-540-88512-2 Springer Berlin Heidelberg New York

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. Springer is a part of Springer Science+Business Media springer.com © Springer-Verlag Berlin Heidelberg 2008 Printed in Germany Typesetting: Camera-ready by author, data conversion by Scientific Publishing Services, Chennai, India Printed on acid-free paper SPIN: 12538843 06/3180 543210

Preface

The 2008 International Conference on Intelligent Robotics and Applications (ICIRA 2008) was the first event in this conference series. It was advocated by the International Workshop on Robotic Grasping and Fixturing in June 2007, Wuhan, China. Robotics research, however, involves a wide spectrum of research and applications from the first industrial manipulator to Mars rovers, and from surgery robotics to cognitive robotics. Industrial and real-world applications are the force driving the research frontier further forward. The aim of the ICIRA 2008 conference is to promote interactions and collaborations between disciplines, which are beneficial in bringing fruitful solutions to the forefront, and to be an international forum that brings together those actively involved in intelligent robotics and applications. These volumes of Springer’s Lecture Notes in Artificial Intelligence and Lecture Notes in Computer Science contain papers accepted for presentation at ICIRA 2008, held in Wuhan, China, October 15–17, 2008. The conference received 552 submissions from all ov