Advances in Service and Industrial

Robotics: Proceedings of the 27th

International Conference on Robotics in
Alpe-Adria Danube Region (RAAD 2018)
Nikos A. Aspragathos
Visit to download the full and correct content document:
https://textbookfull.com/product/advances-in-service-and-industrial-robotics-proceedin
gs-of-the-27th-international-conference-on-robotics-in-alpe-adria-danube-region-raad-
2018-nikos-a-aspragathos/
More products digital (pdf, epub, mobi) instant
download maybe you interests ...

Advances in Service and Industrial Robotics:

Proceedings of the 28th International Conference on
Robotics in Alpe-Adria-Danube Region (RAAD 2019)
Karsten Berns
https://textbookfull.com/product/advances-in-service-and-
industrial-robotics-proceedings-of-the-28th-international-
conference-on-robotics-in-alpe-adria-danube-region-
raad-2019-karsten-berns/

Advances in Service and Industrial Robotics:

Proceedings of the 26th International Conference on
Robotics in Alpe-Adria-Danube Region, RAAD 2017 1st
Edition Carlo Ferraresi
https://textbookfull.com/product/advances-in-service-and-
industrial-robotics-proceedings-of-the-26th-international-
conference-on-robotics-in-alpe-adria-danube-region-raad-2017-1st-
edition-carlo-ferraresi/

New Advances in Mechanisms, Mechanical Transmissions

and Robotics: Proceedings of The Joint International
Conference of the XII International Conference on
Mechanisms and Mechanical Transmissions (MTM) and the
XXIII International Conference on Robotics (R 1st
https://textbookfull.com/product/new-advances-in-mechanisms-
mechanical-transmissions-and-robotics-proceedings-of-the-joint-
Edition Burkhard Corves
international-conference-of-the-xii-international-conference-on-
mechanisms-and-mechanical-transmissions-mtm/

Recent Developments in Mechatronics and Intelligent

Robotics: Proceedings of the International Conference
on Mechatronics and Intelligent Robotics (ICMIR2017) -
Volume 1 1st Edition Feng Qiao
https://textbookfull.com/product/recent-developments-in-
mechatronics-and-intelligent-robotics-proceedings-of-the-
international-conference-on-mechatronics-and-intelligent-
Recent Developments in Mechatronics and Intelligent
Robotics: Proceedings of the International Conference
on Mechatronics and Intelligent Robotics (ICMIR2017) –
Volume 2 1st Edition Feng Qiao
https://textbookfull.com/product/recent-developments-in-
mechatronics-and-intelligent-robotics-proceedings-of-the-
international-conference-on-mechatronics-and-intelligent-
robotics-icmir2017-volume-2-1st-edition-feng-qiao/

New Trends in Medical and Service Robotics: Advances in

Theory and Practice Giuseppe Carbone

https://textbookfull.com/product/new-trends-in-medical-and-
service-robotics-advances-in-theory-and-practice-giuseppe-
carbone/

Wearable Robotics: Challenges and Trends: Proceedings

of the 4th International Symposium on Wearable
Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy
Maria Chiara Carrozza
https://textbookfull.com/product/wearable-robotics-challenges-
and-trends-proceedings-of-the-4th-international-symposium-on-
wearable-robotics-werob2018-october-16-20-2018-pisa-italy-maria-
chiara-carrozza/

Robotics and Mechatronics Proceedings of the 6th IFToMM

International Symposium on Robotics and Mechatronics
ISRM 2019 Chin-Hsing Kuo

https://textbookfull.com/product/robotics-and-mechatronics-
proceedings-of-the-6th-iftomm-international-symposium-on-
robotics-and-mechatronics-isrm-2019-chin-hsing-kuo/

Field and Service Robotics Results of the 10th

International Conference 1st Edition David S.
Wettergreen

https://textbookfull.com/product/field-and-service-robotics-
results-of-the-10th-international-conference-1st-edition-david-s-
wettergreen/
Mechanisms and Machine Science 67

Nikos A. Aspragathos
Panagiotis N. Koustoumpardis
Vassilis C. Moulianitis Editors

Advances in
Service and
Industrial Robotics
Proceedings of the 27th International
Conference on Robotics in Alpe-Adria
Danube Region (RAAD 2018)
Mechanisms and Machine Science

Volume 67

Series editor
Marco Ceccarelli
LARM: Laboratory of Robotics and Mechatronics
DICeM: University of Cassino and South Latium
Via Di Biasio 43, 03043 Cassino (Fr), Italy
e-mail: ceccarelli@unicas.it

Editorial Board Members

Alfonso Hernandez
Mechanical Engineering, University of the Basque Country, Bilbao, Vizcaya, Spain
Tian Huang
Department of Mechatronical Engineering, Tianjin University, Tianjin, China
Steven A. Velinsky
Mechanical and Aerospace Engineering, University of California Davis, Davis,
California, USA
Yukio Takeda
Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan
Burkhard Corves
Institute of Mechanism Theory, Machine D, RWTH Aachen University, Aachen,
Nordrhein-Westfalen, Germany
This book series establishes a well defined forum for monographs, edited Books,
and proceedings on mechanical engineering with particular emphasis on MMS
(Mechanism and Machine Science). The final goal is the publication of research that
shows the development of mechanical engineering and particularly MMS in all
technical aspects, even in very recent assessments. Published works share an
approach by which technical details and formulation are discussed, and discuss
modern formalisms with the aim to circulate research and technical achievements
for use in professional, research, academic, and teaching activities. This technical
approach is an essential characteristic of the series. By discussing technical details
and formulations in terms of modern formalisms, the possibility is created not only
to show technical developments but also to explain achievements for technical
teaching and research activity today and for the future. The book series is intended
to collect technical views on developments of the broad field of MMS in a unique
frame that can be seen in its totality as an Encyclopaedia of MMS but with the
additional purpose of archiving and teaching MMS achievements. Therefore the
book series will be of use not only for researchers and teachers in Mechanical
Engineering but also for professionals and students for their formation and future
work.

More information about this series at http://www.springer.com/series/8779

Nikos A. Aspragathos
Panagiotis N. Koustoumpardis
Vassilis C. Moulianitis
Editors

Advances in Service
and Industrial Robotics
Proceedings of the 27th International
Conference on Robotics in Alpe-Adria
Danube Region (RAAD 2018)

123
Editors
Nikos A. Aspragathos Vassilis C. Moulianitis
Department of Mechanical Engineering Department of Product and Systems Design
and Aeronautics Engineering
University of Patras University of the Aegean
Patras, Greece Syros, Greece

Panagiotis N. Koustoumpardis
Department of Mechanical Engineering
and Aeronautics
University of Patras
Patras, Greece

ISSN 2211-0984 ISSN 2211-0992 (electronic)

Mechanisms and Machine Science
ISBN 978-3-030-00231-2 ISBN 978-3-030-00232-9 (eBook)
https://doi.org/10.1007/978-3-030-00232-9

Library of Congress Control Number: 2018953708

© Springer Nature Switzerland AG 2019

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, express or implied, with respect to the material contained herein or
for any errors or omissions that may have been made. The publisher remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AG
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
Preface

The 27th International Conference on Robotics in Alpe-Adria-Danube Region,

RAAD 2018, is held in the Conference and Cultural Center of the University of
Patras, Greece, 6–8 of June 2018. Academic and industry researchers from the
Alpe-Adria-Danube Region as well as affiliated countries and their worldwide
partners are brought together in an international forum for presenting their research
work and exchanging and discussing new ideas towards the progress of robotics
science and technology.
The papers covered all the major areas of R&D and innovation in robotics
including human–robot interaction and collaboration, service robots, unmanned
aerial vehicles, robot control, design, optimization among others.
In RAAD 2018, eight (8) special sessions are proposed. We would like to thank
their organizers who proposed and promoted their topics and collected the related
papers. A special acknowledgement for their valuable collaboration is given to: Dan
Popescu, Loretta Ichim, Giuseppe Quaglia, Marco Piras, George Nikolakopoulos,
George Georgoulas, Med Amine Laribi, Giuseppe Carbone, Tadej Petrič, Kosta
Jovanović, Timotej Gašpar, Martin Bem, Marialena Vagia, Eleni Kelasidi,
Emmanouil Z. Psarakis, Georgios D. Evangelidis, Nikolaos Poulopoulos and Nefeli
Lamprinou.
With 88 submissions, an extremely thorough peer review process was completed
with comprehensive and thorough comments for each paper including their rele-
vance, novelty, clarity and quality of the work. We would like to thank all the
reviewers for allocating their valuable time and effort for their outstanding work in
reviewing the assigned papers. The list of reviewers is acknowledged for their
outstanding work. This process resulted in the acceptance of 77 papers with an
additional half-month for authors to revise their papers. We would like to thank all
the authors for their effort and excellent work to improve their papers.

v
vi Preface

This book is the collection of the accepted papers presented in the conference,
which is organized in 10 parts:
1. Human Robot Interaction and Collaboration: It includes nine (9) papers with
innovative methods for physical human–robot interaction, human–robot col-
laboration, collision detection, collided link identification, safety, variable
stiffness mechanisms and actuators and learning by demonstration or imitation.
2. Service Robots: This part includes five (5) papers demonstrating new robot
capabilities for bathing assistance, elderly and disable care, orthopaedic sur-
gery, the identification of upper limb motion specifications for robot-assisted
exercising, pneumatic artificial muscles and hand rehabilitation.
3. Unmanned Aerial Vehicles: The third part includes five (5) papers dedicated to
UAV for various applications such as forest monitoring, navigation in under-
ground mines, and visual methods for UAV such as photogrammetry, video
stabilization and horizon line detection.
4. Mobile and Walking Robots: Nine (9) papers contributing to the kinematic
design of a passively steered 4WD mobile platform, upgrading an all-terrain
autonomous robotic vehicle, a stability analysis for rough terrain navigation of
UGV, mobile robots for precision agriculture and stair climbing, design and test
of hexapod walking robots, and kinematic, dynamic analysis and control of
walking robots with elastic legs.
5. Robot Design and Optimization: This is the biggest part of the book including
twelve (12) papers with new approaches for the design of optimal and dex-
terousparallel and serial robots, design of mechanisms, mechatronic design of
systems, end-effectors and sensory tools.
6. Robot Control: Six (6) papers contribute new methods for robot control
including nonlinear and fuzzy control, gain scheduling, control of pneumatic
systems, control of constrained, underactuated or hyper-redundant manipulators
and backstepping control.
7. Motion planning and trajectory generation: The nine (9) papers included in this
part propose methods and approaches for motion and path planning, trajectory
generation and navigation, applications in micro-assembly and additive man-
ufacturing as well as an agent-based method for group movements.
8. Robotic Vision Systems: Eight (8) papers with research contribution in robotic
vision systems for detection, localization, mapping, eye localization and
tracking, with applications in garments or medicine.
9. Industrial Robots and applications: Eight (8) papers on industrial robots, robot
services and cloud manufacturing, Cyber-physical systems and robotics, and
methods for positioning systems and robot calibration are included in this part.
10. Social Robotics: The last part includes six (6) dealing with new challenges in
educational robotics, ethics and UAVs, educational kits and development of
cognitive skills.
This book collects the most recent impact works in robotics research and is a
source for inspiration for future developments.
Preface vii

We would like to thank the RAAD Advisory Board, the International Scientific
Committee and the National Organizing Committee for their valuable support. We
are grateful to IFToMM and University of Patras which have supported RAAD
2018. We thank the members of the Robotics Group, and the students of the
Robotics Club, Mechanical Engineering and Aeronautics Department, University of
Patras, who helped in the organization of the conference. A special thanks to Mrs
Georgia Kritikou, who together with her other scientific burden acted as the
Conference Secretary. Finally, we would like to thank the publisher Springer and its
Editorial staff for accepting and helping in the publication of this Proceedings
volume within the book series on Mechanism and Machine Science (MMS).

March 2018 N. A. Aspragathos

P. N. Koustoumpardis
V. C. Moulianitis
Organization

General Chair

Nikos A. Aspragathos University of Patras, Greece

Co-chairs

Panagiotis Koustoumpardis University of Patras, Greece

Vassilis Moulianitis University of the Aegean, Greece

Advisory Board

Guido Belforte Polytechnic of Turin, Italy

János F. Bitó Centre of Robotics and Automation, Hungary
Štefan Havlík Slovak Academy of Sciences, Slovakia
Peter Kopacek Vienna University of Technology, Austria
Alberto Rovetta Polytechnic of Milan, Italy
Imre J. Rudas Óbuda University, Budapest, Hungary

National Organizing Committee

Panagiotis Koustoumpardis University of Patras, Greece

Vassilis Moulianitis University of the Aegean, Greece
Emmanouil Z. Psarakis University of Patras, Greece
Gabriel Mansour Aristotle University of Thessaloniki, Greece
Antonios Gasteratos Democritus University of Thrace, Greece
Nikolaos Tsourveloudis Technical University of Crete, Greece

ix
x Organization

International Scientific Committee (RAAD ISC)

Nikos A. Aspragathos University of Patras, Greece

Karsten Berns University of Kaiserslautern, Germany
Theodor Borangiu Polytechnic University of Bucharest, Romania
Ivana Budinská Slovak Academy of Sciences, Slovakia
Marco Ceccarelli University of Cassino, Italy
Karol Dobrovodský Slovak Academy of Sciences, Slovakia
Carlo Ferraresi Polytechnic of Turin, Italy
(ISC Deputy Chair)
Nick Andrei Ivanescu Polytechnic University of Bucharest, Romania
Roman Kamnik University of Ljubljana, Slovenia
Gernot Kronreif ACMIT GmbH, Austria
Andreas Mueller Johannes Kepler University Linz, Austria
Ivan Petrovic University of Zagreb, Croatia
Doina Pîsla Technical University of Cluj-Napoca, Romania
Alexander Rodic Institute Mihailo Pupin, Belgrade, Serbia
Jozsef K. Tar Óbuda University, Budapest, Hungary
Said Zeghloul Poitiers University, France
Leon Žlajpah (ISC Chair) Jožef Stefan Institute, Ljubljana, Slovenia

General Secretary

Georgia Kritikou University of Patras, Greece

List of Reviewers RAAD 2018

We gratefully acknowledge the contribution of the following reviewers who

reviewed papers for the 27th International Conference on Robotics in
Alpe-Adria-Danube Region, RAAD 2018.

Amanatiadis, Angelos Birbilis, George

Andrikopoulos, Georgios Boiadjiev, George
Angeli, Stefano Bompos, Dimitrios
Argyros, Antonis Borangiu, Theodor
Arvanitakis, Ioannis Brandstötter, Mathias
Azariadis, Philip Buchegger, Klaus
Bader, Markus Budinska, Ivana
Balaska, Vasiliki Carbone, Giuseppe
Belforte, Guido Ceccarelli, Marco
Bevec, Robert Chatzis, Ioannis
Bilalis, Nikolaos Chikurtev, Denis
Organization xi

Dan, Popescu Mahmoud, Abdelnasser

Dermatas, Evangelos Makris, Sotirios
Dimeas, Fotios Mansour, Gabriel
Dobrovodský, Karol Mariolis, Ioannis
Doitsidis, Lefteris Miatliuk, Kanstantsin
Domozi, Zsolt Mueller, Andreas
Duta, Luminita Nikolakopoulos, Pantelis
Ferraresi, Carlo Nitulescu, Mircea
Gams, Andrej Pachidis, Theodore
Gašpar, Timotej Papageorgiou, Dimitrios
Gasteratos, Antonios Papageorgiou, Xanthi
Gattringer, Hubert Papanikos, Paraskevas
Gordic, Zavisa Petric, Tadej
Hehenberger, Peter Piperidis, Savvas
Henrich, Dominik Piras, Marco
Hernández Martínez, Eusebio Eduardo Pisla, Doina
Hofbaur, Michael Psarakis, Emmanouil
Ionita, Silviu Quaglia, Giuseppe
Ivanescu, Mircea Rekleitis, Georgios
Ivanescu, Nick Rodić, Aleksandar
Iversen, Nikolaj Rohner, Dorian
Jörgl, Matthias Sakellariou, John
Jovanovic, Kosta Sandoval Arévalo, Juan Sebastián
Jovanovic, Milos Sarafis, Elias
Kaburlasos, Vassilis Savino, Sergio
Kamnik, Roman Silvagni, Mario
Karastoyanov, Dimitar Sotiropoulos, Panagiotis
Karsten, Berns Stoian, Viorel
Kelasidi, Eleni Stoimenov, Nikolay
Keshtkar, Sajjad Šuligoj, Filip
Kladis, Georgios P. Švaco, Marko
Koskinopoulou, Maria Synodinos, Aris
Kosmopoulos, Dimitrios Syrimpeis, Vasileios
Kostavelis, Ioannis Tar, József
Koumboulis, Fotis Thanellas, Georgios
Koutsabasis, Panayiotis Tiboni, Monica
Kraljic, David Tosa, Massimo
Krastev, Evgeniy Trahanias, Panos
Kronreif, Gernot Triantafyllou, Dimitra
Laribi, Med Amine Tsagaris, Apostolos
Lazarou, Panagiotis Tsakiris, Dimitris
Lingua, Andrea Tsardoulias, Emmanouil
Logozzo, Silvia Tsvetkova, Ivanka
Loizou, Savvas Tzafestas, Costas
xii Organization

Urukalo, Djordje Yovchev, Kaloyan

Valsamos, Charalampos Zacharopoulos, Nikolas
Vlachos, Kostas Zachiotis, Georgios-Alexandros
Vladu, Ionel Cristian Zafar, Zuhair
Voros, Nikolaos Zahariev, Plamen
Werner, Tobias Zeghloul, Said
Wilson, Richard Žlajpah, Leon
Wolniakowski, Adam
Xidias, Elias
Contents

Human Robot Interaction and Collaboration

Manipulator Collision Detection and Collided Link Identification
Based on Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Abdel-Nasser Sharkawy, Panagiotis N. Koustoumpardis,
and Nikos A. Aspragathos
Virtual Guides for Redundant Robots Using Admittance Control
for Path Tracking Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Leon Žlajpah and Tadej Petrič
New Variable Stiffness Safety Oriented Mechanism
for Cobots’ Rotary Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Y. Ayoubi, M. A. Laribi, S. Zeghloul, and M. Arsicault
Safety Performance of a Variable Stiffness Actuator
for Collaborative Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Juan Sandoval, Med Amine Laribi, Said Zeghloul, Marc Arsicault,
and Gérard Poisson
Task Space Torque Profile Adaptations for Dynamical Human-Robot
Motion Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Tadej Petrič and Andrej Gams
Progressive Automation of Repetitive Tasks Involving both
Translation and Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Fotios Dimeas and Zoe Doulgeri
Real-Time Recognition of Extroversion-Introversion Trait in Context
of Human-Robot Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Zuhair Zafar, Sarwar Hussain Paplu, and Karsten Berns
Fully Integrated Torque-Based Collision Detection in Periodic Tasks
for Industrial Robots with Closed Control Architecture . . . . . . . . . . . . . 71
Zaviša Gordić and Kosta Jovanović

xiii
xiv Contents

Learning Spatio-temporal Characteristics of Human Motions

Through Observation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Maria Koskinopoulou, Michail Maniadakis, and Panos Trahanias

Service Robots
Identification of Upper Limb Motion Specifications via Visual
Tracking for Robot Assisted Exercising . . . . . . . . . . . . . . . . . . . . . . . . . 93
M. A. Laribi, A. Decatoire, Giuseppe Carbone, D. Pisla, and S. Zeghloul
Hand Rehabilitation Device Actuated by a Pneumatic Muscle . . . . . . . . 102
Carlo De Benedictis, Walter Franco, Daniela Maffiodo, and Carlo Ferraresi
Handheld Robotized Systems for Orthopedic Surgery . . . . . . . . . . . . . . 112
G. Boiadjiev, T. Boiadjiev, K. Delchev, R. Kastelov, K. Zagurki,
and I. Chavdarov
Usability Study of Tele-controlled Service Robot for Increasing
the Quality of Life of Elderly and Disabled – “ROBCO 17” . . . . . . . . . 121
Nayden Chivarov, Denis Chikurtev, Ivaylo Rangelov, Emanuil Markov,
Alexander Gigov, Nedko Shivarov, Kaloyan Yovchev,
and Lyubomira Miteva
Human-Centered Service Robotic Systems for Assisted Living . . . . . . . 132
Xanthi S. Papageorgiou, Georgia Chalvatzaki, Athanasios C. Dometios,
and Costas S. Tzafestas

Unmanned Aerial Vehicles

Evaluation of UAV Based Schemes for Forest Fire Monitoring . . . . . . . 143
V. C. Moulianitis, G. Thanellas, N. Xanthopoulos,
and Nikos A. Aspragathos
Dense 3D Model Generation of a Dam Surface Using UAV
for Visual Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Stefano Angeli, Andrea Maria Lingua, Paolo Maschio, Luca Piantelli,
Davide Dugone, and Mauro Giorgis
UAV Forest Monitoring in Case of Fire: Robustifying Video Stitching
by the Joint Use of Optical and Thermal Cameras . . . . . . . . . . . . . . . . 163
Evangelos G. Sartinas, Emmanouil Z. Psarakis, and Nefeli Lamprinou
Towards Autonomous Surveying of Underground Mine
Using MAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Christoforos Kanellakis, Sina Sharif Mansouri, George Georgoulas,
and George Nikolakopoulos
Contents xv

Vision Based Horizon Detection for UAV Navigation . . . . . . . . . . . . . . . 181

Stavros Timotheatos, Stylianos Piperakis, Antonis Argyros,
and Panos Trahanias

Mobile and Walking Robots

Hybrid Control Strategies for Jumping Robots . . . . . . . . . . . . . . . . . . . 193
Mircea Ivanescu, Mircea Nitulescu, Cristian Vladu, Nguyen Van Dong
Hai, and Mihaela Florescu
Experiences for a User-Friendly Operation of Cassino Hexapod III . . . 205
Ernesto Christian Orozco Magdaleno, Daniele Cafolla, Marco Ceccarelli,
Eduardo Castillo Castañeda, and Giuseppe Carbone
On the Kinematics of the Gait with Jumping Stilts . . . . . . . . . . . . . . . . 214
M. Garau, A. Manuello Bertetto, and M. Ruggiu
Upgrading a Legacy Outdoors Robotic Vehicle . . . . . . . . . . . . . . . . . . . 222
Theodosis Ntegiannakis, Odysseas Mavromatakis, Savvas Piperidis,
and Nikos C. Tsourveloudis
Large Scale Wireless Sensor Networks Based on Fixed Nodes
and Mobile Robots in Precision Agriculture . . . . . . . . . . . . . . . . . . . . . . 236
Maximilian Nicolae, Dan Popescu, Daniel Merezeanu, and Loretta Ichim
Stair-Climbing Wheelchair.q05: From the Concept to the Prototype . . . 245
Giuseppe Quaglia, Walter Franco, and Matteo Nisi
Stability Prediction of an UGV with Manipulator
on Uneven Terrain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Massimo Tosa and Karsten Berns
Modeling and Analysis of a Novel Passively Steered 4WD Mobile
Platform Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Florian Pucher, Hubert Gattringer, Christoph Stöger, Andreas Müller,
and Ulrich Single
Additive Manufacturing-Oriented Redesign of Mantis 3.0
Hybrid Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Luca Bruzzone, Pietro Fanghella, Giovanni Berselli, and Pietro Bilancia

Robot Design and Optimization

A Study of Feasibility for a Design of a Metamorphic
Artificial Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
F. J. Espinosa-Garcia, Giuseppe Carbone, M. Ceccarelli, D. Cafolla,
M. Arias-Montiel, and E. Lugo-Gonzalez
xvi Contents

Extending the Workspace of the PLVL-Variable Stiffness Actuator . . . 291

Miha Dežman and Andrej Gams
Mechatronic Design of a Gyro-Stabilized Bicycle . . . . . . . . . . . . . . . . . . 300
Hubert Gattringer, Andreas Müller, and Matthias Jörgl
Exchange of Effectors for Small Mobile Robots and UAV . . . . . . . . . . . 308
Jaroslav Hricko and Stefan Havlik
Task-Dependent Structural Modifications on Reconfigurable General
Serial Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Mathias Brandstötter, Paolo Gallina, Stefano Seriani, and Michael Hofbaur
Design of a 3-DOFs Parallel Robotic Device for Miniaturized
Object Machining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Francesco Aggogeri, Alberto Borboni, Angelo Merlo, Nicola Pellegrini,
and Monica Tiboni
Numerical and Experimental Development of a Hub+Bearing System
for Tire Pressure Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Guido Belforte, Carlo Ferraresi, Daniela Maffiodo, Vladimir Viktorov,
Carmen Visconte, and Massimiliana Carello
Design and Control Strategy of a Low-Cost Parallel Robot for Precise
Solar Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Arturo Díaz, Sajjad Keshtkar, Jaime A. Moreno, and Eusebio Hernandez
Off-line Robot Optimization with Hybrid Algorithm . . . . . . . . . . . . . . . 351
Ápostolos Tsagaris, Dimitrios Sagris, and Gabriel Mansour
Optimal Task Placement in a Metamorphic Manipulator Workspace
in the Presence of Obstacles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
V. C. Moulianitis, E. Xidias, and P. Azariadis
Minimization of Joint Velocities During the Execution of a Robotic
Task by a 6 D.o.F. Articulated Manipulator . . . . . . . . . . . . . . . . . . . . . 368
C. Valsamos, A. Wolniakowski, K. Miatliuk, and V. C. Moulianitis
Approach in the Integrated Structure-Control Optimization
of a 3RRR Parallel Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
S. Ivvan Valdez, M. Infante-Jacobo, S. Botello-Aceves,
Eusebio Hernández, and E. Chávez-Conde

Robot Control
Studying Various Cost Functions by Nonlinear Programming
for the Control of an Underactuated Mechanical System . . . . . . . . . . . . 389
Tamás Faitli and József K. Tar
Contents xvii

Nonlinear Control for Vibration Rejection in a System Containing

a Flexible Beam and Belts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Matthias Jörgl, Hubert Gattringer, and Andreas Müller
Hyper-redundant Robot Control System in Compliant Motions . . . . . . . 407
Viorel Stoian and Ionel Cristian Vladu
On the Common Control Design of Robotic Manipulators
Carrying Different Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Fotis N. Koumboulis
Cascade Gain Scheduling Control of Antagonistic Actuators Based
on System Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Branko Lukić, Kosta Jovanović, and Tomislav B. Šekara
Inverted Pendulum on a Cart Pneumatically Actuated by Means
of Digital Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
F. Colombo, L. Mazza, G. Pepe, T. Raparelli, and A. Trivella

Motion Planning and Trajectory Generation

Passing Through Jacobian Singularities in Motion Path Control
of Redundant Robot Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Evgeniy Krastev
Trajectory Planning for Additive Manufacturing with a 6-DOF
Industrial Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
David Kraljić and Roman Kamnik
Behavior-Based Local Path-Planning by Exploiting Inverse
Kinematics on FPGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
Alexander Köpper and Karsten Berns
Activation Algorithms for the Micro-manipulation and Assembly
of Hexagonal Microparts on a Programmable Platform . . . . . . . . . . . . . 475
Georgia Kritikou and Nikos A. Aspragathos
Iterative Learning Control for Precise Trajectory Tracking Within
a Constrained Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483
Kaloyan Yovchev
A Reinforcement Learning Based Algorithm for Robot
Action Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Marko Švaco, Bojan Jerbić, Mateo Polančec, and Filip Šuligoj
Safe and Efficient Autonomous Navigation in the Presence of Humans
at Control Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
Klaus Buchegger, George Todoran, and Markus Bader
xviii Contents

Avoiding Sets of Measure-Zero in Navigation Transformation

Based Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
Savvas G. Loizou
SkyBat: A Swarm Robotic Model Inspired by Fission-Fusion
Behaviour of Bats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Ján Zelenka, Tomáš Kasanický, Ivana Budinská, Ladislav Naď o,
and Peter Kaňuch

Robotic Vision Systems

Experimental Measurement of Underactuated Robotic Finger
Configurations via RGB-D Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Renato Brancati, Chiara Cosenza, Vincenzo Niola, and Sergio Savino
Finger Joint Detection Vision Algorithm for Autonomous Rheumatoid
Ultrasound Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
Nikolaj Iversen, Søren Andreas Just, and Thiusius Rajeeth Savarimuthu
Robot-Driven Autofocus Control Mechanism for an In-hand Fixed
Focus Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Robert Bevec, Timotej Gašpar, and Aleš Ude
Real Time Eye Localization and Tracking . . . . . . . . . . . . . . . . . . . . . . . 560
Nikolaos Poulopoulos and Emmanouil Z. Psarakis
Graph-Based Semantic Segmentation . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Vasiliki Balaska, Loukas Bampis, and Antonios Gasteratos
SeqSLAM with Bag of Visual Words for Appearance Based Loop
Closure Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Konstantinos A. Tsintotas, Loukas Bampis, Stelios Rallis,
and Antonios Gasteratos
Real Time Sub Image Localization for Tracking . . . . . . . . . . . . . . . . . . 588
Karol Dobrovodský and Pavel Andris
Upper Layer Extraction of a Folded Garment Towards Unfolding
by a Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
Dimitra Triantafyllou and Nikos A. Aspragathos

Industrial Robots and Applications

The Case of Industrial Robotics in Croatia . . . . . . . . . . . . . . . . . . . . . . 607
Marko Švaco, Bojan Jerbić, Ivan Župančić, Nikola Vitez, Bojan Šekoranja,
Filip Šuligoj, and Josip Vidaković
Decentralizing Cloud Robot Services Through Edge Computing . . . . . . 618
Florin Anton, Th. Borangiu, O. Morariu, Silviu Răileanu, Silvia Anton,
and Nick Ivănescu
Contents xix

Smart Cyber-Physical System to Enhance Flexibility of Production

and Improve Collaborative Robot Capabilities – Mechanical Design
and Control Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627
Aleksandar Rodić, Ilija Stevanović, and Miloš Jovanović
Automatic Painting and Paint Removal System: A Preliminary Design
for Aircraft Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
Umberto Morelli, Matteo D. L. Dalla Vedova, and Paolo Maggiore
Base Frame Calibration of a Reconfigurable Multi-robot System
with Kinesthetic Guidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
Timotej Gašpar, Robert Bevec, Barry Ridge, and Aleš Ude
Compensating Position Measurement Errors for the IR Static
Triangulation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660
Maciej Ciężkowski and Adam Wolniakowski
Efficient, Precise, and Convenient Calibration of Multi-camera
Systems by Robot Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669
Tobias Werner, David Harrer, and Dominik Henrich
A Lumped Model for Grooved Aerostatic Pad . . . . . . . . . . . . . . . . . . . . 678
F. Colombo, L. Lentini, T. Raparelli, A. Trivella, and V. Viktorov

Social Robotics
Social Robotics in Education: State-of-the-Art and Directions . . . . . . . . 689
T. Pachidis, E. Vrochidou, V. G. Kaburlasos, S. Kostova, M. Bonković,
and V. Papić
MYrobot – Mobile Educational Platform . . . . . . . . . . . . . . . . . . . . . . . . 701
Ondrej Karpis, Juraj Micek, and Veronika Olesnanikova
On Ethical and Legal Issues of Using Drones . . . . . . . . . . . . . . . . . . . . 710
Ivana Budinska
Effects of Physical Activity Based HCI Games on the Attention,
Emotion and Sensory-Motor Coordination . . . . . . . . . . . . . . . . . . . . . . . 718
Hasan Kandemir and Hatice Kose
The Impact of Robotics in Children Through Education Scenarios . . . . 728
Ápostolos Tsagaris, Maria Chatzikyrkou, and Gabriel Mansour
Trends in Educational Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
Daniela Floroiu, Paul C. Patic, and Luminita Duta
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745
Human Robot Interaction
and Collaboration
 Manipulator Collision Detection and Collided
Link Identification Based on Neural Networks

Abdel-Nasser Sharkawy1,2(&), Panagiotis N. Koustoumpardis2,

and Nikos A. Aspragathos2
1
Mechanical Engineering Department, Faculty of Engineering, South Valley
University, Qena 83523, Egypt
eng.abdelnassersharkawy@gmail.com
2
Department of Mechanical Engineering and Aeronautics, University of Patras,
Rio 26504, Greece
koust@upatras.gr, asprag@mech.upatras.gr

Abstract. In this paper, a multilayer neural network based approach is pro-

posed for the human-robot collisions detection during the motions of a 2-DoF
robot. One neural network is designed and trained by Levenberg-Marquardt
algorithm to the coupled dynamics of the manipulator joints with and without
external contacts to detect unwanted collisions of the human operator with the
robot and the link that collided using only the proprietary joint position and joint
torque sensors of the manipulator. The proposed method is evaluated experi-
mentally with the KUKA LWR manipulator using two joints in planar hori-
zontal motion and the results illustrate that the developed system is efficient and
very fast in detecting the collisions as well as the collided link.

Keywords: Collision detection
Collided link identification
Neural networks

Proprietary sensors

1 Introduction

Safety is necessary factor when the robots and humans share the same workspace
because the proximity of the operator to the robot can lead to potential injuries.
Therefore, a system for collision avoidance or detecting the collision should be
incorporated to collaborative manipulators. Collision can be avoided by monitoring the
environment using vision as presented in [1, 2] or using proximity sensors as in [3].
Although these methods can be used for collision avoidance, modifications in the
manipulator body are required for the sensors installation.
Some researchers contributed to the safety system in HRI by the collision detection
and reaction methods such as disturbance observer method [4, 5], nonlinear adaptive
impedance control law [6] and detection methods based fuzzy logic and neural net-
works [7, 8].
In the previous paper [9] a neural network (NN) was presented for collision
detection in one-joint motion. It is well known that there is a dynamic coupling
between the joints of the serial manipulator particularly in high speeds and accelera-
tions. Therefore, the scaling of our previous approach by using one independent NN for

© Springer Nature Switzerland AG 2019

N. A. Aspragathos et al. (Eds.): RAAD 2018, MMS 67, pp. 3–12, 2019.
https://doi.org/10.1007/978-3-030-00232-9_1
4 A.-N. Sharkawy et al.

each joint could not be generally applied. In this paper, one NN coupling two joints is
designed and trained by Levenberg-Marquardt (LM) algorithm where a priori knowl-
edge of the dynamic model of the robot is not required. In this method just the joint
position and torque sensors are used which are proprietary to the KUKA LWR
manipulator that is used for the experiments. For the training of the NN, the mea-
surements of the collision force mapped to the joints torque is required. Then the
trained NN can estimate the external torque and hence the collision is detected, and the
collided link is identified. The generalization ability of the trained NN is presented.

2 Neural Network Design

In this work, the KUKA LWR manipulator is used as shown in Fig. 1. The arm is
configured as a SCARA type robot (2-DoF for planar horizontal motions), to avoid the
effects of gravity during the control of the motions. Joint 1 represents KUKA’s A3 (4th
joint) and joint 2 represents KUKA’s A5 (6th joint). The collisions are performed
randomly by the human hand touching the end-effector and the link between the two
joints as shown in Fig. 1.

Fig. 1. (a) Experimental setup with Kuka LWR manipulator. (b) External force F is applied
during the motion of joints where the black spot means the center of mass for each link.

One NN is designed and trained using the external torque estimated from KUKA
Robot Controller (KRC). Then the trained NN is used to calculate the external torque,
detect the collisions and identify the collided link. If the external collision torque by the
trained NN exceeds a threshold value, then the collisions are detected. The collision
threshold is defined as the maximum of the absolute values of the training error
between the external torques estimated from KRC and the trained NN of contact-free
motion.
A sinusoidal motion hdi ðtÞ; where i ¼ 1; 2 with variable frequency is commanded
simultaneously to joint 1 and joint 2 respectively. These two serial joints compose a
coupled system where if any external force exerts on any link, then the torque of each
 Manipulator Collision Detection and Collided Link Identification 5

joint is affected. If the collision occurs on the end-effector (case 1, Fig. 1), the effect
appears clearly on the measured joint torques of the two joints. But when there is
collision between the two joints (case 2, Fig. 1), a small effect occurs in the torque of
joint 2 because of the inertial force applied on the link whereas the effect on the torque
of joint 1 appears clearly. The measured torque of joint 1 is always higher than of joint
2 whether there is collision or no.
After many experiments and trials as discussed in our previous paper [9], the main
inputs for the neural network that give us the good performance and the minimum
mean squared error (mse) are the current position error ~ hi ðkÞ between the desired and
actual joint position, the previous position error ~ hi ðk  1Þ, the commanded joint
velocity h_ di and the measured joint torque si , where i ¼ 1; 2. The actual joint velocity
from the previous paper [9] is replaced by the commanded joint velocity since after
more experiments it is found that the performance of the NN (lower training error) is
better using the commanded joint velocity.
Three layers are used to compose the NN as shown in Fig. 2; the input layer, the
non-linear hidden layer and the output layer that calculates the external torques
s0ext1 ; s0ext2 of joints 1 and 2 that are compared respectively with the external torques
sext1 ; sext2 given by KRC. The external torques sext1 ; sext2 are used only for training the
network and the external collision force can be measured by any external sensor and
transformed to the joint torque by the Jacobian. It should be noted that one independent
NN for each joint is also applied but it has less performance than using one NN
coupling the two joints since the motion of the two joints is coupled system as
discussed.

Fig. 2. The multilayer neural network scheme for the two joints.
6 A.-N. Sharkawy et al.

3 NN Training and Testing

The NN is trained using Levenberg-Marquardt learning which has the trade-off

between the fast learning speed of the classical Newton’s method and the guaranteed
convergence of the gradient descent [10, 11]. A sinusoidal motion with variable fre-
quency is commanded on the two joints of KUKA LWR robot (Fig. 1), as described
previously, where the frequency is linearly increasing from 0.05 Hz to 0.17 Hz for
joint 1 and from 0.05 Hz to 0.23 Hz for joint 2. These frequencies produce angular
velocities x up to 1.068 rad/s for joint 1 and 1.445 rad/s for joint 2. The range of joints
motion is [–80, 10]° for each joint.
The training data are divided into two sets: in the first set the robot joints perform
the motion without any external force (collision) applied to the robot body and in the
second set the same motion is performed with the user performing random collisions
suddenly and stochastically with his hand on the end-effector and between the two
joints. During the experiments the robot is commanded to move with position control
mode and no reaction strategy is implemented.
Using the data collected in the motion with and without collision, the neural net-
work system with the eight inputs is trained. The total number of input-output pairs
collected from the experiments are 170131. From these data 80% are used for training,
5% for validation and 15% for testing. After trying many different weights’ initial-
izations and number of hidden neurons, it is found that the best case is 120 hidden
neurons and 1000 iterations, which gives the minimum mse and the adequate collision
threshold. The training process is very fast and stable and applied using Matlab on an
Intel(R) Core(TM) i3-6100 CPU @ 3.70 GHz processor.
The trained NN is evaluated with the same data-set that are used for the training to
get an insight about the approximation. The difference between
the measured external
torques ðsext1 ; sext2 Þ and the external torques s0ext1 ; s0ext2 estimated by the NN system
is calculated and it is derived that the approximation error of the collision torque for
each joint is higher than the error of contact-free motion. The averages of the absolute
error values are very small and are 0.0954 Nm and 0.0486 Nm for joint 1 and joint 2
respectively.
By providing the dataset without any collisions to the trained NN, the resulted
collision threshold values are sth1 ¼ 1:5529 Nm and sth2 ¼ 0:8006 Nm for joint 1 and
joint 2 respectively and the collision is assumed, when s0exti [ sthi for the ith joint.
The external collision torques from KRC and the trained NN for both joints are
compared as shown in Fig. 3. The spikes with blank circles refer to the collisions
between the two joints whereas the others are the collisions on the end-effector.

4 Performance of the Trained NN

The proposed method is evaluated and tested in the experimental setup by commanding
the robot to perform two joints motion with constant velocity profiles, which is a
common case in robot applications. The generalization of the trained NN is tested for
joint ranges outside the ones that have been used for training, to show its effectiveness.
 Manipulator Collision Detection and Collided Link Identification 7

An external force sensor (ATI F/T Nano 25) is used to compare its readings that are
converted into joint torques via Jacobian with the external torques estimated by the
trained NN and KRC.

Fig. 3. The two external collision torques from KRC and NN.

4.1 Trained NN Evaluation

The trained NN is evaluated with a speed equal to 0.5 rad/s on both joints with two
cases of the collisions; the first case is that the force sensor is fixed on a predefined
location at the end-effector (Fig. 1a) and the collisions occur only on the force sensor
perpendicularly to the end-effector body and the second case is that the force sensor is
fixed on the link between the two joints and the collisions occur only on the force
sensor perpendicularly to the link between the two joints. Figures 4 and 5 illustrate the
comparison between the three torques for both joints form KRC, Trained NN and
external force sensor.

Fig. 4. The three external collision torques from KRC, trained NN and using the force sensor
when there is collision on the end-effector.

From Fig. 4 where there is a collision on the end-effector only, both joints’ torques
are affected by the collision and also the close approximation between the three
8 A.-N. Sharkawy et al.

Fig. 5. The three external collision torques from KRC, trained NN and using the force sensor
when there is collision between the two joints.

external torques is very good particularly from the trained NN and KRC since the
external torque from KRC is used for training the NN. Before and after collision the
joint torques measured by the external sensor are zero and during the sudden collision
increased quite rapidly. This wave form illustrates the collision phenomenon most
accurately since the robot dynamics do not affect this measurements as it is the case in
the estimated joint torques by KRC. The actual collision detection time is calculated as
the elapsed time from the detection of the collision by the external force sensor to the
moment when the external torque by the trained NN exceeds the threshold so the actual
collision detection time for joint 1 and 2 is 14.8 ms and 27.01 ms respectively. From
Fig. 5 where there is a collision between the two joints only, joint 1 external torque is
highly affected by the collision, whereas joint 2 external torque has small effect at time
when the force exerts and this effect sometimes does not appear clearly if the collision
force is small. The close approximation between the three torques is good particularly
from the trained NN and KRC. The good approximation between the external joint
torques measured by KRC and external sensor with the estimated by the trained NN
proves the success of our trained NN. The actual collision detection time for joint 1 is
21.4 ms. As shown from the results the trained NN is easily identifying the collided
link since when the collision torques of joint 1 only exceeds the threshold, it means that
the collisions occur on the link between the two joint whereas when the collision
torques of both joints exceeds the threshold, it means that the collisions occur on the
end-effector.
To confirm the validity and efficiency of the proposed method under a wide range
of operating conditions and acquire a performance measure, another 61 trials of col-
lisions (NC) are evaluated with various magnitudes, points of collision, directions and
different velocities of the motion. Table 1 provides the performance in terms of the
number of the correctly detected collisions (CC), the number of false negatives
(FN) which is the number of collisions not detected by the method and the number of
the false positives (FP) which are the collision alerts provided by the method when
there is not an actual collision.
It is noted from Table 1 that when there are collisions at the end-effector, the
proposed method succeeds with 92.59% and 81.48% to detect the collisions affected on
 Manipulator Collision Detection and Collided Link Identification 9

Table 1. Summary of the performance of the proposed method obtained for the different
collision scenarios and angular speeds of the joints
Collision scenario Joint Trained neural network Efficiency %
method
NC CC FN FP
Collisions on the end-effector Joint 1 27 27 0 2 92.59% 87.035%
Joint 2 27 26 1 3 81.48%
Collision between the two joints Joint 1 34 34 0 9 73.5% 73.5%
Joint 2 0 0 0 0 ---------
Average percentage 98.86% 1.136% 16% 82.52%

joints 1 and 2 respectively which could be considered very good success rate. When
there are collisions between the two joints, the trained NN succeeds but with a lower
rate (73.5%) to detect the collisions affecting on joint 1 only and not joint 2. Also the
number of the false positive collisions is low (16%) which means that our method has
less sensitivity to the external disturbances and unmodeled parameters. In another
meaning the efficiency of the presented method or the success average percentage to
detect the collisions is very good (82.52%).

4.2 Trained NN Generalization

The joint motion, for collecting data used for training the NN and its evaluation, limited
in the range from –80° to 10° for each joint. Furthermore, two experiments are exe-
cuted outside of these ranges (the first from 10° to 40° and the other one from –110° to
–80° range) with random collisions on the end-effector and between the two joints to
show the generalization of the trained NN. The results are shown in Figs. 6 and 7,
where it is observed that the trained NN approximates adequately the two KRC and
trained NN external torques but the error is a little bit larger compared to the previous
case (inside the training range). However, the trained NN presents satisfactory per-
formance which proves the generalization ability. It should be noted that the spikes
have blank circle refers to the collisions between the two joints whereas the others are
the collisions at the end-effector.

4.3 Discussion of the Results

The proposed method is easily applied and the training is very fast. The fuzzy based
part of [7] is compared with our method. The estimated external torque sext given by the
robot controller is used here only for training the NN, whereas in [7] the external torque
measured by an ATI F/T Nano 25 force sensor is used for verification and the training.
In the present method, one trained NN is used only for collisions detection since the
two joints motion is a coupled system whereas in [7] two independent trained fuzzy
systems are used. Our method succeeds to detect the collisions when there are
10 A.-N. Sharkawy et al.

collisions on the end-effector with a percentage of 87% whereas in [7] the Fuzzy
system achieves 85% and for collisions between the two joints our method achieves
73.5% whereas in [7] Fuzzy system has 50%.

Fig. 6. The two external collision torques from KRC and trained NN during out of range two
joints motion (from 10 to 40°).

Fig. 7. The two external collision torques from KRC and trained NN during out of range two
joints motion (from –110 to –80°).

In [8], the proposed method by Lu et al. depends on two external force sensors,
whereas our method does not require any external sensors and is used with any robot
without model knowledge but having joint torque sensors. Our method presents also
low detection time for the collisions. It should be noted that because of the different
data and operating conditions used in our paper and the other two papers, it is difficult
to compare quantitatively the time required for the detection of the collisions.
 Manipulator Collision Detection and Collided Link Identification 11

5 Conclusion and Future Work

In this paper, a method is proposed for human-robot collision detection based on the
multilayer neural network approach trained by Levenberg-Marquardt algorithm.
One NN system is implemented and trained for a 2-DoF robot which is a coupled
system. The training is stable and very fast. The inputs to the NN are derived from the
joint position and torque sensors and the method is able to detect the collision of the
robot with the human hand very quickly and identify the collided link. The evaluation
of the proposed method shows that our method, compared with the other methods, is
efficient in detecting the collisions, since it succeeds with very good and higher per-
centage to detect the collisions whether on the end-effector or between the two joints.
The number of the false positive collisions is low which means that the presented
method has low sensitivity to the external disturbances and unmodelled parameters.
The trained NN is tested using out of training range motion and presents satisfactory
performance which proves the generalization ability.
Because of the promising results in this paper, it is considered the extension of the
proposed approach to implement the collision detection system for three joints of the
manipulator taking into consideration the effect of the gravity during the motion.

Acknowledgments. Abdel-Nasser Sharkawy is funded by the “Egyptian Cultural Affairs &

Missions Sector” and “Hellenic Ministry of Foreign Affairs Scholarship” for Ph.D. study in
Greece.

References
1. Mohammed, A., Schmidt, B., Wang, L.: Active collision avoidance for human – robot
collaboration driven by vision sensors. Int. J. Com. Integr. Manuf. 30(9), 970–980 (2017)
2. Flacco, F., Kroeger, T., De Luca, A., Khatib, O.: A depth space approach for evaluating
distance to objects with application to human-robot collision avoidance. J. Intell. Robot.
Syst. 80(Suppl 1), S7–S22 (2015)
3. Lam, T.L., Yip, H.W., Qian, H., Xu, Y.: Collision avoidance of industrial robot arms using
an invisible sensitive skin. In: 2012 IEEE/RSJ International Conference on Intelligent
Robots and Systems, pp. 4542–4543 (2012)
4. Haddadin, S., Albu-Schaffer, A., De Luca, A., Hirzinger, G.: Collision detection and
reaction: a contribution to safe physical human-robot interaction. In: 2008 IEEE/RSJ
International Conference on Intelligent Robots and Systems, pp. 3356–3363 (2008)
5. Cho, C., Kim, J., Lee, S., Song, J.: Collision detection and reaction on 7 DOF service robot
arm using residual observer. J. Mech. Sci. Technol. 26(4), 1197–1203 (2012)
6. Morinaga, S., Kosuge, K.: Collision detection system for manipulator based on adaptive
impedance control law. In: Proceedings of the 2003 IEEE International Conference on
Robotics and Automation, pp. 1080–1085 (2003)
7. Dimeas, F., Avendano-valencia, L.D., Aspragathos, N.: Human - robot collision detection
and identification based on fuzzy and time series modelling. Robotica, 1–13 (2014)
8. Lu, S., Chung, J.H., Velinsky, S.A.: Human-robot collision detection and identification
based on wrist and base force/torque sensors. In: Proceedings of the 2005 IEEE International
Conference on Robotics and Automation, pp. 796–801, April 2005
Another random document with
no related content on Scribd:
two pretty note-books, intended as presents for Flora, Blandina, and
Jenny; for Miss Devine had given her ten dollars to do what she liked
with; and she had already spent it, in her own mind, in presents for
everybody she knew.

The other bugbear was rather more alarming. Maria and Alice Ward
were only just as old as herself, but their manners and dress made
them seem at least four years older. They were young ladies, while
Percy had never thought of being anything but a little girl. However,
they found a common subject of conversation in comparing their
schools; and when Percy heard their stories, she was very thankful
that she had been placed at Hansen School, instead of at the grand
establishment of Mrs. Flag. Then the girls found out that Percy had
lived all her life on the frontier, and they were full of curiosity about
army life and Indians; and, altogether, the visit went off very well, and
Percy could honestly say, in answer to her aunt's question, that she
had passed a pleasant day.

Percy's resolution, which she had faithfully kept so far, not to speak
of her terrors and worries, was a very wise one, and it did her a great
deal of good. She forgot her troubles much sooner when she did not
talk about them, and using self-control in words helped her to use it
in her thoughts as well. She did not say a single word even when the
carriage became entangled in a jam on Broadway, and made no
objection to going up and down in the elevator at Stewart's, though
she felt quite sure that they should stick somewhere and never get
out.

Percy had not expected any Christmas presents after her beautiful
desk and paper; but when she came down on Christmas morning,
there was a mysterious pile on her plate, covered by a white napkin.

"Oh, aunt, you give me too many nice things!" she exclaimed, as
successive boxes developed a silver napkin ring, a set of Scott's
poems with beautiful pictures, a package of dainty little kid gloves
(Percy always loved kid gloves), and some unheard-of sugar-plums
and dried fruits. "You and Cousin Margaret give me so much and do
so much for me, and I can't do anything for you."
"You can do one thing for us, little cousin," said Mrs. Ackerman.
"How would you like to give us half of yourself?"

"I don't quite understand, aunt."

"You know Margaret and myself are two very lonely women here,"
continued Mrs. Ackerman. "Do you think you would be willing to give
us half your holidays and half of your heart, and let us be at half the
expense of your education?"

"But, but—Aunt Zoe—I don't know what she will say," stammered
Percy. "I believe mamma gave me to her, and she has been so good
to me. I must do as Aunt Zoe says."

"Very true, my love," answered Margaret. "But we are as nearly

related to you as Aunt Zoe, and we have a kind of right to help in
your education. We have written to her about the matter, and she
has given her consent. At first, mamma thought she would like to
have you at school here, so as to be near us; but you seem to be
doing so well where you are, that it hardly seems worth while to
change. So, if you will give us half your holidays and half your letters,
we shall be quite content. My dear little girl, what is the matter?" For
two large tears came splashing down right into Percy's coffee cup.

"Nothing; only,—only you are so good, and I was so naughty and

silly about coming here. I didn't want to come; and I thought Aunt
Ackerman would be exactly like a New York aunt in a story-book! I
was just as ungrateful as I could be."

"But, my dear, you couldn't be ungrateful for what you never had,"
said Mrs. Ackerman, soothingly. "You did not know us at all then."
 Percy's Holidays.

"The girls say I am always borrowing trouble, and so I am."

"Well, I needn't have been so foolish," answered Percy, wiping her

eyes. "Jenny said it was silly, and it was; and I am sorry. The girls
say I am always borrowing trouble, and I am."

At that moment, Sylvester brought in a letter, which Margaret

opened.

"Oh, dear!" she exclaimed, as she glanced over it. "Mamma, Cousin
Sarah is coming to-morrow, to stay a week!"
Mrs. Ackerman sighed gently. "Well, my dear, you know she must be
somewhere; and if we only have her a week, we shouldn't complain."

"There is one comfort: she can't be afraid of sunstroke in winter,"

said Margaret, laughing.

"I dare say she will make it up by being afraid of fires," said Mrs.
Ackerman. "However, we must be kind to the poor thing, and we
won't let to-morrow spoil to-day, if we can help it. Come, Percy dear,
gather up your pretty things and put them away. It is time we were
getting ready for church."

Percy had dreaded Christmas, because she thought she should feel
so sadly, but the day passed very pleasantly, after all. She went to
church with her aunt and cousin, and after church they drove round
to the Orphans' Home, and saw all the children at their dinner of
turkeys and plum puddings. Percy passed a pleasant two hours in
her cousin's dressing-room, by the light of the fire, telling Margaret
about her father and mother, and learning from her anecdotes of her
mother's school life.

"And you knew papa, too, when he was young," asked Percy.

"Oh, yes; I knew him very well," answered Margaret. She spoke
quite cheerfully; but yet something, she did not quite know what,
made Percy think that Cousin Margaret would rather not talk about
her father, and she asked no more questions.

They had company at dinner and to spend the evening: two or three
young ladies who were very plainly dressed, and who were brought
and sent home again in Mrs. Ackerman's own carriage. Percy found
out afterwards that they were teachers in the public school and the
Sunday-school.

"Mamma is apt to make her holiday parties on Scripture principles,"

said Margaret to Percy, when they were alone together. "She does
not invite her rich neighbors, but looks out for those who have no
friends or home to go to."
The next morning Percy went to the station with Margaret to meet
Cousin Sarah.

"There she is," said Margaret, as a thin, tall, anxious-looking woman

came out of the car. "Take care! She will be run over."

Percy could hardly keep back a scream, as the tall lady, having
hesitated at least two minutes while the track was clear, ran across
directly in front of an advancing engine, and only just cleared herself.

"Well, I know I shall be run over by an engine sometime," said she,

as Margaret uttered an exclamation of thankfulness. "I don't expect
anything else. I don't know why I come to New York, for I never
expect to get out alive. But this is not your carriage, Margaret. This is
a public hack."

"I know it, Cousin Sarah," answered Margaret. "Our horses had to go
to the blacksmith's this morning. Just get in, and give the coachman
your check, and he will bring your trunk."

"But do you think it will be safe to give my checks to a hackman?"

asked Cousin Sarah, in a loud whisper. "Don't you think he may run
away with the things?"

"And leave us in possession of his carriage and horses? Hardly, I

think," answered Margaret, smiling. "I don't think there is any danger,
Sarah."

"Oh, but I assure you, I have heard of such things being done."
Then, after she had seen the trunk safely placed on the carriage:
"Oh, I was so frightened in the car. There was a man on the opposite
seat, who looked exactly as if he was drunk; and he spoke to me."

"Indeed! What did he say?"

"He said, 'Would you like to see the morning paper, ma'am?'"
"There was no great harm in that. What made you think he was
drunk?"

"Oh, his face was red; and he kept laughing while he was reading
the paper."

"Perhaps there was something funny in it," Percy ventured to

remark.

"I don't know about that, child. I wasn't going to have any words with
him, so I just said, 'No, I thank you, sir,' and looked out of the
window. Why, Margaret, there is the very man. Depend upon it, he is
following us. What shall I do?"

"Why, Cousin Sarah, that is Mr. Walden, a most respectable

merchant, and a neighbour of ours," said Margaret, laughing, as she
returned the gentleman's bow.

"Dear me! Well, I am sure! But, Margaret, does this man know the
way to your house? It seems to me this is not the way I have come
before."

"No. Percy and I want to stop down town a moment to do an errand.

You will not mind waiting five minutes, will you?"

When they came to the shop, Cousin Sarah was so long in deciding
whether she would sit in the carriage, and risk being run away with,
or go into the shop and leave the hackman to run away with the
trunks, that there seemed some danger of the errands not being
done. However, she finally decided to wait while Margaret and Percy
went into the candy-shop and bought some matters with which to
finish the decoration of the orphans' Christmas-tree, which was to be
lighted up that evening.

"Now, Percy," said Margaret, when they arrived at home, "do you
suppose you can run round to The Home with these things, and find
your way back again?"
"Oh, yes!" replied Percy, cheerfully.

"You know you turn to your left, when you come out of the Asylum,
and go to the next corner, and then straight down the street. If you
are puzzled, ask a policeman."

"I think I can find the way," answered Percy; and she actually
enjoyed the idea of going out in the street alone, and on her own
feet. She did her errand at the Asylum and came home quite safely,
to report that the tree was going to be beautiful; and that the two
dolls she had dressed hung right at the top. When evening came,
there arose a new difficulty. Mrs. and Miss Ackerman, being
managers of The Home and knowing every child in it, naturally
wished to be present at the Christmas festival. But Cousin Sarah
would not go, because she was afraid to be out in the evening; and
she could not stay at home alone, because she should never dare to
be left with only the servants.

"But our coachman and horses are perfectly safe, Sarah," said Mrs.
Ackerman.

"Everybody thinks their own horses safe," answered Cousin Sarah.

"And with reason, I suppose, since most horses are safe," remarked
Margaret.

"I will stay at home with Cousin Sarah, Aunt Ackerman," said Percy,
following her aunt to the hall, whither she went to speak to a servant.
"Mrs. Stewart told me to tell you and Margaret to be sure and come
early; especially Cousin Margaret, because they want her to help."

"My dear child; but I thought you wanted to see the tree and the
children very much?"

"I did," answered Percy, with a little sigh; "but then I saw it this
afternoon, you know; and the ladies seemed to want you so much.
Only, please, I should like to know who gets my dolls. I hope that
little round-faced infant will have one—the little girl I told you, was
like my little sister."

"I will see that she does. My dear little girl, I am ever so much
obliged to you. I am afraid you will have a dull evening."

"Oh, no. And please, aunt, may I have those big books of birds to
look at?"

Percy was not destined to have much comfort with the big books of
birds. Cousin Sarah was by no means pleased to be left alone in the
house, as she said, though she had an able-bodied man and three
women within call, whenever she chose to ring the bell.

"But I ought to know what to expect," she concluded, plaintively.

"Poor relations are of no account here. They just measure everything
by money, money. Such worldliness! My dear, didn't you hear
something moving up-stairs?"

"I don't hear anything," answered Percy, listening.

"Well, perhaps not; but I am so afraid of burglars. I know perfectly

well that some night I shall wake up and see a man in my room
looking into my bureau. But, as I said, poor relations don't count. I
dare say you have found that out."

"I don't know what you mean," said Percy, colouring. "I am sure Aunt
Ackerman and Margaret are just as kind as they can be."

"Oh, well! I dare say they are kind to you, child. You have a social
position, you see. And Cousin Julia Ackerman does mean to be kind,
I dare say; but she is no hand to do shopping at all. I sent her sixty
dollars to buy me a Paisley shawl; and when I came to look it over,
there were three threads of cotton in it. Now, a shawl that is part
cotton will fade in streaks, you know; and it seems hard to give so
much money for a faded shawl."

"Has your shawl faded?" asked Percy.

"Why, no, not yet; but of course it will. Now, such a shawl ought to
last one a lifetime; but I can't wear it after it is all faded out. My dear,
I certainly do hear somebody up-stairs."

"I dare say it is only the cat; but I will go and see," said Percy, rising.

"But suppose it should be a robber?" whispered Cousin Sarah; "or

suppose one of the servants should be looking over Margaret's
bureau?"

"I don't suppose it is one or the other!" answered Percy, rather

impatiently. "I suppose it is pussy. She lies on aunt's sofa half the
time. There, don't you hear her mew to be let out? I must go, or she
may do some mischief." Cousin Sarah would not be left alone, and
Percy rang the bell for somebody to let out the cat. Then came
another fear.

"My dear, I have left my trunk unlocked. You don't think any of the
servants will meddle with my things, do you?"

"I should think not," replied Percy. "You know they have all lived here
a long time, and aunt thinks they are quite honest. But I will go up
and lock it, and bring you the key, if you like."

"But you will be afraid to go up there in the dark. No, I think perhaps
you had better let it be. However, I assure you that the last time I
was here I lost fifteen cents in the strangest way. I never could
account for it."

"Perhaps you spent it, and then forgot about it," suggested Percy.
"One does sometimes. I know I paid twenty-five cents yesterday for
something, and I can't remember what it was."

Cousin Sarah here began to put Percy through a series of questions

relating to her aunt Devine, her father and mother, her school, and
other things which diverted her from her fears, till Mrs. Ackerman
and Margaret came home. Then came another trouble. She was
sure she never should dare to sleep alone, and in the third story, too.
What if there should be a fire, and she should not wake till it was too
late to save herself. What if a robber should come in? He would be
sure to go up-stairs first of all. The matter was finally settled by
Margaret's giving up her own room to her cousin, and sleeping with
her mother.

"Dear me, what a fuss she does make," thought Percy, as, after she
was in bed, she heard Cousin Sarah fretting about the gas and the
fire, and the window fastenings, &c. "I wonder if I am as silly as that?
I declare I'll never borrow any more trouble; not if I never have any,"
thought the little girl, sleepily.

The next day at breakfast, Cousin Sarah announced that she had a
great deal of shopping to do; and she must have Margaret to go with
her, as she never could trust herself in those dreadful New York
shops alone. Margaret looked at her mother with a glance which said
plainly, "What shall I do?"

"I believe Margaret will be wanted at the Asylum this morning,

cousin," said Mrs. Ackerman. "Will not Percy and myself do as well?"

"But I wanted Margaret's judgment," answered Cousin Sarah. "I

always expect to be cheated. I want to buy a poplin and an American
silk; and as likely as not they will make me take one that is half
cotton; and I don't think you are a judge of cotton in things, Cousin
Julia: I really don't, because there was that shawl, you know. I never
put it on or take it off without expecting to see it all faded in streaks."

"I think you will have to rely upon me, or else put off your shopping
till to-morrow, cousin," replied Mrs. Ackerman, without a trace of ill-
temper or annoyance; "because, really, Margaret cannot be spared. I
don't think you need be afraid of being cheated at any of the
respectable stores. I have bought dry goods at Stewart's ever since I
was married, and I have never been imposed upon in a single
instance. Percy, my dear, will you ring the bell?"

All that morning, Percy wondered at the patience of her aunt. She
herself was very well entertained, looking at the pretty things in the
shops, or sitting in the carriage with her book; but Aunt Ackerman
must look at and pronounce upon every piece of goods half a dozen
times over. Cousin Sarah at last made up her mind to buy a silk and
a poplin, after having looked at, at least a hundred pieces of each;
but no sooner were they cut off and paid for, than she regretted her
choice, and wished all the way home that she had bought the black
silk instead of the blue, because blue was apt to fade, and the green
poplin instead of the black, because black poplin was no dress at all.
After they had finished their shopping, they went to Bigot's to lunch;
and here Cousin Sarah would not take any chocolate, because she
had heard that chocolate was shockingly adulterated, nor any
stewed oysters, because she had been told that they always used
the stale oysters to make the stews; and having finally disposed of a
large glass of calves-foot jelly, she remembered having read that
such jelly was always made of gelatine, which was manufactured out
of horses' hoofs and the parings of sheepskins. After lunch, Mrs.
Ackerman asked Cousin Sarah, whether she would like to go home,
or whether she had any more to do.

"I want to make a call in Brooklyn; and it is such a pleasant day, I

think Percy will enjoy the ride and crossing the ferry: won't you, my
dear?"

Now Percy had had a great dread of crossing ferries all her life; but
with the example of Cousin Sarah before her eyes, she resolved at
once not to be afraid, and answered promptly:

"Oh, yes, Aunt Ackerman! I shall like it very much."

"But won't it be very disagreeable getting out of the carriage down

there?" asked Cousin Sarah, doubtfully. "And what shall we do when
we come to the other side?"

"We shall not get out," answered Aunt Ackerman. "We shall drive on
the boat at this side and off at the other. Of course you can get out, if
you please; but I never do, because it is some trouble, and our
horses are perfectly steady."
"Now, Julia," said Cousin Sarah, solemnly, "do you really think I am
going to do such a thing as that? Suppose the boat should sink?
How dreadful, to be drowned in a carriage and horses!"

Percy laughed in spite of herself.

"What would you do, if you had to cross on a raft, Cousin Sarah?"
she asked. "Or in a little bark canoe, where you had to sit flat down
in the bottom, and not move for fear of being upset?"

Cousin Sarah thought that under those circumstances she should

immediately die.

"But dying would be as dangerous as crossing the ferry," argued

Percy, gravely. Solomon, the coachman, giggled, and striving to turn
the giggle into a polite cough, he choked himself; whereat Cousin
Sarah remarked, in a terrified whisper, that she thought that he must
be drunk or crazy, and would certainly upset the carriage or make
the horses run away. She finally decided to be left at home, because
she wanted to see her bundles when they came, for she couldn't
help thinking, after all, that her merino must be part cotton.

"Aunt Ackerman," said Percy, very soberly, after they had gone on
some little way in silence, "I never will borrow any trouble again as
long as I live."

"That is a very good resolution, my dear," answered Aunt Ackerman.

"Borrowing trouble is very foolish, and it is also wrong."

"I know it is foolish," said Percy, blushing; "though I never knew how
silly it made people till—till lately. It makes one very unhappy for
nothing. I felt so badly because Aunt Zoe sent me to school; and
after all, I liked it ever so much; and, oh, aunt! You don't know how
silly I was about coming down here. Jenny said I was a goose, and I
was!"

"And yet you have had rather a nice time, haven't you?"
"Yes, indeed!" answered Percy. "I am so glad I came. It seems as if I
had been unfeeling and heartless sometimes, to enjoy myself so
much without dear papa and mamma."

"My love, papa and mamma would wish you to enjoy yourself,"
answered Aunt Ackerman, gently. "They do not want their little girl to
be unhappy all her life, because her heavenly Father has taken away
her earthly parents for a little while."

"But, aunt, why is it wrong to borrow trouble?" asked Percy, after a

little silence. "I know it is foolish, but why is it wrong?"

"It is wrong to be foolish, if one can help it: isn't it, dear?"

"Yes, I suppose so. I never thought of that, though."

"Then the habit of borrowing trouble is wrong because it interferes

very much with the comfort and convenience of other people,"
continued Mrs. Ackerman. "Nothing is more disagreeable than to be
in the company of a person who is always foreboding evil."

"And it makes people fretful, don't it, aunt?" asked Percy. "Blandina
says sometimes, 'Don't fret, Percy!' when I am in a worry for fear of
being late or losing my place."

"Yes, it is very apt to make people fretful and impatient; and, besides
that, my dear, the habit of borrowing trouble shows a want of faith in
our heavenly Father, and is a disobeying of an express command:
'Take therefore no thought for to-morrow: for the morrow shall take
thought for the things of itself. Sufficient unto the day is the evil
thereof.' You know who said that, Percy."

"Our Lord," answered Percy, reverently.

"We know that our heavenly Father is perfectly wise and good and
all-powerful," continued Aunt Ackerman. "And we know that he loves
us, and has promised to give us all things that we need, if we seek
first the kingdom of God and his righteousness. We know of course
that he does, and permits many things which seem to us very
mysterious; but we must be content to leave all such things to him."

"We don't always know how things will turn out when we do our very
best," observed Percy.

"No, we never know exactly; and all we can do is to 'do our very
best,' as you say, and leave the result with him. Our Lord says we
are not to be anxious even about such necessary things as food and
clothes, you know. You see how unhappy poor Cousin Sarah makes
herself: and her mother is just so. They are always sure that
something dreadful is going to happen. They have a nice house; but
they take no comfort in it, because they are afraid it will burn down,
or that somebody will break into it. The last time I was there; Mrs.
McArthur and Sarah went all around the house with a candle, to see
that there were no robbers concealed in any of the rooms or closets.
Then they went around again without a light, to be sure that they had
not dropped any sparks; and, finally, Mrs. McArthur made another
round, to be sure that all the doors were fastened. They have a
beautiful garden; but they are always certain that the buds will be
killed, or the fruit stolen, or that the grapes won't ripen. They are
afraid of keeping a man-servant, for fear of being robbed, or of doing
without one, because they feel so unprotected. I don't tell you these
things to make you laugh at your cousins, my dear,—though I allow
that one cannot always help doing so; but I want you to see what
such a disposition is likely to grow to, unless it is taken in time."

Percy had plenty of chances to see this during the week that she
spent with Cousin Sarah, and the lesson did her a great deal of
good. All the girls noticed the change in her when she came back to
school. She did not reform her fault all at once, of course, but her
eyes were opened to see that it was a fault; and that, as Blandina
said, was half the battle.
THE END.
 *** END OF THE PROJECT GUTENBERG EBOOK PERCY'S
HOLIDAYS ***

Updated editions will replace the previous one—the old editions will
be renamed.

Creating the works from print editions not protected by U.S.

copyright law means that no one owns a United States copyright in
these works, so the Foundation (and you!) can copy and distribute it
in the United States without permission and without paying copyright
royalties. Special rules, set forth in the General Terms of Use part of
this license, apply to copying and distributing Project Gutenberg™
electronic works to protect the PROJECT GUTENBERG™ concept
and trademark. Project Gutenberg is a registered trademark, and
may not be used if you charge for an eBook, except by following the
terms of the trademark license, including paying royalties for use of
the Project Gutenberg trademark. If you do not charge anything for
copies of this eBook, complying with the trademark license is very
easy. You may use this eBook for nearly any purpose such as
creation of derivative works, reports, performances and research.
Project Gutenberg eBooks may be modified and printed and given
away—you may do practically ANYTHING in the United States with
eBooks not protected by U.S. copyright law. Redistribution is subject
to the trademark license, especially commercial redistribution.

START: FULL LICENSE

THE FULL PROJECT GUTENBERG LICENSE
 PLEASE READ THIS BEFORE YOU DISTRIBUTE OR USE THIS WORK

To protect the Project Gutenberg™ mission of promoting the free

distribution of electronic works, by using or distributing this work (or
any other work associated in any way with the phrase “Project
Gutenberg”), you agree to comply with all the terms of the Full
Project Gutenberg™ License available with this file or online at
www.gutenberg.org/license.

Section 1. General Terms of Use and

Redistributing Project Gutenberg™
electronic works
1.A. By reading or using any part of this Project Gutenberg™
electronic work, you indicate that you have read, understand, agree
to and accept all the terms of this license and intellectual property
(trademark/copyright) agreement. If you do not agree to abide by all
the terms of this agreement, you must cease using and return or
destroy all copies of Project Gutenberg™ electronic works in your
possession. If you paid a fee for obtaining a copy of or access to a
Project Gutenberg™ electronic work and you do not agree to be
bound by the terms of this agreement, you may obtain a refund from
the person or entity to whom you paid the fee as set forth in
paragraph 1.E.8.

1.B. “Project Gutenberg” is a registered trademark. It may only be

used on or associated in any way with an electronic work by people
who agree to be bound by the terms of this agreement. There are a
few things that you can do with most Project Gutenberg™ electronic
works even without complying with the full terms of this agreement.
See paragraph 1.C below. There are a lot of things you can do with
Project Gutenberg™ electronic works if you follow the terms of this
agreement and help preserve free future access to Project
Gutenberg™ electronic works. See paragraph 1.E below.
1.C. The Project Gutenberg Literary Archive Foundation (“the
Foundation” or PGLAF), owns a compilation copyright in the
collection of Project Gutenberg™ electronic works. Nearly all the
individual works in the collection are in the public domain in the
United States. If an individual work is unprotected by copyright law in
the United States and you are located in the United States, we do
not claim a right to prevent you from copying, distributing,
performing, displaying or creating derivative works based on the
work as long as all references to Project Gutenberg are removed. Of
course, we hope that you will support the Project Gutenberg™
mission of promoting free access to electronic works by freely
sharing Project Gutenberg™ works in compliance with the terms of
this agreement for keeping the Project Gutenberg™ name
associated with the work. You can easily comply with the terms of
this agreement by keeping this work in the same format with its
attached full Project Gutenberg™ License when you share it without
charge with others.

1.D. The copyright laws of the place where you are located also
govern what you can do with this work. Copyright laws in most
countries are in a constant state of change. If you are outside the
United States, check the laws of your country in addition to the terms
of this agreement before downloading, copying, displaying,
performing, distributing or creating derivative works based on this
work or any other Project Gutenberg™ work. The Foundation makes
no representations concerning the copyright status of any work in
any country other than the United States.

1.E. Unless you have removed all references to Project Gutenberg:

1.E.1. The following sentence, with active links to, or other

immediate access to, the full Project Gutenberg™ License must
appear prominently whenever any copy of a Project Gutenberg™
work (any work on which the phrase “Project Gutenberg” appears, or
with which the phrase “Project Gutenberg” is associated) is
accessed, displayed, performed, viewed, copied or distributed:
 This eBook is for the use of anyone anywhere in the United
States and most other parts of the world at no cost and with
almost no restrictions whatsoever. You may copy it, give it away
or re-use it under the terms of the Project Gutenberg License
included with this eBook or online at www.gutenberg.org. If you
are not located in the United States, you will have to check the
laws of the country where you are located before using this
eBook.

1.E.2. If an individual Project Gutenberg™ electronic work is derived

from texts not protected by U.S. copyright law (does not contain a
notice indicating that it is posted with permission of the copyright
holder), the work can be copied and distributed to anyone in the
United States without paying any fees or charges. If you are
redistributing or providing access to a work with the phrase “Project
Gutenberg” associated with or appearing on the work, you must
comply either with the requirements of paragraphs 1.E.1 through
1.E.7 or obtain permission for the use of the work and the Project
Gutenberg™ trademark as set forth in paragraphs 1.E.8 or 1.E.9.

1.E.3. If an individual Project Gutenberg™ electronic work is posted

with the permission of the copyright holder, your use and distribution
must comply with both paragraphs 1.E.1 through 1.E.7 and any
additional terms imposed by the copyright holder. Additional terms
will be linked to the Project Gutenberg™ License for all works posted
with the permission of the copyright holder found at the beginning of
this work.

1.E.4. Do not unlink or detach or remove the full Project

Gutenberg™ License terms from this work, or any files containing a
part of this work or any other work associated with Project
Gutenberg™.

1.E.5. Do not copy, display, perform, distribute or redistribute this

electronic work, or any part of this electronic work, without
prominently displaying the sentence set forth in paragraph 1.E.1 with
active links or immediate access to the full terms of the Project
Gutenberg™ License.