Proceedings of the

1992International

Conference on

IndustrialElectronics.Control,

Instrumentation,and Automation

Robotics, CIM and AutomationEmerging Technologies

Volume 2 of 3

Volume 1 Pages 1 - 570

Volume 2 Pages 571 - 1116

Volume 3 Pages 1117 - 1650

November 9-13,1992Marriot Mission Valley / San Diego, USA

SJfiECo-Sponsored by \JLThe Industrial Electronics Society of the IEEE (IEEE/IES)The Society of Instrument and Control Engineers of Japan (SICE)

Volume I

Plenary SessionAdvanced intelligent sensing system using sensor fusion — //. Ywnasaki and K. Takahashi 1

Session PE01 - Invited PapersChair: J. Holtz, Wuppertal University

Some present and future trends in power electronic converters — J. D. Van WykandJ. A. Fcrreira 9Trends in active power line conditioners — //. Akagi 19Recent trends in AC motion control —N. Matsu 25Application trends in AC motor drives — T. Ohnae, T. Sukegawa, and K. Kamiyama 31

Session PE02 - Motion Control with Induction MotorsChair: G. Buja, University of TriesteCo-Chair: K. Matsuse, Meiji University

Fast efficiency maximizer for adjustable speed induction motor drive — G. O. Garcia, J. C. Mendcs Luis, R. M. Stephan, and E.II. Watanabe 37

A highly reliable parallel processing controller for vector control of AC induction motor — Wali Li 43Robust control of an induction machine drive with optimal sliding mode approach —Jie Zliang and T. II. Barton 49An induction motor servo system with improved sliding mode control — Chung-Yuen Won and B. K. Base 60Compensation for core loss of adaptive flux observer based field oriented induction motor drives — Hisao Kubola and Kouki

Matsuse 67

Session PE03 — Advanced Motion Control with AC MachinesChair: N. Matsui, Nagoya Institute ofTechnologyCo-Chair: R. Krishnan, Virginia Polytechnic and State University

Sensorless vector control of induction motor compensating the variation of rotor resistance — Dong-Scok Ilyttn, S. B. Clio, and T.K.Lee 72

New motion control with inertia identification function using disturbance observer — Ichiro Awaya, Iwao Miyake, Yoshiki Kato,and Masami Ito 77

Fuzzy control of AC-drives fed by PWM-inverters — \V. Ilofmann and M. Krause 82Adaptive fuzzy control of high performance motion systems — E. Cerruto.A. Consoli, A. Raciti, and A, Testa 88A unifying approach to the robust control of electrical drives — A . Rossi and A. Tonielli 95Multicomputer-based speed control of a permanent magnet synchronous motor drives — C. Cecati, Francesco Parasiliti, and Marco

Tnisini 101AC robotics motor drive performances in a digital signal processing environment: A critical analysis — T. Ghiara, A/. Marchcsoni,

P. Segarich, and E. Sorcssi 107

Session PE04 -Analysis and Control of AC Motion Control SystemsChair: R. Spee, Oregon State UniversityCo-Chair: A. Kawamura, Yokohama National University

Loss modeling of converter induction machine system for variable speed drive — Gilhcrto C. D. Sousa, Bimal K. Bose, JohnCleland, Ron J. Spiegel, and P. Jeffrey Chappcll 114

Cold rolling reversing mill: Analysis and improvement of the dynamic behavior of the control system — Ilder Caamago da Silva,Benjamin R.Menczes, Selenio R. Silva, and Antonio V. A. Sousa e Silva 121

Microprocessor implementation of an adaptive estimator for induction motors — Jose C. Rodrigucs dc Oliveira and Bernard deFornel 127

Session PE08 - Design and Control of ConvertersChair: M. Yano, Mitsubishi Electric CorporationCo-Chair: H. Watanabe, Tokyo Metropolitan Institute of Technology

Design criteria for SEPIC and CUK converters as power factor preregulators in discontinuous conduction mode—D. S. L. Simonelti,J. Sebastian, F.S. D. dos Reis, andj. Uceda 283

Comparison among three types of dynamic current distribution control strategies — T. F. Wu, K. Siri, and C. Q. Lee 289New design of the novel AC regulator — D.K.W. Cheng, C. W. Pang, and J. H. K.Chan 295A method for reducing harmonics in output voltages of double connected inverter — Shigeo Masukawa and Shoji Iida 300On continuous control of PWM inverters in the overmodulation range including the six-step mode — J. Holtz, W. Lotzkat, and A.

Khambadkone 307Current control of AC/DC thyristor converters with model reference adaptive control — Zheng Xu, Takuro Mochizuki, Yoshiaki

Tanaka, and Tsuyoshi Hanamoto 313Sliding modes control of three phase switching converters —Nadira Sabanovic, Kouhei Ohnishi, and Asif Sabanovic 319

Session PE09 - Power Devices and ConvertersChair: J. D. Van Wyk, Rand Afrikaana UniversityCo-Chair: R. Spee, Oregon State University

Synchronization on the points of turn-off time of series-connected power semiconductor devices using Miller effect — Beom-SeokSeo, Taeck-Kie Lee, andDong-Seok Hyun 325

Some design aspects of fully and partially regenerative active snubber networks — C.A. Braz, J. P. Vandelac, and P. D. Ziogas... 330Characteristics analysis of multi-layer piezo-ceramic actuator — Clue Kasuga, Fumio Harashima, Terukazu Nishimura, and

Hiroaki Ezuhara 336Peak-current programmed dynamic current distribution control for converters connected in parallel — K. Siri, T. F. Wu, and C. Q.

Lee 340A performance comparison of PWM rectifiers and synchronous link converters — Navid R. Zargari, Geza Joos, and Phoivos D.

Ziogas 346Adjusting structural impedances for optimal electric power transmission at circuit and system level in electronic conversion

equipment — W.A. Cronje, J. A. Ferreira, J. D. van Wyk, and O. H. Stielau 352Voltage compensation under instantaneous power failure— Taeck-Kie Lee andDong-Seok Hyun 358

Session PE10 -Active/Passive Filtering with ConvertersChair: H. Akagi, Okayama UniversityCo-Chair: C. C. Chan, University of Hong Kong

A three-phase active power filter operating with fixed switching frequency for reactive power and current harmonic compensation— Luis Moran, Marcelo Diaz, Rogel Wallace, and J. Dixon 362

Analysis and design of an active power filter to cancel harmonic currents in low voltage in electrical power distribution systems —P. Enjeti, W. Shireen, and I. Pitel 368

Calculating approach and implementation for active filters in unbalanced three-phase system using synchronous detection method— C. E. Lin, C. L. Chen, and C. L. Huang 374

Proposal of variable active—passive reactance — Hirohito Funato and Atsuo Kawamura 381Implementation of soft filter damping in control circuitry — //. Jin 389

Session PE12 - Motion Control with Permanent Magnet Synchronous MotorsChair: B. K. Bose, University of TennesseeCo-Chair: T. Matsuse, Meiji University

Accurate torque control of a geared DC motor based on acceleration controller—Kenji Kaneko, Kiyoshi Komoriya, Kouhei Ohnishi,

andKazuo Tanei 395The motor driving control X-Y-Z table utilizing photoelectric device and optical pattern recognition — Koki Yamaji and Naohiro

Is Mi 401An optimal speed controller for permanent-magnet synchronous motor drives — Teck-Seng Low, Tong-Heng Lee, and Kuan-Teck

Chang 407Adaptive control for a sensorless permanent-magnet synchronous motor drive — Tian-Hua Liu and Chien-Ping Cheng 413

t control for induction motor drives based on input-output dynamic discrete model — C. B. Jacobina, A. M. N. Lima, E. B.

ieSouza, andJ. D. P. Rolim 133drive system for battery operated wheelchairs using 3-phase cage rotor induction machines—J. M. Barnard, J. D. van Wyk,

mdW. G. Dunford 138algorithm for commutation of permanent magnet AC servo motors without absolute rotor position sensors — Dong-Il Kim,Jin-Won Lee, andS. Kim 144ve feedback linearization for positive control of a switched reluctance motor—L. B. Amor, L. A. Dessaint, G. Oliver, and0. Akhrif 150

ion PE05 - High Frequency Resonant Converters<•: P. Enjeti, Texas A&M Universityhair: C. Q. Lee, University of Illinois at Chicago

•cycle resonant converter families for high performance DC/DC power conversion — Biswajit Ray 160iis, design, and optimization of a fixed frequency parallel resonant converter — M. M. Swamy 166ree level ZVS PWM converter—A new concept in high voltage DC-to-DC conversion — / . R. Pinheiro and Ivo Barbi 173plete DC analysis of LCC type parallel resonant converter — Vivek Agarwaland A.K.S. Bhat 179iven synchronous rectification in resonant topologies: Forward ZVS-MRC, forward ZCS-QRC and LCC-PRC—J. A. Cobos,J. Uceda, and A. de Hoz 185I'pe of ballast for HID lamps using series resonant circuit—Satorulnarida, Masato H. Ohsato, Gunji Kimura, Mitsuo Shioya,and T. Kawaguchi 191

ion PE06 - High Frequency Convertersr: C. Q. Lee, University of Illinois at Chicago"".hair: T. Koga, Toyo Electric Manufacturing Co.

snnection inverter consisting of large capacity DC/DC converter and HF PWM inverter fuel cell plant—Seiki Igarashi, KazuoKuroki, Yasunori Hatta, and Hiroshi Mogi 196el zero voltage switched PWM converter — Z.Q. Zang, K. lida, H. Hayashi, and S. Nagabuchi 202•vector controlled soft-switching three-phase PDM AC/DC converter with unity power factor and sinusoidal line current —M. Nakaoka, Y. Ogino, Y. Murakami, K. Hayashi, and K. Miyagawa 209\ and analysis of a laboratory switching power supply with wide output voltage range — D.K.W. Cheng, C. S. Cheng, andJ. H. K. Chan 217mance evaluations of single-ended quasi-load resonant inverter incorporating advanced-2nd generation IGBT for softswitching — Izuo Hirota, Hideki Omori, and Mutsuo Nakaoka 223lear modeling of pulsewidth-modulated and quasi-resonant converters — C. C. Chan and K. T. Chau 229

ion PE07 - Power Devices and Pulse Width Modulationr: T. Koga, Toyo Electric Manufacturing Co."•hair: A. M. Trzynadlowski, University of Nevada

proved TRIAC model for computer-aided analysis and design — G. L. Arsov 235SPICE macro model — M. Milanovic, F. Mihalic, D. Zadravec, K. Jezernik, E. Reisinger, K. Krischan, R. Filiptsch, andM.Rentmeister 240chip pulse-width modulator based on a compressed look-up table — M. Mirkazemi-Moud and B. W. Williams 246

• APWM technique with harmonics elimination and power factor control in AC choppers — Do-Hyun Jang and Gyu-HanChoe 252g nonlinear equations for selective harmonic eliminated PWM using predicted initial values — J. Sun and H. Grotstollen ... 259nentation and test of a digital quasi-random modulated SFAVM PWM in a high performance drive system—J. K. Pedersenand F. Blaabjerg 265voltage vector-based new PWM method for large capacity 3 level GTO inverter — Masato Koyama, Toshiyuki Fujii, RyoheiUchida, and Takao Kawabata 271

5 of PWM inverter switching dead times on bidirectional current analysis and compensation — / . F. Liebaut, B. LePioufle,andJ. P. Louis 277

v speed control system with linear voltage drive for brushless DC motor — Hirokazu Izawa, Shinichi Hashimoto, and Kyoichi

Okada 419luation of software controllers for permanent magnet synchronous motor BLDC drive — K. W. Lim, M. F. Rahman, K. S. Low,

andL. K. Chew 425ew sensorless drive of brushless DC motor — Noboyuki Matsui, Takaharu Takeshita, and Kohji Yasuda 430zy inference correction of calculated position angles of the sensorless direct drive servomotor — Hiroshi Watanabe, Tamotu

Akeyama, and Tomoo Fujii 436-axis stepper motor motion control system with adaptive capability — T. C. Chin, D. P. Mital, T. Lee, and O. Chutatape 442

ssion PE13- Performance Improvement of Motion Control with AC Machineshair: Y. Hori, Tokyo Universityo-Chair: G. Sousa, University of Tennessee

formance of an adaptive hysteresis band current controlled induction motor drive — B. G. Fernandes, S. K. Pillai, and V.Subbarao 447

Cementation of speed-sensor-less field-oriented vector control using adaptive sliding observers — S. Doki, S. Sangwongwanich,and S. Okuma 453

aimization of torque ripple in permanent magnet motors: A closed form solution — John Y. Hung and Zhi Ding 459luction of quantisation noise in position servosystems — P. J. Roche, J. M. D. Murphy, andM. G. Egan 464rrent overload protection features of hybrid inverter drives — J.C. Salmon 470i development and industrialization of a simple micro processor field-oriented controller—A. H. Putter and J.D. Van Wyk.... 477riable structure control of a SRM drive — G. Buja, R. Menis, and M. Valla 482

sssion PE14 - Simulation and Control of Converters'hair: G. Joos, Concordia University'o-Chair: G. Buja, University of Trieste

ICE compatible averaged models of PWM full-bridge DC-DC converter — Dariusz Czarkowski and Marian K. Kazimierczuk .. 488)bal simulation of multiple power electronic converter system using a novel iterative method — A. Ba-Razzouk, M. Tou, T.

Rafesthain, K. Debebe, and V. Rajagopalan 494ice vector control of power electronic converter filters for non-active power — G. Blajszczak and J. D. van Wyk 500ect closed form output voltage control in PWM drive converters: Philosophy, ideology, strategy, tactics — V. Oleschuk 506Itage controlled current source inverters — J. Espinoza, P. Ziogas, and G. Joos 512;ital modulator for forced commutated cycloconverters with input power factor correction — Laszo Huber and Dusan Borojevic.. 518

ssion PE15 - Converter Control and Applicationshair: D. M. Divan, University of Wisconsino-Chair: M. Farooq, Royal Military College of Canada

plication of neural networks to the optimal control of three-phase voltage controlled power inverters—Andrzej M.Trzynadlowskiand Stanislaw Legowski 524

•FT-based approach for precise tuning of a band-pass filter for the extraction of control signals from power lines — Q. Lu,D.P. Kwok, S. B. Tong, andS. Y. Yang 530

v to detect and to localize a fault in a DC/DC converter — C. S. Berendsen, G. Champenois, J. Davoine, and G. Rostaing 536lysis and experimental evaluation of a new MPPT converter topology for PV installation — D.B. Snyman andJ. H. R. Enslin.. 542plified feed-forward control of maximum power point in PV installations — D.B. Snyman and J. H. R. Enslin 548WM AC controller-based high current power supply — G. Joos and P. D. Ziogas 554ing more from fluorescent lamps through resonant converters —J. L. Duarte, J. Wijntjens, andJ. Rozenboom 560elopment of high speed solenoid valve-investigation of energizing circuit — Takashi Kajima, Yoichi Nakamura, and Kenichi

Sonoda 564

Volume II

Session RA01 - Robot ControlChair: Richard Zurawski, Swinburne Institute of TechnologyCo-Chair: P. Muraca, University delta Calabria

The allocation of hard real-time tasks to heterogeneous processors in robotic and digital control systems — J. G. A. Beaulieu, M.Farooq, C. M. Wortley, and T. Shepard 571

Parallel detection and resolution of deadlocks in multiple robots systems — Motoyasu Nagata 577A real-time telerobot simulation and control environment through parallel processing — G. Dodds and T. Ogasawara 583Compensation for servo drift in industrial robots — J. W. Jeon, S. H. Park, and S. Kim 589Robust embedded control for N-L robot manipulators with dynamic uncertainties — Pixuan Zhou, Yaochu Jin, Jing Ping Jiang,

Jing Zhu, Junren Zhu, and Wei Wei 595A moving image processing system for personal vehicle system — Seiya Shimizu, Tohru Ozaki, and M. Yoshida 600Dynamic model and vibration control of a robot arm with flexible timing belts — Koichi Fukada, Shigeo Morimolo, Yoji Takeda,

and Takao Hirasa 606Two approaches to force control by rubbertuator-driven mechanism: Application of IMC and SMC — X. Wang, T. Matsushita, S.

Sagara, and T. Yamashita 612

Session RA02 - Robot Control IIChair: H. Hashimoto, University of TokyoCo-Chair: G. Dodds, Queen's University of Belfast

Path planning for robot arms operating in a common workplace — R. Zurawski and S. Phang 618Fuzzy control of an industrial robot in transputer environment — J. Franssila and II. Koivo 624Manipulator for man-robot cooperation (control method for manipulator/vehicle system with fuzzy inference) — Yoshia Fujisawa,

Fukuda Toshio, Kazuhiro Kosuge, Fumihito Arai, Eiji Muro, H. Hoshino, T. Miyazaki, K. Ohtsubo, and K. Uehara 630A sliding observer for the elastic modes of the flexible forearm of a two-joint robot arm — P. Muraca, A. Ficola, and M. La Cava.. 636Forward kinematic calculation of parallel link manipulators — Kazuhiro Kosuge, Hiroyuki Kawamata, Toshia Fukuda, T. Kotsuka,

and T. Mizuno 640Flexible planetary gear drives in robotics — G. Mester, S. Plet, G. Pajor, and Z. Jeges 646Hypercube architecture for Newton-Euler dynamics of multiple linked robot — Motoyasu Nagata 650Coordinated motion of arc welding robots using parallel data processor — Fwnio Kasagami, Takakazu Ishimatsu, Shinsuke

Watanabe,A. Izawa, and Y. Koujina 656

Session RA03 - Force/Position & Neural Network ControlChair: S. Okuma, Nagoya UniversityCo-Chair: P. Deplanques

Hybrid position/force control of flexible manipulators on the basis of an equivalent spring model — Fumitoshi Matsuno 664Hybrid control of force and position without force sensor — Kiyoshi Ohishi, Masaru Miyazaki, and Masahiro Fujita 670Robust hybrid control scheme for a two-arm robot: Performance analysis — P. Fraisse, P. Dauchez, and F. Pierrot 676Contact force control for 2 D.O.F. manipulators based on iterative learning operation — Tatsuya Suzuki, K. Yamada, Masami

Kondoh, Kunitoshi Yamamoto, and Shigeru Okuma 682A comparison of control strategies of robotic manipulators using neural networks — Narpat S. Gehlot and Pablo J. Alsina 688Sensor-based Ctrl. vs. neural network tech. for the Ctrl, of fast mobile robots behaviors in unstructured environments — R. Zapala,

P. Deplanques, C. Novales, and B. Jouvencel 694

Session RA04 - Low Level Vision

Chair: D. Tan, Nanyang Technical University

Natural scene segmentation using fractal based autocorrelation — Ren C. Luo, Harsh Potlapalli, and David W. Hislop 700

I production of the automatic color difference discrimination system based on the dark eyes' color perception — TetsuyaMuraoka, Hideaki Kataoka, Yasuyuki Kageyama, and Mamoru Yamanaka 706

st edge detector with subpixel accuracy — C. K. Lee and W.C.So 710:ct detection in images of natural scenes represented by AR models using Laplacian pyramids application to leather defects

localization — A.F.L. Serafim 716nentation of die patterns using minimum cross entropy — C. H. Li and C. K. Lee 721amated color inspection system for color CRT displays—Toshio Asano, Keisuke Kawame, Jun Mochizuki, andNobuo Fukuhara.. 725on-based system calibration for dimensional inspection — Shenghua Ye, Dinghai Zou, and Chunhe Wang 731

>sion RA05 - Active & High Level Visionair: R. C. Luo, North Carolina State University<-Chair: K. D. Wershofen, Institute fur Messtechnik, UBM

smatic parameters estimation of robot motion using active vision — B. Jouvencel, D. Monteiro, and R. Zapata 735sual feedback control system for tracking and zooming a target — Junghyun Hwang, Yoshiteru Ooi, andShinji Ozawa 740[-time road-scene classification based on a multiple-lane tracker — K. P. Wershofen 746ve camera control: Seeing around obstacles — Keisuke Miyata and Lawrence Stark 752minimum distance measure of stereovision — Eric Sung, Harcharan Singh, and Daniel Tan 757:r optic based object recognition with multifingered robot hands — Zvi Katz, Gongliang Guo, and William A. Gruver 762r approach to and implementation of an LSI for high-speed image labeling —Nobuo Hayashi, Hiroshi Nittaya, Kohno Masahiko,

and Masahiro Kato 767

ssion RA06 - CIM & Factory Automation\air: K. Ohnishi, Keio Universityi-Chair: K. Koskinen, Technical Research Centre of Finland

[-time communication in the factory automation — C. Demartini andG. Cena 772ormance and parameter region for real time use in IEEE 802.4 token bus network — Hong Seong Park, Deok-Woo Kim, and

WookHyun Kwon 778malysis of fault effects in fieldbus protocol — A. Cavalieri, A.Di Stefano, and O. Mirabella 784•umentation issues in the handling offish for automated processing — Clarence W. deSitva andM. Saliba 789jn-line tuning method for multi-objective control of elevator groups — Atsuya Fujino, Toshimitsu Tobita, and Kenji Yoneda... 795:tion-orientated vision chips for factory automation — Ichiro Masaki 801inical overview of robotics contributions in Chile — G. Lefranc, F. Cordova, and R. Nobile 807least square circle model and parametric estimating method for the superprecision measurement of circle contour — Jiubin

Tan, Xifu Qiang, D. Li, andW. Yang 813

ssion RA07 - Mobile Robot•air: C. W. deSilva, University of British Columbiai-Chair: C. Demartini, Polit. di Torino

iware and software architecture for execution control of an autonomous mobile robot — Rogerio F. Camargo, Raja Chatila,and Rachid Alami 818

ackboard architecture for perception planning in autonomous vehicles — A.M. de Campos and M. J. Monteiro de Macedo 826ision detection and distance calculation for safety path planning based on mathematical programming methods — Masaaki

Shibata and Kouhei Ohnishi 832ion control for autonomous vehicles in outdoor environment — K. Koskinen, H. Makela, K. Rintanen, and A. Pentinnen 838otion control algorithm for non-holonomic robots in dynamic environments — L . E. Moreno, M. A. Salichs, M. Peter, andJ.

R. Pimentel 844nspection robot for feeder cables-snake like motion control — Hideo Nakamura, Takafumi Shimada, andHisata Kobayashi... 849/1OR: Optimization of motor control algorithms for mobile robots—J. R. Pimentel, E.A. Puente, D. Gachet, andJ. M. Pelaez.. 853on-based vehicle guidance — Ichiro Masaki 862

Session RA08 - CIM: Process ControlChair: A. Razban, Imperial College

Intelligent diagnosis of transparent faults in process control — P. K. Chande, S. Kher, andM. Shrivastava 868Anew knowledge-based approach to decision support for job scheduling of FMS — Weilin Yang 871An approach in the implementation of control systems using 'batch engine' technique — Ashokkumar Arumugam 877Enhancement of the Hi-FLOW (SFC language) to efficient FA systems in the tire industry — Takao Kokubu, Masaru Omura,

Makoto Tachikawa, and Kenzo Kamiyama 880The research of measuring-controlling system and measuring method for space rotating error movement of instrument spindle —

Jiubin Tan, Dongsheng Li, Xifu Qiang, and Wengou Yang 886

Session RA09 -C IM: Modeling and AlgorithmsChair: I. Masaki, GM Research LabsCo-Chair: M. Nagata, Osaka Electro-Communication University

Dynamic modelling and control simulation of automatically dispensed adhesive beads—A. Razban, B. L. Davies, and G. F. Bryant.. 891An improved method for digitized data reduction for computer integrated manufacturing — Masahiro Fujimoto and Komyo Kariya.. 896A planning method combining rule-bases and optimization algorithms for transportation network — Keisuke Abe, Makoto

Tsukiyama, and Toyoo Fukuda 902Vibration control of flexible joint—A sliding mode approach — Asif Sabanovic and Kouhei Ohnishi 907

Session RASS - Robot based Automated Deburring and ChamferingChair: T. W. Engel, United Technology Research Center

Automated force control schemes for robotic deburring: Development and experimental evaluation — G. Duelen, H. Munch, D.Surdilovic, andJ. Timm 912

Specification of an active force control tool for performing deburring and chamfering on a robot platform—Randy Roberts, ThomasEngel, and Fred Proctor 918

Sensing and control for automated robotic edge deburring — G.M. Bone and M.A. Elbestawi 927Edge finishing using hybrid position/force control of an X Y table — Gregory Starr and Clifford Loucks 934Grinding sculptured surfaces with industrial robots — Gerd Grube 940Adaptive control of deburring robots based on human demonstration data — Sheng Liu andH. Asada 946Intelligent deburring of precision components — David Dornfeld 953

Session ET01 - Fuzzy Logic and SystemsChair: YasuhikoDote, Muroran Institute ofTechnologyCo-Chair: Fred Watkins, Hyperlogic Corporation

A heuristic algorithm for fuzzy control — M. Chandwani andN. S. Chaudhari 961Fuzzy seam-tracking controller — Yoshito Sameda 966A design of auto-tuning PID controller using fuzzy logic — Hyeong-Pyo Hong, Suk-Joon Park, Kyeong-Young Cho, Young-Chul

Lim, Jong-Kun Park, T. G. Kim, and S. J. Han 971Optimal fuzzy PID control based on genetic algoritlims — P. Wang and D. P. Kwok 977On stability of fuzzy control system using a fuzzy modeling method — Shin-ichi Horikawa, Takeshi Furuhashi, and Yoshiki

Uchikawa 982DSP-based neuro-fuzzy position controller for servomotor — Yasuhiko Dote and Kazuyasu Kano 986

Session ET02 - Industrial Electronic ApplicationsChair: Sam Narasimhan, Institute of MicroelectronicsCo-Chair: Takeshi Furuliashi, Nagoya University

Fabrication of comb-shaped microactuator for multi-degrees-of-freedom system — Futoshi Fujikawa, Hirozumi Ishibashi, and

Kouhei Ohnishi 990Research and development of model-based battery state of charge indicator—Takayuki Torikai, Takaaki Takesue, Yukihiro Toyota,

and Kazushi Nakano 99^

^ software architecture for behavioral control strategies of autonomous systems — / . R. Pimentel, D. Gachet, M. A. Salichs, andA.dela Escalera 1002

3n the comparison of the performance of emerging and conventional control techniques for DC motor velocity and position control— Mo-yuen Chow, Alberico Menozi, and FrankHolcomb 1008

>ingle populated genetic algorithm and its application to jobshop scheduling — Kojima Morikawa, Takeshi Furuhashi, and Yoshiki

Uchikawa 1014^esting of sequential ILA 's — G. Ciobanu 1020'erformance of repairable parallel voting pipelined TMR system—P.K. Chande, S. V. Tokekar, A. K. Ramani, and Vrinda Tokekar. 1025

Session ET03 - Computers and CommunicationsChair: Wendy Chin, AT&T Bell LaboratoriesCo-Chair: Y. Sameda, Toshiba Corporation

"utorial paper: Computer vision for electronics manufacturing — Sam Narasimhan 1030adaptive echo cancellation using genetic algorithms —Luaie A. Al-BaBa, Steven L. Horner, and Paul B. Crilly 1041'ommunication software for concurrent real-time control — S. Congiu, G. Clemente, and M. Moro 1045'esting VLSI circuits from VHDL descriptions — T. Riesgo, Y. Torroja, E. de la Torre, and J. Uceda 1052

Session ET04 - Neural Networks - Diagnostics, Imaging, and Recognition SystemsChair: Wilbert Noronha, Gamma MetricsCo-Chair: Toshitaka Fujiwara, Mitsubishi Heavy Industry, Ltd.

)iagnosis of machine scream-identification of standard number of bearings and diagnosis of the failure modes — Kajiro Watanabeand Naruhito Toyoda 1058

>iagnosis of rotating machines by utilizing a back propagation neural net — Kwanghee Nam and Seongno Lee 1064)ptimal neural network for diagnosing multiple faults in chemical processes — Kajiro Watanabe andLiya Hou 1068i learning pattern recognition system using neural network for diagnosis and monitoring of aging of electrical motor— Young-Seong

Han, Seong-Sik Min, Won-Ho Choi, and Kyu-Bock Cho 1074nage restoration with a neural network — Seiji Kawa, Masami Kurimoto, andRokuya Ishii 1078feural network based landmark recognition for robot navigation environments — Ren C. Luo, Harsh Potlapalli, and David W.

Hislop 1084

Session ET05 - Neural Networks - Nonlinear and Control Applications and TechniquesChair: Hideki Hashoto, University of TokyoCo-Chair: John McDonnell, NOSCO

lonlinear control methods supported by learning function based on neural networks — Toshitaka Fujiwara and SylvaineMarionneau 1089

feural networks applications to nonlinear time series analysis — S.D. Pethel and C. M. Bowden 1094adaptive control of large induction motors with highly nonlinear loads using neural networks — E. P. Texiera, L. M. Neto, and

Carlos H. Salerno 1099

k neural network supervisor for behavioral primitives of autonomous systems — J. R. Pimentel, E. A. Puente, D. Gachet, L. E.Moreno, andM. A. Salichs 1105

k simple neural network structure with good expansibility based on pulse-train arithmetic — Mamoru Mima, Masaru Goishi,Norishige Chiba, andNorio Tayatna _ _ J i l l

Volume III

Session SP01 - Control Design IChair: Mo-yuen Chow, North Carolina StateCo-Chair: Harutoshi Ogai, Nippon Steel Corporation

A simple design method for sampled-data PID control systems with adequate step responses — Koichi Suyama 1117Noncausal stable inverse of SISO systems with nonminimum phase and its application to inverse dynamics of flexible arms — Guoli

Wang and Guizhang Lu 1123A new approach to constructing guaranteed cost control of uncertain dynamical systems — Hansheng Wu, Suyu Zhang, and Koichi

Mizukami 1129Extended GPC and its stability properties — Wook Hyun Kwon, Young II Lee, and Sang Woo Kim 1135Loop control system of wire rolling mill using H°° control design method — Masamoto Takano, Kenzo Takeda, Kenichi Kurotani,

and Shinoba Hosaka 1141Multivariable control of wire rod rolling using optimal regulator theory — Yukio Noguchi, Kunihiko Okamura, and Harutoshi Ogai. 1147An algorithm for robust control system design — G.R. Duan, S. J. Chen, and G. Y. Wu 1153A model for designing digital PID controllers — Jose L. Tong and James P. Bobis 1157

Session SP02 - Control Design IIChair: Ramu Krishnan, Virginia PolytechnicCo-Chair: Wook-Hyun Kwon, Seoul National University

Design and implementation of a novel Ni-Cd battery charger—Guan-Chyun Hsieh, Jung-Chien Li, and Jia-Cltwen Hwang 1163A novel digital control for active power filter — Eui-Ho Song and Bong-Hwan Kwon 1168Recursive generalized extended least squares method and its application in power plants — X. M. Xie and F.Ding 1174A consideration on MRAC for a distributed parameter system — Shigeki Kiyono, Hideji Fujikawa, and Shin-ichi Yamada 1179Positively invariance and time-optimal control for distributed linear time-invariant discrete-time systems —Nobuaki Shimizu and

Katsuhisa Furuta 1185Discontinuous and adaptive control of non necessarily minimum phase linear systems — G. Bartolini and A. Ferrara 1191Three-phase sine-wave reference generation using sliding modes — Richard M. Bass and Thomas G. Habetler 1197

Session SP03 - Intelligent ControlChair: S. T. Hung, Auburn UniversityCo-Chair: Shin-ichi Yamada, Musashi Institute of Technology

Application of fuzzy control system in hot strip mill—Naoki Sato, Noriyuki Kamada, ShujiNaito, Takashi Fukushima, and Makoto

Fujino 1202Stand test research of fuzzy control theory for speed digital control system in a turbojet engine — Chi-Hua Wu, Ding Fan, and

Jin-Ven Yu 1207Self-learning fuzzy controller— Yuji Yamamoto, Hideji Fujikawa, Shin-ichi Yamada, and Koichira Shida 1212A design method of self-tuning controller for unknown time-delay system —Akihiro Ozeki, Hideji Fujikawa, Shin-ichi Yamada,

andHiroaki Tanaka 1218Auto-tuning of classical PID controllers using an advanced genetic algorithm — P. Wang and D. P. Kwok 1224The minimal control syntheses algorithm: Plant identification issues — David Paul Stoten 1230

Session SP04 - Nonlinear SystemsChair: L. A. Dessaint, Ecole de Technol. SuperieureCo-Chair: Kiyoshi Ohishi, Osaka Institute of Technology

Speed control of converter-fed DC motor machine using non-linear state-space model — M.P.S Cltawla and B. Sarkar 1235Nonlinear state observer for sequential logic circuits — Seiichi Shin and Shin-ichi Akaboshi 1241Computing-predictor-network-based exact model matching and identification for a class of nonlinear mechanical systems —

Yukihiro Toyota, Yoshikuni Akiyama, Ryozo Noguchi, Kazushi Nakano, Miyoichi Eguchi, and Motomiki Uchida 1246Some properties of fuzzy nonlinear feedback systems — Kazuo Tanaka and Manabu Sano 1252

JI adaptive pole shifting algorithm for reference tracking — A . Chandra, L. A. Dessaint, M. Saad, and K. Al-Haddad 1258

Jession SP06 - Servo Control SystemsChair: Gerald C. Alexamder, Oregon State UniversityCo-Chair: Takuro Mochizuki, Kyurhu Institute of Technology

erformance evaluation of software acceleration/deceleration algorithms in machining and contouring — Dong-Il Kim andSungkwun Kim 1263

Jigital adaptive control for servo system with unknown nonlinear friction — Fujio Ohkawa, Shinichi Sagara, Tadashi Yamashita,

and Masayoshi Tomizuki 1270)evelopment of robust servo system for synchronous shifting of a new compact 5 -speed automatic transmission—Norimi Asahara,

Hideaki Otsubo, andHiromichi Kimura 1276)esign and implementation of a parallel identification system for adaptive control of an AC induction motor — Ming-Fa Tsai and

Ying-Yu Tzou 1282^ parameter estimation method using block pulse function for DC servo motor systems—Zheng Xu, Tsuyoshi Hanamoto, Yoshiaki

Tanaka, Izuru Karube, Takuro Mochizuki, and Z.Xu 1288)ff-line parameter estimation for the doubly-fed machine — Gerald C. Alexander, Ashok Ramchandran, and Rene Spee 1294^ hybrid controller for a SCARA robot: Analysis and simulation — L. A. Dessaint, M. Saad, BernardHebert, and K. Al-Haddad. 1299/elocity model reference adaptive control of the conventional permanent magnet and variable flux DC motors — Darren Castle

and James P. Bobis 1303

Session SP07 - Image and Speech ProcessingChair: R. J. Niederjohn, Marquette UniversityCo-Chair: Koichi Kishimoto, Toshiba Corporation

Vutoregressive approach to surface texture analysis — Dinesh P. Mital andGoh Wee Leng 1309^ hybrid algorithm for segmentation of range images — D. P. Mital, E. K. Teoh, A. W. T. Lim, and O. Chutatape 1313Spherical 3-D holographic imaging system with an exact inverse problem solution — Kenbu Teramoto, Takashi Fujii, Ken-ichi

Furutani, and Masahiro Fujiwara 1319!-D modeling and Hough transform for document analysis — P. Courtellemont, C. Olivier, and M. Avila 1325Adaptive multi-channel on-line modeling algorithm for 3-D active noise control systems—Sen M. Kuo, Brian M. Finn, andMingjie

Wang 1331ntelligibility enhancement of noise-corrupted speech based on format tracking involving prefiltering — R. J. Niederjohn, Thomas

J. Svoren, and James A. Heinen 1336

Session SP08 - Signal Processing and TransmissionChair: Okyay Koymak, Bogazici UniversityCo-Chair: Masao Yano, Mitsubishi Electric Corporation

•Joise canceller of ELF-band electromagnetic noise for underground transmission of EM-MWD—T. Shimada, S. Inoue, H. Umezu,and K. Akizuki 1342

:our-bit microprocessor control signal and eight-bit instrumentation data transmission through optical fibers — Yuying Wu, Hiroakilkeda, Hirofumi Yoshida, and Shigenobu Shinohara 1348

V singular value decomposition (S VD) based Kalman filter algorithm — L. Wang, C. Libert, and P. Manneback 1352^ special least squares method for curve fitting — H. Chen 1358Causal vs. heuristic in electronic diagnostic — Mike A. Redford and Sylvester Obiagwu 1364digital signal processing algorithms for power quality assessment — Mladen Kezunovic and Branislava Perunicic 1370Development of optimum adaptive notch filter for fixed-point implementation in active noise control — Sen M. Kuo, Sherry Zhu,

and Mingjie Wang 1376

Session SP09 - Microelectronics SystemsChair: Hoang Le-Huy, Laval UniversityCo-Chair: Takahiro Hanyu, Tolwku University

100-vertex on-chip clique-finding VLSI processor for real-time 3-D object recognition - Takahiro Hanyu, Tomoya Kodama, andTatsuo Higuchi

240 MOPS reconfigurable parallel VLSI processor for robot control — Yoshichika Fujioka, Michitaka Kameyama, and TatsuoHiguchi 1385

Design of a multi-DSP system using TMS320C25 and optimal scheduling for digital controllers — Kiyoharu Tagawa, TakashiMori, Yuzo Ohta, and Hiromasa Haneda 1391

Hardware structures and digital signal processor for image processing on real time — L. Nozal, S. Lorenzo, R. Boucho, and M.Shaban 1397

Some practical issues of the transputer based real-time systems — C. Cecati, D.Q. Zhang, and E. Chiricozzi 1403Computational architecture for linear n-processor array implementation of composite rigid-body spatial inertial matrix algorithms

— Phillip Howell 1408Current regulation of apermanent magnet (PM) synchronous motor using theTMS320C30 DSP—Walter Suemitsu.MohsenGhribi,

Philippe Viarouge, and Le-Huy Hong 1412

Session SP10 - Process Control and Parameter EstimationChair: W. Leonliard, Teclmical University BraunschweigCo-Chair: Yoichi Hori, University of Tokyo

Automatic control system of billet reheating rotary hearth furnace — H.lwamoto, O. Sugiyama, R. Nakanishi, andT. Okuyama .. 1417A method for adding counter-places to the incidence matrix of Petri net—Haruki Tanaka, Masanori Hikichi, Yoshiharu Maruyama,

Yigang Cai, Takashi Sekiguchi, and K. Okuno 1422Parameterization of unit-pulse response model — Makoto Yokoyama and Atsusuhi Watanabe 1427Identification and analysis of fuzzy model for air pollution — Kazuo Tanaka, Manabu Sano, and Hiroyuki Watanabe 1431Smart autopilots — Abbas Vahedipour and James P. Bobis 1437

Session SPS1 - Fault Detection and Diagnosis

Web process inspection system using neural network classification of scattering light — Jonas Olson and Sheldon Gruber 1443Fault monitoring using neural networks — Robert E. Uhrig 1449Design consideration for a motor fault detection artificial neural network — Mo-yuen Chow, Robert Sharpe, and James C. Hung . 1455On-line performance diagnostics for internal combustion engines — George F. Mauer 1460Identification of electronic component faults using neural networks and fuzzy systems —John C. Sutton, III 1466On fault diagnosis of analog circuits with tolerance using simulated annealing optimization algorithm — Yan Li and Xiangying

Weng 1472

Session SPS2 -Advanced Motion ControlChair: S. T. Hung, Auburn UniversityCo-Chair: Wei-Bing Gao, Beijing University of Aeronautics and Astronautics

On the method of global linearization and motion control of nonlinear mechanical systems — Wei-Bing Gao and Dong-Nan Wu.. 1476Observer-based control of permanent magnet synchronous motors — Kenneth Shouse and David Taylor 1482VSS adaptive control based on non-linear model for TTTECH pendulum — Katsuhisa Furuta, M. Yamakita, K. Konohara, J.

Hamada, and H. Kusano 1488Adaptive robust force control by disturbance observer — Satoshi Komada, Kouichi Nomura, Muneaki Ishida, Takamasa Hori, and

K. Ohnishi 1494Observer-based adaptive force control of multi-degrees-of-freedom manipulator— Toshiyuki Murakami and Kouhei Ohnishi 1500Computer control of a robotic driver for emission tests — K. Midler and W. Leonhard 1506

Session IS01 -Sensors for Physical QuantitiesChair: Ken-ichi Tanaka, National Research Laboratory of MetrologyCo-Chair: Mark Brims, Microsensor Technology

Development of multipurpose servo sensor with brushless resolver — Masayuki Hattori and William J. Iglesias 1512Design of intelligent bearing vibration monitor— MarkD. Chuey, Richard D. Tonda, and Michael A. Shanblatt 1518A structure of angular acceleration using silicon cantilevered beam with piezoresistors — Naoyuki Furukawa and Kouhei Ohnishi. 1524Detection of angular difference by acoustic wave sensor used in AGV system — Youichi Tanaka, Mitsuo Shioya, Gunji Kimura,

Tsunemori Kawahara, and A. Mori 1530

Development of person counting system using distributed touch sensor — Kazuo Nakazawa, Kazuki Mizuhara, and Tetsuya

Hirabayashi I 5 3 6

Robust vortex flowmeter based on a parametric frequency estimator — A. Poremba and F. Blischke 1541

Session IS02 - Technology for Sensors and Measuring Electronic CircuitsChair: Mark D. Chuey, GMI Engineering and Management InstituteCo-Chair: Koultei Ohnishi, Keio University

Inspection system for fine gate patterns of GaAs-FET — Masahiko Sakamoto, Keiji Nakajima, and Nobuyuki Kosaka 1545Modeling and implementation of a smart current sensor — Bin Jin 1550On the testability of analog circuits with directive faults: A rule-based solution and an equation check approach — D. P. Kwok and

Q. Lu 1556A DSP-based electric power meter — J. C. Montana, A. Lopez, M. Castilla, and J. Gutierrez 1562Schottky contact-based strain-gauge elements — P. P. Fastykovsky 1568Cutting quality of kitchen knives: An application of sensor fusion to the analysis — Toshiyuki Takatsuji and Ken-ichi Tanaka 1571A simple A/D-converter of wgt. integration type and some ratio transducers for cooperative application in digital multimeters data

acquisition systems — V. Backmutsky and V. Zmudikov 1577Digitally compensated crystal oscillator based on the self crystal as temperature sensor — F. J. Azcondo and J. Peire 1582

Session IS03 - Optical MeasurementsChair: Haruo Takatsu, Yokogawa Electric CorporationCo-Chair: Kajiro Watanabe, Hosei University

Single-eye range estimation by using displaced apertures with color filters — Yasufumi Amari and Edward H. Adelson 1588Measurement of position and orientation of prismatic object using hierarchical Hough transform—Kazuo Nakazawa, Yuko Hoshino,

and Ryuichi Kojima 1593Advanced dynamic obstacle-detecting system for railway surroundings using a highly accurate laser-sectioning method — Y. Jin,

Y. Goto, Y. Nishimoto, H. Naito, Y. Fukwnoto, and A. Iwake 1599Development of an infrared-ray moisture meter in a paper-making process —Hitoshi Hara, Ryuji Chiba, Tomoyuki Yamada, and

Kenji Isozaki 1604

Session IS04 - Sensor and Image ProcessingChair: Hideo Saito, Keio UniversityCo-Chair: Jean-Marc Wismer, Access Sensors

Motion image reconstruction of luminous intensity distribution of plasma using light emission computed tomography — HideoSaito, Hideaki Hatanaka, and Masato Nakajima 1608

On-line measurement of average pellet size with spatial frequency analysis — Masami Harayama and Mitsuaki Uesungi 1613Method for measuring the glossiness based on the psychological sense — Seiichi Serikawa and Teruo Shimomura 1619Stand alone microprocessor-based optical data acquisition system — A. R. Al-Ali 1625

Session ISSS - Intelligent Sensors and InstrumentationChair: Kinji Harada, Yokogawa Electric CorporationCo-Chair: James Knutti, Silicon Microstructwes, Inc.

Application of neural networks and fuzzy logic to consumer products — Hideyuka Takagi 1629Intelligent differential pressure transmitter using micro-resonators — Tokuji Saigusa andHideki Kawayama 1634Silicon micromachining and high speed gas chromatography — Mark Brims 1640Odor sensing system using neural network pattern recognition — Toyosaka Moriizumi and Takamichi Nakamoto 1645