icma2011digest

Conference Digest

2011 IEEE International Conference on

Mechatronics and Automation

IEEE ICMA 2011

Beijing, China

August 7 - 10, 2011

Cosponsored by

IEEE Robotics and Automation Society

Beijing University of Technology

Kagawa University

Technically cosponsored by

National Natural Science Foundation of China

Chinese Association of Automation

Chinese Mechanical Engineering Society

The Robotics Society of Japan

The Japan Society of Mechanical Engineers

Japan Society for Precision Engineering

The Society of Instrument and Control Engineers

Harbin Engineering University

Kagawa University

University of Electronic Science and Technology of China

University of Electro-Communications Changchun University of Science and Technology Intelligent Manufacturing Systems

IEEE ICMA 2011 PROCEEDINGS

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IEEE Catalog Number: CFP11839-PRT ISBN: 978-1-4244-8151-4 ISSN: 2152-7431 IEEE Catalog Number (CD-ROM): CFP11839-CDR ISBN (CD-ROM): 978-1-4244-8114-9

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Electrical and Electronics Engineers, Inc.

The Institute of Electrical and Electronics Engineers, Inc.

ForewordOn behalf of the IEEE ICMA 2011 Conference Organizing Committee, it is our great pleasure, an

honor, and a privilege to welcome you to Beijing for 2011 IEEE International Conference on Mechatronics and Automation. This conference reflects the growing interests in the broad research areas of mechatronics, robotics, sensors and automation.

ICMA 2011 marks the 8th edition of the IEEE ICMA annual conference series. We are proud to announce that a high number of 645 papers were submitted from 28 countries and regions, including 614 contributed papers, 31 papers for organized sessions, and 432 papers were accepted for oral or poster presentation at the conference after a rigorous full-paper review process, achieving an acceptance rate of less than 67%. Presentations at ICMA 2011 are organized in 7 parallel tracks, for a total of 63 sessions, including 1 poster session, taking place during the three conference days. We are fortunate to be able to invite three distinguished speakers to deliver plenary talks.

We are very glad that you are joining us at IEEE ICMA 2011 in Beijing to live this unique experience. The main objective of IEEE ICMA 2011 is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, sensors and automation to disseminate their latest research results and exchange views on the future research directions of the related fields. IEEE ICMA 2011 promises to be a great experience for participants from all over the world, with an excellent technical program as well as social activities.

We would like to express our most sincere appreciation and thanks to all of our sponsoring societies and organizations and to all the individuals who have contributed to the organization of this conference. Our special thanks are extended to our colleagues in the Program Committee for their thorough review of all the submitted papers, which is vital to the success of this conference. We must also extend our thanks to our Organizing Committee and our volunteers who have dedicated their time toward ensuring the success of this conference. Last but not least, we thank all the contributors for their support and participation in making this conference a great success. Finally, we wish you a great conference and enjoyable stay in Beijing, China.

Seiji Hata General Chair

Chunfu He General Co-chair

Hajime Asama Program Chair

Desheng Li Program Co-chair

Welcome Remarks It is my honor to welcome you to attend 2011 IEEE International Conference on Mechatronics and

Automation (IEEE ICMA 2011) on behalf of Beijing University of Technology. We are delighted to host the Conference which marked as the 8th edition of the IEEE ICMA among the annual conference series. The Conference reflects the growing interests in the broad research areas of mechatronics, robotics, sensors and automation.

To begin with, I would like to make a brief introduction to Beijing University of Technology (formerly known as Beijing Polytechnic University). This University was founded in 1960. It is a key university under the administration of the Beijing municipal government, which has established a multi-disciplinary academic structure. The structure offers various programs and also involves in diversified academic researches in the fields of science, engineering, economics, management, liberal arts and law. It is ranked as one of the 100 key universities for the 21st century. Its mission is “relying on Beijing, merging into Beijing, inspiring China and orienting itself to the world.” In fulfilling this mission, the university has become a base for cultivating qualified high-level personnel, for scientific and technological innovation and for research and development.

It is sincerely hoped that ICMA 2011 will provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, sensors and automation to disseminate their latest research results and exchange views on the future research directions of the related fields.

Finally, on behalf of Beijing University of Technology, I would like to express my sincere gratitude to all of the sponsoring societies and organizations as well as all the individuals contributed to the organization of the Conference. Also, special thanks are owed to all the authors, session organizers, plenary speakers, exhibitors for contributing their research works and making IEEE ICMA 2011 a successful and fruitful event. To all participants, I extend my heartfelt welcome and thanks for attending this event, wish your stay here in Beijing, China, is very pleasant and enjoyable.

Guangsheng Guo,�Professor�President of Beijing University of Technology

IEEE ICMA 2011 Conference Digest

Table of Content

Foreword

Welcome Remarks

IEEE ICMA 2011 Conference Committees………………….……………………………….………...i

Organizing Committees……………………………………………………………………….……. i

International Program Committee………………………………………………………………... iv

IEEE ICMA 2011 Cosponsors……………………….……………………………………….……….. xi

General Information…………………………………………………………………………………... xii

Conference Information………………………………………………………………………………xvii

Venues…………………………………………………...………………………………………...xvii

Conference Registration……………………………………………………………………….… xix

Internet Access…………………………………………………………...………………….…… xix

Special and Social Events……………………………………………………………….………….... xx

Technical Program

Plenary Talks……………………………………………………………………..………………. xxi IEEE ICMA 2011 Special Forum………………………………………….……………….....xxvii

Program at Glance……………………………………………………………………………...xxxiii Technical Session Schedule………………………………………………………..………….xxxiv

Floor Map of Conference Rooms………………………………………………….………….xxxvii

Technical Sessions

Monday, 8 August 2011…………………………………………………………………………… 1 Tuesday, 9 August 2011……………………………………………………………………..….. 25 Wednesday, 10 August 2011……………………………………………..……………………...53

Author Index………………………………………………………………………….…………...….. 83

Memo Sheet………………………………………………………………………….…………...…...99

IEEE ICMA 2011 Conference

International Scientific Advisory Board Advisory Council Honorary Chairs

T. J. Tarn Washington University, USA Toshio Fukuda Nagoya University, Japan

Advisory Council Chairs Ailin Zhang Beijing University of Technology, China Zhigang Liu Harbin Engineering University, China

Ji Zhao Jilin University, China Masahiko Ichii Kagawa University, Japan

Kazuhiro Kosuge Tohoku University, Japan A.A. Goldenberg University of Toronto, Canada

Paolo Dario Scuola Superiore Sant'Anna, Italy Masayoshi Tomizuka UC Berkeley, USA

Mario A. Rotea University of Massachusetts, USA Guenther Schmidt Technischen Universitat Munchen, Germany

Ju-Jang Lee KAIST, Korea Ren C. Luo National Taiwan University, Taiwan

Jinsong Wang UESTC, China Huadong Yu Changchun University of Science and Technology, China

Organizing Committees Founding Council Chair

Shuxiang Guo Kagawa University, Japan

Founding Council Co-Chairs Max Q.H. Meng Chinese University of Hong Kong, China

Aiguo Ming University of Electro-Communications, Japan Hong Zhang University of Alberta, Canada

Dagui Huang UESTC, China

General Chair Seiji Hata Kagawa University, Japan

General Co-Chairs Cunfu He Beijing University of Technology, China

William R.Hamel The University of Tennessee, USA Fumikazu Oohira Kagawa University, Japan

Laurent Foulloy University of Savoie, France Shuji Hashimoto Waseda University, Japan Hyung Suck Cho KAIST, Korea

Huosheng Hu University of Essex, U.K.

Program Chair

Hajime Asama The University of Tokyo, Japan

Program Co-Chairs

Desheng Li Beijing University of Technology, China Jean W. Zu University of Toronto, Canada

Darwin G. Caldwell Italian Institute of Tech., Italy Hongbin Zha Peking University, China Philip Bolon University of Savoie, France

Sunao Ishihara The University of Tokyo, Japan Fumitoshi Matsuno Kyoto University, Japan

Byung-Ju Yi Hanyang University, Korea

Organizing Committee Chair

Shuxiang Guo Kagawa University, Japan

Organizing Committee Co-Chairs

Kebin Jia Beijing University of Technology, China Aiguo Ming University of Electro-Communications, Japan

Tutorial/Workshop Chairs

Yueqing Yu Beijing University of Technology, China Yoshinori Kuno Saitama University, Japan

Yoshimi Takeuchi Osaka University, Japan Hideyuki Ishihara Kagawa University, Japan

Yangquan Chen Utah State University, USA

Invited/Organized Session Chairs Shin'ichi Yuta University of Tsukuba, Japan

Katsuhiro Kitajima Tokyo University of Agriculture and Technology, Japan Zhaoyao Shi Beijing University of Technology, China Hong Z.Tan Purdue University, USA

Kin-Huat Low Nanyang Technological University, Singapore Jinjun Shan York University, Canada

Awards Committee Chairs Hiroyasu Koshimizu Chukyo University, Japan

James K. Mills University of Toronto, Canada Songmin Jia Beijing University of Technology, China

Publications Chairs Wei Zhang Beijing University of Technology, China

Satoru Takahashi Kagawa University, Japan

Publicity Chairs Shujun Chen Beijing University of Technology, China

Hideyuki Sawada Kagawa University, Japan Guangjun Liu Ryerson University, Canada

Qin Li Beijing University of Technology, China

Finance Chairs Songling Yang Beijing University of Technology, China Takahiro Wada Kagawa University, Japan

Local Arrangement Chairs Shiwei Feng Beijing University of Technology, China

Jinwei Fan & Lixia Liu Beijing University of Technology, China

Conference Secretariats Liwei Shi Kagawa University, Japan

Bendong Liu Beijing University of Technology, China Liying Su & Shuai Huang Beijing University of Technology, China

Conference Web System Administrator Liwei Shi Kagawa University, Japan

Program Committees

Program Chair

Hajime Asama The University of Tokyo, Japan

Program Co-Chairs

Desheng Li Beijing University of Technology, China Jean W. Zu University of Toronto, Canada

Darwin G. Caldwell Italian Institute of Tech., Italy Hongbin Zha Peking University, China Philip Bolon University of Savoie, France

Sunao Ishihara The University of Tokyo, Japan Fumitoshi Matsuno Kyoto University, Japan

Byung-Ju Yi Hanyang University, Korea

International Program Committee Adachi, Fumiyuki� Addie, Ron� Aiyama, Yasumichi� Althoefer, Kaspar�Ando, Kazuaki� Ang, Wei Tech� Aoyama, Hisayuki� Arai, Fumihito�Arai, Tamio� Arai, Tatsuo� Araki, Kiyomichi� Arzanpour, Siamak�Asada, Minoru� Asama, Hajime� Baeg, Sang Hyeon� Bai, Ou�Ben-Tzvi, Pinhas� Bi, Shusheng� Bi, Zhuming� Bian, Hongyu�BIDAUD, Philippe� Bolon, Philippe� Boustany, Nada� Brown, Martin�Cai, Lilong� Caldwell, Darwin G.� Cao, Maoyong� Ceccarelli, Marco�Chan, Min Byung� Chen, Chun-Ta� Chen, Deyun� Chen, Feng�Chen, Guanlong� Chen, I-Ming� Chen, Ken� Chen, Liguo�Chen, Ting� Chen, Weidong� Chen, Weihai� Chen, Wenhua�Chen, Xin� Chen, Xinkai� Chen, Yangquan� Chen, Zhangwei�Cheng, Allen� Cheng, Jianhua� Cheng, Ji-Xin� Cho, Young-Jo�Choi, Hyouk Ryeol� Choi, Hyuntaik� Choi, Junho� Choi, Youngjin�Chong, Nak Young� Chou, Wusheng� Chu, Jinkui� Chugo, Daisuke�Chui, Dehua� Chung, Juno� Chung, Woojin� Chung, Woojin�Cui, Jianwen� Dai, Jian Sheng� Dai, Xuefeng� Dailey, Matthew�

Damaren, Chris� Dario, Paolo� Davis, Steve� Dechev, Nick�Deco, Gustavo� Deguang, Shang� Demiris, Yiannis� Deng, Yulin�Dillmann, Ruediger� Ding, Jiexiong� Ding, Xilun� Do, Hyun Min�

Dodd, Tony� Doh, Nakju� Dohta, Shujiro� Doi, Shun ichi�Dong, Hongbin� Dong, Zaili� Du, Pingan� Du, Xiliang�Du, Zhijiang� Duan, Haibin� Dubay, Rickey� Dufosse, Michel�Fan, Jinwei� Fang, Yongchun� Fei, Qin� Feng, Gary�Feng, Weixing� Fiorini, Paolo� Foulloy, Laurent� Fu, Bin�Fu, Jiacai� Fu, Mingyu� Fu, Sheng� Fu, Shuigen�Fu, Yili� Fujino, Tadashi� Fujisaki, Kiyotaka� Fujisawa, Shoichiro�FUJIWARA, Takayuki� Fujiwara, Yoshitaka� Fukuyama, Hidenao� Fung, Wai-Keung�Furusho, Junji� Furuta, Katsuhisa� Furutani, Eiko� FURUTANI, Katsushi�Furuya, Nobuyuki� Gang, Tong� Gao, Guohua� Gao, Hongtao�Gao, Lin� Gao, Shesheng� Gao, Wei� Gao, Xueshan�Ge, Sam� Ge, Shuzhi Sam� Ge, Yunjian� Gofuku, Akio�Gong, Haixia� Gong, Yadong� Gong, Zhiguo� Graefe, Volker�Gu, Dongbing� Gu, Jason� Gu, Xingzhong� Guan, Yisheng�Guglielmelli, Eugenio� Guo, Maozu� Guo, Mingliang� Guo, Peng�Guo, Shuxiang� Guo, Yi� Habibi, Saeid� Haga, Yoichi�Hamaguchi, Tetsuya� Hamel, William R.� Han, Hongbin� Han, Jiqing�Han, Min� Han, Yujie� Hane, Kazuhiro� Hao, Gang�Harada, Kensuke� Hariri, Alireza� Hasegawa, Osamu� Hasegawa, Tadahiro�Hasegawa, Yasuhisa� Hashimoto, Hiroshi� Hashimoto, Koichi� Hashimoto, Minoru�Hashimoto, Shuji� Hata, Seiji� Hattori, Tetsuo� HAYASHI, Jun-ichiro�He, Cunfu� He, Jia� He, Jiping� Hino, Junichi�Hirai, Shigeoki� HIRATA, Hideyuki� Hirata, Koichi� Hirata, Yasuhisa�Hirose, Akira� Hong, Keum-Shik� Hong, Seung Ho� Hori, Toshio�Hosoda, Kou� Hou, Mingshan� Hou, Shuping� Hou, Zhenguang�Hu, Chao� Hu, Huosheng� HU, Jiquan� Hu, Jun�Hu, Jwu-Sheng� Hua, Jun� Huang, Dagui� Huang, Hongzhong�Huang, Ping� Huang, Qiang� Huang, Qingjiu� Huang, Tian�Huang, Yalou� Huasong, Min� IBA, Hitoshi� Ichikawa, Akihiko�Ichiki, Masatoshi� Iguchi, Tetsuhiro� Ikehara, Masaaki� Ikeuchi, Masashi�Ikuta, Koji� INOMO, Hitoshi� Ise, Toshifumi� ishiguro, Hiroshi�Ishihara, Hidenori� Ishihara, Sunao� Ishii, Akira� Ishii, Chiharu�Ishii, Kazuo� Ishii, Koji� Ishikawa, Junzo� Ito, Tomotaka�Iwamura, Yoshiaki� Iwatsuki, Nobuyuki� Izuishi, Kunihiko� Ji, Ping�Jia, Kebin� Jia, Songmin� Jia, Zhengyuan� Jiang, Pingyu�Jiang, Zhen� Jiao, Shuhong� Jin, Hongzhang� Jing, Wuxing�Jo, Yongho� Jr., Marcelo H.Ang� Jung, Kwangmok� Jung, Seul�

K.H.Pang, Grantham� Kagami, Shingo� Kagawa, Koji� Kamata, Minoru�Kamiya, Yoshitsugu� Kanamori, Chisato� Kaneko, Shunichi� Kang, Sung Chul�Kang, Taehun� Karaki, Masayuki� Kato, Takahisa� Khajepour, Amir�Kiguchi, Kazuo� Kim, Byeongho� Kim, Chang Hwan� Kim, Doik�Kim, Dong Hwan� Kim, Jinhyung� Kim, Jung� Kim, Keehoon�Kim, Sungshin� Kim, Wheekuk� Kiong, Tan Kok� Kitajima, Hiroyuki�Kitajima, Katsuhiro� Kobayashi, Tetsuo� Kobayashi, Toshihiro� Koh, Kyungchul�Komeda, Takashi� Kometani, Reo� Kong, Xiawen� Konyo, Masashi�Koo, Ja Choon� Koshimizu, Hiroyasu� Kosuge, Kazuhiro� Kotiw, Mike�Kotosaka, Shinya� Kouzani, Abbas� Koyanagi, Mitsumasa� Kubota, Naoyuki�Kubota, Takashi� Kulkarni, S. M.� Kuno, Yoshinori� Kurazuma, Ryo�Kurisu, Masamitsu� Kuroki, Nobutaka� Kuwakado, Hidenori� Kuwano, Hiroki�Kyriakopou, Kostas J.� Lai, Yongjun� Lan, Hai� Laschi, Cecilia�Laugier, Christian� Lee, Jang Myung� Lee, Jihong� Lee, Minchul�Lee, Songjun� Lee, Yikuen� Li, Bin� Li, Bing�Li, Chunwen� Li, Desheng� Li, Gang� Li, Haisen�Li, Hongsheng� Li, Howard� Li, Jianfeng� Li, Jiangang�Li, Jin� Li, Lei� Li, Li� Li, Mantian�Li, Qin� Li, Wenfeng� Li, Xiaoshan� Li, Xiaoyang�Li, Xiukun� Li, Yan� Li, Yangmin Li, Youfu�Li, Yuhua� Li, Yun� Li, Yunhua� Li, Zhang�Li, Zhiyi� Li, Zhiyong� Li, Zhongjian� Lian, Feng-Li�Liang, Guolong� Liang, Yan� Liao, Hongen� Liao, Wei-Hsin�Lin, Chyi-Yeu� Lin, Ming-Tzong� Liu, Bo� Liu, Da�Liu, Dikai� Liu, Fang� Liu, Fanming� Liu, Guangyu�Liu, Haibo� Liu, Honghai� Liu, Hugh� Liu, Jiming�Liu, Jindong� Liu, Jinguo� Liu, Liqiang� Liu, Ming�Liu, Peter X.� Liu, Qing� Liu, Rong� Liu, Xiangdong�Liu, Xiaoping� Liu, Xin-Jun� Liu, Yongguang� Liu, Yugang�Liu, Yunhui� Liu, Zhen� Long, Guilu� Lottin, Jacques�Lou, Yunjiang� Loureiro, Rui� Low, Kin-Huat� Lu, BaoLiang�Lu, Shengfu� Lu, Tien-Fu� M.Chen, Ben� M.Gupta, Madan�Ma, Chunguang� Ma, Shugen� Ma, Xudong� Mae, Yasushi�Magnenat-Thalm, Nadia Mao, Jianqin� Maruyama, Hisataka� Masaki, Yamakita�Masek, Vlastimil� Mashatan, Vahid� Mashec, Vlasitimi� Masuda, Tadashi�Matsuhisa, Hiroshi� Matsunaga, Saburo� Matsuno, Fumitoshi� Matsuno, Takayuki�Matsushige, Kazumi� Maxwell, Andrew� Melchiorri, Claudio� Meng, Max Q.H.�

Meng, Yan� Mills, James K.� Minami, Hirotsugu� Minato, Kotaro�Minemura, Kiyoshi� Ming, Aiguo� Mitsuishi, Mamoru� Miyanaga, Yoshikazu�Miyauchi, Satoru� Mo, Hongwei� Mo, Shuhua� Mochiyama, Hiromi�Moon, Yong Sun� Mori, Hiroki� Morii, Masakatsu� Morikawa, Hiroyuki�Morishige, Koichi� Morishima, Keisuke� Morita, Noboru� Morita, Yoshifumi�Mrad, Ridha Ben� Murakami, Toshiyuki� MUSCATO, Giovanni� NAGATA, Fusaomi�Nagatani, Keiji� Nagato, Keisuke� Nakajima, Masahiro� Nakamura, Akio�Nakamura, Hikaru� Nakao, Masayuki� Nakatani, Akihiro� Nakauchi, Yasushi�Nanayakkara, Thrish� Nefti-Meziani, Samia� Nelson, Bradley J.� Ni, Jinping�Ni, Zhonghua� Ning, Hui� Nojima, Toshio� Oana, Hidehiro�Obara, Minoru� Ogose, Shigeaki� Ohara, Kenichi� Ohsawa, Yasuharu�Ohtake, Hiroshi� Oka, Koichi� Okada, Eiji� Oki, Eiji�Okuma, Masaaki� Okuno, Hiroshi� Omichi, Takeo� Oohira, Fumikazu�Osumi, Hisashi� Otake, Mihoko� Ouezdou, Fathi Ben� Ouyang, Puren�P.MILLER, DAVID� Pan, Yajun� Park, Jong Hyeon� Park, Jooyoung�Park, Sangdok� Payande, Sharam� Perez, Ruben� Pobil, Angel P.del�Prassler, Erwin� Qi, Guangyun� Qi, Hairong� Qi, Naiming�Qiao, Gang� Qiao, Hong� Qiu, Anqi� Qiu, Hua�Radermacher, Klaus� Rao, Wenbi� Ren, Carolyn� Ren, Wei�Ren, Xiangshi� Rhim, Sungsoo� Roh, Segon� Rong, Weibin�Ru, Changhai� Ryu, Jee-Hwan� Sabatier, Jocelyn� Sabti, Ali�Saito, Takashi� Sakaguchi, Masamichi� Sakai, Shuichi� Sakka, Sophie�Sakurai, Yoshio� Salman, Shaaban Ali� Sampei, Seiichi� Sandini, Giulio�Sawada, Hideyuki� Sekiyama, Kousuke� Semini, Claudio� Shan, Jinjun�Shao, Keyong� Shao, Xinjian� Sharifi, Farrokh� Shen, Yantao�Sheng, Jie� Sheng, Weihua� Shi, Guangfan� Shi, Haizhang�Shi, Jichuan� Shi, Zhen� Shibata, Takanori� Shimojo, Makoto�Shimotsu, Masateru� Shin, Dong Ryeol� SHIRAKI, Wataru� Shoham, Moshe�Soar, Jeffrey� Son, Jaebum� Song, Jae-Bok� Song, Kai-Tai�Song, Quanjun� Stasse, Olivier� Stein, Cathryne� Su, Chanmin Q.�Su, Chun-yi� Su, Liying� Sugar, Tom� Sugihara, Tomomichi�Sugita, Naohiko� Suh, Il Hong� Sun, Baoyuan� Sun, Daqian�Sun, Dong� Sun, jinwei� Sun, Kangning� Sun, Xiaojun�Sun, Yu� Sun, Zhaowei� Suzuki, Minoru� Suzuki, Takahiro�Suzuki, Yuji� Ta, Jeffrey Too Chuan� Tadakuma, Kenjiro� Takahashi, Ryoichi�Takahashi, Satoru� Takahashi, Satoshi� Takahashi, Tatsuro� Takaiwa, Masahiro�Takamasu, Kiyoshi� Takanobu, Hideaki� Takasaki, Masaya� Takeda, Takashi�

Takeda, Yukio� Takesue, Naoyuki� Takubo, Tomohito� Tan, Jindong�Tan, Lihai� Tan, Min� Tan, Zhenfan� Tanaka, Mami�Tanaka, Takayuki� Tang, Mo� Tang, Yike� Tanikawa, Tamio�Tanji, Yuichi� Tao, Nongjian� Tarumi, Hiroyuki� Terada, Hidetsugu�Tian, Yantao� Tomita, Naohide� Tonet, Oliver� Torii, Akihio�Touge, Tetsuo� Tsagarakis, Nikos� Tsai, Ching-Chih� Tsuji, Toshio�Tsukamoto, Hiroshi� Tung, Steve� Ueno, Satoshi� Vachkov, Gancho�Vai, Ming-I� Vanderborght, Bram� Vernon, Brent� Vlacic, Ljubo�Voos, Holger� Wada, Masayoshi� Wada, Osami� Wada, Takahiro�Wan, Feng� Wan, Xinhua� Wang, Baikun� Wang, Cheng�Wang, DongMei� Wang, Gang� Wang, Guoli� Wang, Hua�Wang, Joseph� Wang, Keqi� Wang, Lizhen� Wang, Ludan�Wang, Michael Yu� Wang, Peishan� Wang, Pu� Wang, Shuchen�Wang, Shuxing� Wang, Tongyu� Wang, Wen� Wang, Xianghong�Wang, Xiaoyun� Wang, Xin� Wang, Xinsong� Wang, Yafeng�Wang, Yuechao� Wang, Yuezong� Wang, Zhidong� Wang, Zhuo�Wang, Zongyi� Wang, Zuobin� Warisawa, Shin-ichi� Watanabe, Mutsumi�Wen, Bangchun� Wen, Paul� Wong, Pak-Kin� Wu, Changhua�Wu, Gang� Wu, Jinglong� Wu, Lei� Wu, Shijing�Wu, Xiaofeng� Wu, Xiaojun� X.Yang, Simon� Xi, Jeff�Xi, Zhihong� Xiang, Zhengrong� Xiao, Jizhong� Xiao, Lan�Xie, Lihua� Xie, Ming� Xie, Shane� Xie, Shaorong�Xin, Ming� Xiong, Caihua� Xu, Bo� Xu, Chunquan�Xu, De� Xu, Dingjie� Xu, Fen� Xu, Honghai�Xu, Jianan� Xu, Lixin� Xu, Mengguo� Xu, Qingsong�Xu, Shijie� Xu, Yaoqun� Xue, AnKe� Xue, Dingyu�Yakou, Takao� Yamada, Takayoshi� Yamaguchi, Tomomi� Yamamoto, Manabu�Yamamoto, Motoji� Yamamoto, Yoshio� Yamashita, Atsushi� Yamaura, Hiroshi�Yan, Shaoze� Yan, Shengyuan� Yanagihara, Mamoru� Yang, Enxia�Yang, Erfu� Yang, Fang� Yang, Guiliin� Yang, Hyun Suck�Yang, Jianwu� Yang, Jing� Yang, Kwangjin� Yang, Qingsheng�Yang, Wu� Yang, Xiukun� Yang, Yong� Yang, Yousheng�Yang, Zhaojun� Yano, Masafumi� Yao, Yiyu� Ye, Cang�Ye, Changlong� Ye, Shujiang� Yi, Byung-Ju� Yi, Chuanyun�Yi, Jianqiang� Yin, Guofu� Yin, Zhengsheng� Yin, Zhouping�Ying, Lixia� Ying, Xianghua� Ying-His, FUH,� Yokokohji, Yasuyoshi�Yokota, Sho� Yoshida, Shunichi� You, Bo� Yu, Dejie�

Yu, Huadong� Yu, Jie� Yu, Junzhi� Yu, Qiang�Yu, Shui� Yu, Xiaoyang� Yu, Yong� Yu, Yueqing�Yuan, Jianjun� Yuan, Juntang� Yuan, Libo� Yuan, Xiaobu�Yue, Dong� Yue, Yong� Yun, Chao� Yuta, Shin ichu�ZENG, Chunnian� Zha, Hongbin� Zhang, Chengjin� Zhang, Dan�Zhang, Dianlun� Zhang, Hong� Zhang, Jianpei� Zhang, Jianwei�Zhang, Jinxiu� Zhang, Lei� Zhang, Lijun� Zhang, Lixun�Zhang, Mingjun� Zhang, Rubo� Zhang, Xianmin� Zhang, Xiaolong�Zhang, Xiaoyu� Zhang, Xinming� Zhang, Xuping� Zhang, Yanhua�Zhang, Yi� Zhang, Yimin� Zhang, Yong� Zhang, Yongde�Zhang, Yonggang� Zhang, Youmin� Zhang, Yunong� Zhang, Zhaohui�Zhang, Zu Guang� Zhao, Cangwen� Zhao, Chunhui� Zhao, Lin�Zhao, Qing� Zhao, Xin� Zhao, Xinhua� Zhao, Yuxin�Zhao, Zhijun� Zheng, Fei� Zheng, Guibin� Zheng, Jinyang�Zheng, Yuanfang� Zhong, Ning� Zhou, Xunyu� Zhu, Chi�Zhu, Chunbo� Zhu, George� Zhu, Jianguo� Zhu, Qidan�Zhu, Xiangyang� Zhu, Xiaorui� Zhu, Xilin� Zhu, Yu�Zu, Jean� Zyada, Zakarya�

IEEE ICMA 2011 Conference

Cosponsors

IEEE Robotics and Automation Society

Beijing University of Technology

Kagawa University

Technical Cosponsors

National Natural Science Foundation of China Chinese Association of Automation

Chinese Mechanical Engineering Society

The Robotics Society of Japan

The Japan Society of Mechanical Engineers

Japan Society for Precision Engineering

The Society of Instrument and Control Engineers

Harbin Engineering University

Kagawa University

University of Electronic Science and Technology of China

University of Electro-Communications

Changchun University of Science and Technology

Intelligent Manufacturing Systems

General Information

Beijing

Beijing, which was founded 3000 years ago, is the capital of the People's Republic of China (PRC). It is also the nation's political and cultural hub. Additionally, it is the focal point for the country's transportation, scientific and technological development, education and communication. Its present-day population is over eleven million, thus, it is the second largest city in China. Previously known in English as Peking, the name was changed when the system for spelling Chinese words in English changed; the name in English means "northern capital". Beijing is one of the Great Ancient Capitals of China and has hosted the seat of government for much of China's history. It is the political, economic, academic, and cultural center of the country. Tradition and modern civilization are well integrated in this beautiful city.

The long history of Beijing endows the city with a rich cultural heritage. The Great Wall, one of the world's great wonders and one of the very few man-made structures that can be seen from space, extends several thousand miles, and passes relatively near to Beijing. The Forbidden City includes the most splendid group of imperial palaces in the world. The temple of heaven is the place of worship for emperors of various dynasties of China as well as a splendid representation of ancient Chinese architectural art. These sites have been selected by the United Nations Educational, Scientific and Cultural Organization as representing the world cultural heritage. Hutong (Chinese alleys) and compound courtyards (old Beijing residential quarters) are found throughout Beijing. These streets and buildings have witnessed the ups and downs of the city and the people in past centuries and are symbolic of the life of Beijing people. Few cities have the unique historical charm of Beijing. Its wide thoroughfares, magnificent gate tower and memorial arch, and grand palaces all speak to the extensive history of this city. It also stands as a symbol of China's grandeur, history, culture and mystery. Beijing is also an approachable and visitor-friendly city.

Changes have been taking place day-by-day in Beijing since China's reform and opening to the outside world. As summarized in a popular saying, Beijing is growing taller with more and more skyscrapers while growing younger with the improving living standards and more diversified life style.

This is Beijing, old and young, full of attractions. It is our sincere wish that you will make the best of your time here and we believe you will bring home more than what you expect.

Hotel Information

� Beijing Empark Grand Hotel

IEEE ICMA 2011 will be held in the city of Beijing, at Beijing Empark Grand Hotel, which serves as both the official conference hotel and the venue for the technical program. Located in the west business district of Beijing and the east side of Zhongguancun, Beijing Empark Grand Hotel - the modern 5-star hotel including accommodation, exquisite dining, entertainment, conferencing, office building, flat apartment, offers breathtaking views of the Summer Palace, Ba Da Chu Park, West Hill, Fragrant Hill. The highway around city near the hotel gives the direct access to the Ba Da Ling Great Wall and it takes 35 minutes to get to the Beijing Airport. With a total square area of 180000, the hotel features lobby, lobby lounge, tea house, business center, commodity department, cafeteria, bar, Japanese restaurant, Chinese Restaurant, conference rooms, banquet hall, executive floors, underground non-night city, satisfying every need of today's smart business and leisure travelers.

Attractions

� Great Wall

A Chinese saying goes that He who has never been to the Great Wall is not a true man. If we laid the bricks and rocks used in the Great Wall of Ming to form a wall one meter (1.1 yard) wide and five meters (16.4 feet) high, it could circle the earth at the equator with great ease. It is such a spectacular and formidable architectural feat that anyone who comes to China should not miss it under any circumstances. The Badaling Great Wall, constructed in 1502 (during the Ming Dynasty), once served as a crucial military fortification, and is now the most impressive and representative section of the striking Great Wall. It is about 70 kilometers (43.4 miles) from the downtown area of Beijing. As Badaling was once an important military strategy point, here the wall is comparatively high and firm. It has a length of 3,741 meters (2.3 miles) and it is equipped with dense watchtowers. The wall is about 8.5 meters (27.9 feet) high and slopes inward as it rises in height. The wall is 6.5 meters (21.3 feet) wide at its base, and its rim spans about 5.7 meters (18.7 feet) across.

� Tiananmen Square

Tiananmen Square is the geographical center of Beijing City. It is the largest city square in the world, occupying an area of 440,000 square meters (about 109 acres), and able to accommodate 10,000,000 people at one time. In the center of the Square stands the Monument to the People's Heroes, which commemorates the martyrs who devoted their lives to the Chinese people. It reaches 37.94 meters (124 feet) which makes it the biggest monument in Chinese history. The body is made of hardy granite and is surrounded by white balusters. Tiananmen Tower in the south was built in 1417 during the Ming Dynasty (1368-1644). During this dynasty and the following Qing Dynasty (1644-1911) it was where proclamations were issued to the whole nation. The common people were prohibited from entering the tower, but now tourists with tickets are permitted to climb it. It has five arched gates and nine principle hall columns. With the delicately carved white marbles on its base and yellow tiles on the roof, the tower is quite resplendent. Under the tower flows the limpid Jinshui River, across which seven exquisite bridges are perched, named the Golden Water Bridges.

� Summer Palace

The Summer Palace, Yiheyuan in Chinese, is the most celebrated imperial garden in China. The garden came into existence early in the 1750s and had once been a summer resort for the emperors. It is acclaimed as a museum of gardens in China, for a visit to this garden bestow on sightseers a glimpse of representative scenes all over China.

Weather

Beijing lies in the continental monsoon region in the warm temperature zone and its climate represents as hot and rainy in summer and cold and dry in winter. The four seasons in Beijing are distinct. It is dry, windy and sandy in spring and hot and rainy in summer. August and September are the end of summer and the beginning of autumn in Beijing. This is the best season of the year when the sky is blue and clear; the air is crisp, mild and humid.

�

Month JAN FEB MAR APR MAY JUN JUL AUG SEP OCT NOV DEC

°F 25 30 43 57 68 75 79 77 68 55 41 28

°C -4 -1 6 14 20 24 26 25 20 13 5 -2

Transportation

All the registrants should make their own local transportation in the city. Travel by taxi is the most convenient and fastest option for the journey. Beijing is not only famous for charming natural scenery but also for large numbers of taxis and the cheapest taxis cost: RMB2.00 per km with base price RMB10.00! Please prepare some changes in advance for taxi fee or city bus cost in the staying in Beijing.

It takes about 40 minutes by taxi from the Beijing Capital Airport to Beijing Empark Grand Hotel, the taxi fare is about RMB 100 (approx. US$12), tollgate fee is RMB10. Whenever you arrive at the airport, there are always many taxis waiting at the airport to pick up passengers. We suggest you wait for taxi at the airport designated taxi station (Exit No. 7). Please ask for a receipt with the taxi.

Useful Information

� Language: Official language is Mandarin and most people also use their local dialect. The standard spoken Chinese is Putonghua. English can be understood by many young people and is used in hotels and big restaurants. In all tourist hotels, staff can speak in English, Japanese and other languages. They can also write down addresses or instructions in Chinese for taxi drivers or others. In addition, roads in major cities are signposted in Pinyin, the official Romanization system of the Chinese characters, which makes it quite easy to get around with the help of a map.

� Currency: Renminbi (RMB) is the only currency to be used in China. RMB is also called Chinese Yuan. The unit of Renminbi is yuan and with smaller denominations called jiao and fen. The

conversion among the three is: 1 yuan = 10 jiao = 100 fen. Paper notes are issued in denominations of 1, 2, 5, 10, 50 and 100 yuan; 1, 2 and 5 jiao; and 1, 2 and 5 fen. Coins are issued in denominations of 1 yuan; 5 jiao; and 1, 2 and 5 fen.

Money exchanges by cash or traveler’s cheques can be made at the branches of Bank of China at Beijing International Airport, hotels and tourist stores. Please remember to keep the receipt to exchange back to foreign currency when leaving China.

� Credit Cards: Visa, Master Card and American Express are the most commonly used in China. Cards can be used in most middle to top-range hotels, Friendship and department stores, but they cannot be used to finance your transportation costs.

� Time: GMT + 8 hours (the whole of China is set to Beijing time)

� Electricity: Electricity is 220 Volts, 50 AC; plugs can be three-pronged angled, three-pronged round, two flat pins or two narrow round pins.

� Water: Bottled mineral water can easily be bought in all stores and street kiosks for RMB3. And sometimes hotels provide it free of charge. Furthermore, potable water is only available in a few 4 to 5 star hotels, while water in thermos flasks in rooms is usually non-potable tap water.

� Measurement: In Metric system

� Tipping: Tipping is not customary outside of the foreign joint-venture hotels and is officially discouraged. But hotel bellboys usually expect RMB 2 – 5 per bag.

� Attention: Smoking is prohibited in public places in Beijing, such as hospitals, office buildings, theatres, cinemas, museums, planes, and trains

� Hotlines: 110 - Police 119 – Fire 120 – Ambulance

Conference Information

VenueIEEE ICMA 2011 will be held in the city of Beijing, at Beijing Empark Grand Hotel, which serves as

both the official conference hotel and the venue for the technical program.

Beijing Empark Grand Hotel, a 5 star hotel, is located in the west business district of Beijing and the east side of Zhongguancun with a total square area of 180000, the hotel features lobby, lobby lounge, tea house, business center, commodity department, cafeteria, bar, Japanese restaurant, Chinese Restaurant, conference rooms, banquet hall, executive floors, underground non-night city, satisfying every need of today's smart business and leisure travelers.

Chinese Address Cards

Beijing Empark Grand Hotel,

69Tel: (86-010) 88598888

Fax: (86-451) (86-010) 88599999

Conference Registration

A conference registration desk will be set up and opened at the Pre-Function Area of Beijing Empark Grand Hotel during the following hour:

August 7, 2011: 14:00 ~ 18:30 August 8, 2011: 08:00 ~ 18:00 August 9, 2011: 08:00 ~ 18:00 August 10, 2011: 08:00 ~ 16:00

Internet Access

Free Internet access will be provided during the conference period, to the IEEE ICMA 2011 participants at the Conference Room on 2nd floor of the Beijing Empark Grand Hotel. Broadband Internet access services are also provided at the conference hotel for a fee. For the fee information, please contact the hotel you are staying directly.

Social Events

The social events organized by the IEEE ICMA 2011 include the conference reception, the awards banquet, the conference registration, the farewell party, etc.

Conference Reception

The Conference Reception will be held from 17:30 to 18:30 on August 7, 2011 at International Conference Room, 2nd floor of Beijing Empark Grand Hotel. All the conference participants are welcome to join this event.

Awards Banquet

The Awards Banquet (Hosted by Beijing University of Technology) will be held from 18:30 to 21:00 on August 9, 2011 at Banquet Hall of Beijing Empark Grand Hotel. All the conference participants are welcome to join this event.

Farewell Party

The Farewell Party will be held from 17:30 to 18:30 on August 10, 2011 at International Conference Room, 2nd floor of Beijing Empark Grand Hotel. All the conference participants are welcome to join this event.

IEEE ICMA 2011 Conference Plenary Talk 1

Full Research for Sustainable Industry (Tentative)

Hiroyuki Yoshikawa, Ph.D.Engineer

Director-GeneralCenter for Research and Development Strategy (CDRS)

JST, Japan

Abstract:Engineering for sustainabilityis to establish useful principles for people who work to realize sustainability on the earth. Sustainability consists of diversified elements to be described in terms of many disciplines: physical, social and humanities. There remain still many facts influencing sustainability that are not yet well understood scientifically. Therefore, the engineering discipline of sustainability is neither an application of existing sciences nor mix of existing engineering disciplines. It is a new engineering domain that is based on scientific knowledge not found easily in traditional scientific disciplines. It requires basic researchers to create new knowledge and sometime requests to establish new domains of science. Methodically, the engineering for sustainability must be synthetic

because the target of this domain is clearly and concretely given, unlike conventional engineering disciplines such as mechanical engineering. Then, how shall we establish the engineering for sustainability?

Short Biography for Dr. Hiroyuki Yoshikawa

Education:Bachelor of Engineering (Precision Engineering), The University of Tokyo, 1956. Doctor of Engineering, The University of Tokyo, 1964.

Professional Career: Oct. 1956: Research Member, Institute of Physical & Chemical Research, Tokyo. Apr. 1966: Associate Professor of Engineering, The University of Tokyo. Apr. 1967: Senior Visiting Fellow, University of Birmingham, UK. Apr. 1977: Visiting Professor, Technical University of Norway. Jul. 1978: Professor of Engineering, The University of Tokyo. Apr. 1989: Dean, Faculty of Engineering, The University of Tokyo. Apr. 1990: Vice President, The University of Tokyo. Apr. 1992: President, The Japan Society for Precision Engineering. Apr. 1993: President, The University of Tokyo. Apr. 1997: Science Adviser to the Minister of Education, Science, Sports and Culture. Jun. 1997: Fellow, Churchill College, University of Cambridge Jul. 1997: President, Science Council of Japan (SCJ). Sep. 1997: President, Japan Society for the Promotion of Science (JSPS). Apr.1998: President, The University of the Air. Sep. 1999: President, International Council for Science (ICSU). Apr. 2001: President, National Institute of Advanced Industrial Science and Technology (AIST) Apr. 2011: Director-General, Center for Research and Development Strategy (CDRS), JST

Honors:

Apr.1996: Honorary Doctor, University of Strathclyde, UK Nov.1996: Honorary Doctor, University of Twente, NL Jul.1999: Honorary Doctor, University of Birmingham, UK May 2001: Honorary Doctor, National University of Science and technology, Norway May 1991: IFIP Silver Core Medal Jun.1995: Education Award, Society of Manufacturing Engineers (USA) Oct.1995: Hasunuma Memorial Award, Japan Society for Precision Engineering Apr.1997: 13rd Japan Prize Dec.2000: L'Ordre National de la Legion d'Honneur(France) May 2003: Royal Honor of Merit (Norway) Aug.2003: Honorary Fellow of the Design Society


Robotics: From Manufacturing to Intelligent Machines

Tzyh Jong Tarn

Professor and Director Center for Robotics and Automation

Washington University, St. Louis, USA Center for Quantum Information Science and Technology

Tsinghua University, Beijing, China Center for Quantum Information Science

Cheng Kung University, Tainan, Taiwan, China E-mail: [email protected]

Abstract:

This presentation describes the evolution from tele-robotics to interactive robotics and to intelligent machines due to the silicon revolution. The impacts of this transformation to the manufacturing culture as well as the automated manufacturing research facility are outlined. Finally the current trends in robotics research and new applications are presented.

Tzyh Jong Tarn is currently a Professor in the Department of Electrical and Systems Engineering and the Director of the Center for Robotics and Automation at Washington University. He also is the director of the Center for Quantum Information Science and Technology at Tsinghua University.

An active member of the IEEE Robotics and Automation Society, Dr. Tarn served as the President of the IEEE Robotics and Automation Society, 1992-1993, the Director of the IEEE Division X (Systems and Control), 1995-1996, and a member of the IEEE Board of Directors, 1995-1996.

He is the first recipient of the Nakamura Prize (in recognition and appreciation of his contribution to the advancement of the technology on intelligent robots and systems over a decade) at the 10th Anniversary of IROS in Grenoble, France, 1997, the recipient of the prestigious Joseph F. Engelberger Award of the Robotic Industries Association in 1999 for contributing to the advancement of the science of robotics, the Auto Soft Lifetime Achievement Award in 2000 in recognition of his pioneering and outstanding contributions to the fields of Robotics and Automation, the Pioneer in Robotics and Automation Award in 2003 from the IEEE Robotics and Automation Society for his technical contribution in developing and implementing nonlinear feedback control concepts for robotics and automation, and the George Saridis Leadership Award from the IEEE Robotics and Automation Society in 2009. In 2010 he received the Einstein Chair Professorship Award from the Chinese Academy of Sciences and the John R. Ragazzini Award from the American Automatic Control Council. He was featured in the Special Report on Engineering of the 1998 Best Graduate School issue of US News and World Report and his research accomplishments were reported in the "Washington Times", Washington D.C., the "Financial Times", London, "Le Monde", Paris, and the "Chicago Sun-Times", Chicago, etc. Dr. Tarn is a Fellow of IEEE and an IFAC Fellow.


CSEM: Vertical integration of R&D in Micro and Nanosystems for optimal application in industrial applications

George Kotrotsios Doctor

Vice President Business Development

CSEM SA, Swiss Center for Electronics and Microtechnology Jaquet Droz 1, CH-2002, Neuchatel, Switzerland

E-mail: [email protected]

Abstract:

Micro and Nanotechnologies have evolved as the heritage of the Swiss Watch industry and its traditional competencies. This activity has been verticalized over the years from design to manufacturing, characterization and integration for specific applications. This vertical integration has been extremely

useful for the industry. Design concerns two types of activities, which are (1) design of the microsystem and (2) design of specific surface properties, as for instance Zero Order Diffraction gratings, diamond selfassembled structures, where our nanotechnology capabilities are required. In terms of design structuring of Silicon, Polymer or more exotic materials as ceramics and even metals. Microelectronic techniques as DRIE are heavily used. One of the most complete X-Ray characterization labs brings the necessary quality, required by industrial applications. Over the some last years a number of successful applications have been served, including mechanical pieces for watch industry, MEMS for medical applications (actuating mechanisms and sensors), innovative MOEMS for tunable lasers and spectrometers, or chemical sensors for environmental monitoring.

George Kotrotsios holds a Ph.D. Degree in Optoelectronics, Institut National Polytechnique de Grenoble (Fr), an Executive MBA in Management of Technology, HEC, Université de Lausanne (CH) and an Electrical Engineering Degree from the Aristotle University of Thessaloniki (Gr). He conducted several years applied R&D in the field of optical fiber communications and sensors as well on fiber manufacturing technology, fiber lasers, surface engineering, nanotechnologies (having developed the first commercial European Atomic Force Microscope - AFM), since 1985. His activities gradually and steadily moved from pure R&D to R&D management and towards the process of creating economic value out of technology. Between 1996 and 1999, M3D SA, a contract research organisation, a joint venture of Mitsubishi Co and Battelle. He developed a new start-up on fiber optic sensors. Thereafter he created two other start-ups in optical communications. He joined again CSEM at the end of 1999 focusing the commercialisation of micro-nanotechnologies and ICT of the company in a large spectrum of markets. He is in charge of the Marketing and Business Development of the company since April 2005. From January 1st, 2010 he is in member of the Executive Committee of CSEM, in charge of Business Development, Technology Commercialisation and Strategic Relations, including European Commission and European Space Agency.

Presently, G. Kotrotsios is President Board of Directors of Sensecore (active in wearable for elite athletes). He is also on the Executive Board of Earto, the European Association of Research and Technology Organisations, and member of the Experts Committee of Micronarc, the Microsystem and Association in Western Switzerland.

He has published numerous articles in peer reviewed journals as well as in conferences. He is one of the co-authors of the Genessys, the European White paper on Nanotechnology. In addition, he is member of the Scientific Committee of numerous conferences Member of the International Advisory Board of the EuroNanoForum 2011, in Prague, Czech Republic. He is acting as a reviewer in major scientific reviews (Optics Letters, Applied Optics) as well as expert for national and international projects.

www.2011.ieee-icma.org IEEE ICMA 2011 Conference Forum

IEEE ICMA 2011 Special Forum

Topics: Technical Challenge of Robotics for Disaster Applications Date and Time: 16:50 - 18:00, August 9th (Tuesday), 2011 Venue: International Conference Room, Beijing Empark Grand Hotel

Organizer: Prof. Shuxiang Guo, Kagawa University, Japan Forum Abstract: The Great East Japan Earthquake struck Japan on March 11, 2011. The Tsunami that followed it brought down an extensive and severe damage to the Tohoku (North East) Area of Japan as well as the US, Indonesia, and Chili. Hard efforts are being made to settle down the accidents of the Fukushima Nuclear Power Plant caused by the Tsunami. Robotics in Japan commits to the long-term efforts for the recovery from the disaster. This forum will point the challenge topics, the current activity from robotics, and have the discussion on the future contribution of robotics.

Speaker Lists:

1) Prof. Hajime Asama, University of Tokyo, Japan

2) Prof. Kazuhiro Kosuge, Tohoku University, Japan

3) Prof. Qiang Huang, Beijing University of Technology, China

4) Prof. Hong Zhang, University of Alberta, Canada


IEEE ICMA 2011Conference

Special Forum Technical Challenge of Robotics for Disaster Applications

Introduction of Robot Technology for the Great Eastern Japan Earthquake

and the Accident of Fukushima Daiichi Nuclear Power Plant

Hajime Asama, Professor School of Engineering, Department of Precision Engineering, The University of Tokyo

Hongo 7-3-1, Bunkyo-ku, Tokyo 113-8656, Japan E-mail: [email protected]

Abstract: The Great Eastern Japan Earthquake and Tsunami occurred in March 11, 2011, and the Accident of Fukushima Daiichi Nuclear Power Plant happened due to the earthquake and the tsunami. Lots of needs of robot technology (RT) were recognized in the situation of such disasters. The Remote Control/Robotics Project Team and Robotics Task Force for Anti-Disaster (ROBOTAD) was established in March, 2011, and the technical discussion in order to introduce robot technology to the response and recovery of the disaster. In this presentation, activities of the ROBOTAD and the achievements of utilization of RT in this disaster are introduced including the activities of the Special Project Team for Remote Control/Robotics which was appointed by the Japanese government and Tokyo Electric Power Company.

Hajime Asama received his B. S., M. S., and Dr. Eng in Engineering from the University of Tokyo, in 1982, 1984 and 1989, respectively. He was Research Associate, Research Scientist, and Senior Research Scientist in RIKEN (The Institute of Physical and Chemical Research, Japan) from 1986 to 2002. He became a professor of RACE (Research into Artifacts, Center for Engineering), the University of Tokyo in 2002, and a professor of School of Engineering, the University of Tokyo in 2009. He received JSME (Japan Society of Mechanical Engineers) Robotics and Mechatronics Division Academic Achievement Award in 2001, RSJ (Robotics Society of Japan) Best paper Award, JSME Robotics and Mechatronics Award in 2009, etc.

He is a vice-president of Robotics Society of Japan since 2011. He was an AdCom member of IEEE Robotics and Automation Society from 2007 to 2009, an editor of Journal of International Journal of Intelligent Service Robotics, Journal of Field Robotics, Journal of Robotics and Autonomous Systems. He is a Fellow of JSME since 2004 and RSJ since 2008.



Special Forum

Technical Challenge of Robotics for Disaster Applications

Robotics Challenge for Disaster

Kazuhiro Kosuge, Professor Graduate School of Engineering, Department of Bioengineering and Robotics

Tohoku University

6-6-01 Aoba-yama, Sendai, 980-8579, Japan

E-mail [email protected]

Abstract:

In this presentation, we will consider how a technology will be integrated in our society as a society

infrastructure. Without the integration, any technology could not be utilized in our society. First, we

will consider a new research paradigm, which was issued by the Science Council of Japan in 1999.

The paradigm well explains what we need to do to utilize the robot in our society. Then, several issues

relating to recent experiences in Japan will be discussed, which include how the robotics could

contribute to and what we need to prepare for the possible disasters in the future.

Kazuhiro Kosuge is a Professor in the Department of Bioengineering and Robotics. He received the B.S., M.S., and Ph.D. degrees in control engineering from Tokyo Institute of Technology in 1978, 1980, and 1988 respectively. From 1980 through 1982, he was with DENSO Co., Ltd. From 1982 through 1990, he was a Research Associate in the Department of Control Engineering at Tokyo Institute of Technology. From 1990 to 1995, He was an Associate Professor at Nagoya University. From 1995, he has been at Tohoku University. For more than 25 years, he has been doing research on various robotics problems.

He is an IEEE Fellow, a JSME Fellow, a SICE Fellow and a RSJ Fellow. He is President of IEEE Robotics and Automation Society for 2010-2011.



Special Forum


Recent Robotics R&D Activities for Disaster Applications in China

Qiang Huang, Ph. D, Professor

Director of Key Laboratory of Biomimetic Robots and Systems, Ministry of Education of China

School of Mechatronic Engineering, Beijing Institute of Technology

No. 5, Zhongguancun, Nandajie, Haidian, 100081, China Tel. +86-10-68913111; E-mail: [email protected]

Abstract:

This presentation describes the recent Chinese research status in rescue robotics. The representative research achievements such as the aerial searching robot and the coal mine robot supported by the 863 Program are introduced. Finally, the technical challenge of robotics for disaster Applications and the future plan supported by the 863 Program are provided.

Qiang Huang was born in Hubei, China, in 1965. He received the B.S. and

M.S. degrees from Harbin Institute of Technology, Harbin, China, and the Ph.

D. degree from Waseda University, Tokyo, Japan, in 1986, 1989, and 1996,

respectively. He jointed the Mechanical Engineering Laboratoty (MEL),

AIST, and the Department of Mechanno-Informatics, University of Tokyo as

a research fellow in 1996 and 1999. Since 2001, He has been with the

School of Mechatornics Engineering, Beijing Insitute of Technology.

Currently, Dr. Huang is the director of Key Laboratory of Biomimetic Robots and Systems, Ministry of Education of China. His research interests include biped walking robots, humanoid robots, and intelligent mechatronics. He has published about 200 refereed journal and conference papers, and has obtained about 20 patents. He received awards of Chung Kong Scholars of Ministry of Education of China in 2001, Distinguished Young Scholar of the National Science Foundation in 2010, and sevral Best Paper Awards of IEEE ROBIO, IEEE IROS, IMA in 2007, 2005, and 2004, respectively.



Special Forum


Robotics Challenge for Disaster

Hong Zhang, Professor Department of Computing Science

University of Alberta

Edmonton, Alberta Canada T6G 2E8

E-mail [email protected]

Abstract:

Robotics research has steadily grown over the past sixty years, leading to successful development of

industrial, service, medical, and other types of robots. Yet not much attention has been directed

specifically toward disaster relief robots, nor has there been much success in the use of robots in disaster

relief operations. Through this forum, I will review some of the robotics technologies that do exist for

disaster relief, describe documented experiences of some of the recent relief efforts, and offer reasons why

it is tremendously challenging to deploy robots in such operations. The need for technical assistance in

disaster relief points to opportunities for robotics researchers.

Hong Zhang received his B. Sc. degree from Northeastern University, Boston, USA in 1982, and his Ph. D. degree from Purdue University, West Lafayette (IN), USA, in 1986, both in Electrical and Computer Engineering. He spent a year conducting post-doctoral research at the University of Pennsylvania before he joined the University of Alberta where he is currently a Professor of Computing Science. Dr. Zhang is an associate editor of the IEEE Transactions on Systems, Man, and Cybernetics, and holder of a NSERC Industrial Research Chair. His current research interests include robotics, robot vision, and image processing.

IEEE ICMA 2011 Program at a Glance�

Beijing Empark Grand Hotel, Beijing, China August 7-10, 2011

Sunday, August 7, 2011�

14:00 - 18:30� � Registration Desk Open�

17:30 - 18:30� � Reception in Beijing Empark Grand Hotel �Monday, August 8, 2011�

8:30 - 9:00� � Opening Ceremony�

9:00 - 10:00� � Plenary Talk #1�

10:00 - 10:15� � Morning Break�

10:15 - 12:03� � Technical Sessions MA1�

12:00 - 13:30� � Lunch Break�

13:30 - 15:18� � Technical Sessions MP1 �

15:18 - 15:40� � Afternoon Break�

15:40 - 17:28� � Technical Sessions MP2 �Tuesday, August 9, 2011�

8:00 - 9:00� � Plenary Talk #2�

9:00 - 10:00� � Plenary Talk #3�

10:00 - 10:15� � Morning Break�

10:15 - 12:03� � Technical Sessions TA1�

12:00 - 13:00� � Lunch Break�

13:00 - 14:30� � Technical Sessions TP1 (Poster Session)�


14:45 - 16:33� � Technical Sessions TP2�

16:50 - 18:00� � IEEE ICMA 2011 Special Forum�

18:30 - 21:00� �Award Banquet in Beijing Empark Grand Hotel (Hosted by BJUT)�

Wednesday, August 10, 2011�8:00 - 9:48� � Technical Sessions WA1�

9:50- 10:15� � Morning Break�

10:15 - 12:03� � Technical Sessions WA2�

12:00 - 13:30� � Lunch Break�

13:30 - 15:18� � Technical Sessions WP1�


15:40 - 17:28� � Technical Sessions WP2�

17:30 - 18:30� � Farewell Party in Beijing Empark Grand Hotel�

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Floor Map of Conference Rooms 2F, Beijing Empark Grand Hotel

2F: Conference Rooms 1, 4, 7, 11, 12, 13, 14

Monday August 8, 2011

Morning Sessions

MA1-1 Organized Session: IMS for Innovation

MA1-2 Medical & Rehabilitation System

MA1-3 Biomedical Mechatronics I

MA1-4 Intelligent Control I

MA1-5 Robot Control I

MA1-6 Dynamics & Cooperative Control for Robots

MA1-7 Organized Session: Image Processing I

1

Monday August 8, 2011

Afternoon Sessions

MP1-1 Kinematics of Manipulators

MP1-2 Mobile & Walking Robots

MP1-3 Biomedical Mechatronics II

MP1-4 Intelligent Control II

MP1-5 Robot Control II

MP1-6 Mechatronic Control Systems

MP1-7 Organized Session: Image Processing II

MP2-1 Mechatronic Device Ⅰ

MP2-2 Nano Mechatronics

MP2-3 Biomedical Control System

MP2-4 Control Theory I

MP2-5 Robotic Vision

MP2-6 Sensing Calibration

MP2-7 Image Processing III

2


MA1-1: Organized Session: IMS for Innovation

Session Chairs: Okitoshi Tsunoda, Tokyo Denki University Dan Nagy, IMS

Room 1, 10:15-12:03, Monday, 8 August 2011

MA1-1(1) 10:15-10:33 MA1-1(2) 10:33-10:51

Presentation of Button Repulsive Sensationson Touch Screen Using SMA Wires

Muhamad Hafiz and Hideyuki SawadaFaculty of Engineering, Kagawa University

Kagawa, Japan

• Touch screen with button repulsive sensations.

• Micro-vibration actuators using very thin wires made of shape memory alloy (SMA).

• Different vibrations up to 100 Hz brings different tactile sensations.

• Simple structure with low energy consumption. Touch Screen with Button

Repulsive Sensations

Introduction to IMS InternationalFred-Holger Günther and Daniel Nagy

Chairman, International Steering CommitteeIntelligent Manufacturing Systems

• An agile firm-based international framework for business innovation

• Proven collaboration networks for complex issues resolution

• Services for global collaboration• Government-sponsored but Industry –

led at the level of the firm• An adaptive program responsive to

changing industrial requirements over 15 years

MA1-1(3) 10:51-11:09 MA1-1(4) 11:09-11:27

Activity of IMS InternationalDaniel Nagy

Managing DirectorIntelligent Manufacturing Systems

• Government-supported services to foster global collaboration for manufacturing RDI

• Coaching network for project formation assistance in member countries

• Workshops for project building and networking activities

• Forums for manufacturing issues• Marketing publications for project

promotion

Future IMS and NanoDevicesGeorge Kotrotsios

CSEM SANeuchâtel Switzerland

• Nanodevices while opening new paths for the society and the economy, will introduce number of unforeseen challenges, due to dimensions, number of devices, recovery, to be overlooked here

• The IMS program can play an important role in systematically facing challenges in the scope that is adequate for such an endeavor, i.e. globally.

Nanodevice manufacturing :a complex process enabling upcoming business activities

MA1-1(5) 11:27-11:45 MA1-1(6) 11:45-12:03

On IMS with Human Factor-- From HUTOP to New field --

Hiroyasu Koshimizu Seiji HataChukyo University (Toyota, Japan) Kagawa University (Takamatsu, Japan)

● In the real world of production systems, researches on Human Factors should be involved at the center within the scope．

(1) In this paper, in order to prospect IMS (Intelligent Manufacturing System) with Human Factor (HF), we would survey the steps of the past HUTOP/IMS project and a related research activity of HF in IES (IEEE), and

(2) we discuss through the speculations of Henri Bergson how strongly HF researches be based on the Mind Science rather than Matter Science.

(3) Important Index Terms are :production system, IMS, HUTOP, Human Factor, KANSEI, Mind science and Henri Bergson.

Facial Caricaturing Robot COOPER

exhibited at EXPO2005

History and Review of the IMS(Intelligent Manufacturing System)

Hideo SetoyaManufacturing Science and Technology Center

Tokyo, Japan

• The history and review of IMS from Japan’s point of view.

• How did it take place. • What was the achievement of

IMS. • Why Japan decided to end the

IMS.The IMS Logo

3


MA1-2: Medical & Rehabilitation System

Session Chairs: Max Q.H. Meng, Chinese University of Hong Kong Fan Gao, UT Southwestern Medical Center at Dallas


MA1-2(1) 10:15-10:33 MA1-2(2) 10:33-10:51

Motorized Facilitated Ankle StretchingFan Gao

Prosthetics and Orthotics Program, UT Southwestern Medical CenterDallas, TX, USA

• Proprioceptive neuromuscular facilitation (PNF) technique combines both passive and active stretching and significant improvement on muscle strength and coordination has been reported.

• The goal of this study is to develop a motorized device which could successively implement PNF hold-relax technique on the ankle joint.

Experimental setup

Development of a Novel Robot-Assisted Catheter System with Force Feedback

Xu Ma , Shuxiang Guo, Nan Xiao, Jian Guo, Shunichi Yoshida, Takashi Tamiya and Masahiko Kawanishi

Faculty of Engineering, Kagawa University Kagawa, Takamatsu, Japan• The master-slave operation

system is developed for the remote manipulation.

• Proximal force-feedback measurement device in slave operation system.

• The EVE model experiments.• Minimally Invasive Surgery

(MIS).Surgery Operations in the Master Side

MA1-2(3) 10:51-11:09 MA1-2(4) 11:09-11:27

Design and Development of a Hand Rehabilitation Robot for Patient-cooperative

Therapy Following StrokeYili Fu, Qinchao Zhang, Fuhai Zhang, Zengkang Gan

The State Key Laboratory of Robotics and SystemHarbin Institute of Technology, China

• Composed of five finger exoskeletons with 2-DOF adaption, an adaptive dorsal metacarpal base and a Bowden cable driven actuator; Capable of precise and bilateral actuation for each joint of fingers.

• Two categories of therapy: motor function exercise for joints and movement coordination training for fingers; Let patients actively participate into the therapy. The HIT-glove

Structure Synthesis and Optimization of a Supporting Medical Manipulator for Vascular

Interventional SurgeryXing-tao Wang, Xing-guang Duan, Qiang Huang, Hong-hua Zhao, Yue Chen, and Chao Chen

Intelligent Robotics Institute., Beijing Institute of Technology Beijing, China

• Medical robot system overview for Vascular Interventional Surgery.

• Structure synthesis of the medical supporting medical manipulator.

• Structure optimization of the medical supporting medical manipulator.

• Kinematics analysis of the medical supporting medical manipulator.

Medical robot system

MA1-2(5) 11:27-11:45 MA1-2(6) 11:45-12:03

Minimally Invasive Vascular Interventional Surgical Robot System

Xue Yang, Hongbo Wang, Lin Yuan, Ning Du and Zengguang HouCollege of Mechanical Engineering, Yanshan University

Qinhuangdao, China• The surgery robotic

system includes four-part: a positioning arm, asix-dimensional forcesensor, a catheterintervention device andits manipulator.

• Introduce the controlmethod of the system.

• Some experiments areconducted to evaluatethe accuracy andsensitivity.

The hardware system structurechart of surgery robot

Design of Intravenous Infusion Monitoring and Alarm system Based on Wireless

Communication TechnologyCui Jianwen1 Zhang Han2

1College of Automaton, Harbin Engineering University, Harbin, Heilongjiang, China2 Department of Oral Anatomy & Physiology, The Stomatology College of Harbin

Medical University, Harbin, Heilongjiang, China

• Working Principle of System.• Wireless Network Communication

Mode.• Design of Hardware.• Design of Software.• Experiments and Conclusion .

Processingcircuit

Sensor Sensor 2

Processingcircuit

Processingcircuit

Sensor 1

Processingcircuit

Overall block diagram of the system

4


MA1-3: Biomedical Mechatronics I

Session Chairs: Shugen Ma, Ritsumeikan University Jun Yang, University of Western Ontario


MA1-3(1) 10:15-10:33 MA1-3(2) 10:33-10:51 Feasibility Study for a Novel Robotic Catheter System

Jian Guo*1, Shuxiang Guo*1,*2, Nan Xiao*1, Xu Ma*1, Shunichi Yoshida*1, Takashi Tamiya*1

and Masahiko Kawanishi*1*1Kagawa University, Takamatsu, Japan

*2Harbin Engineering University, Harbin, China

• We developed a new robotic catheter system with PID controller.

• We did the feasibility study for the robotic catheter system.

• The experimental results indicated that the stability and responsibility of the catheter system were good. The developed robotic catheter system

A Centrifugal Lab-in-a-tubing Platform Enabling Automatic Point-of-care Blood Diagnostics

Tingjie Li, Qiuquan Guo, Limin Zhang and Jun Yang*Department of Mechanical and Materials EngineeringThe University of Western

Ontario London, Ontario, Canada, N6A [email protected]

• Blood analyses are the most common clinical diagnostic methods.

• Lab-on-a-chip technology, stemmed from concepts of microsystem microfabrication and microfluidics, provides an automatic, rapid, cost-effective and point-of-care solution for a wide variety of blood analyses.

• In this study, a rapid prototyping of out-of-plane valves using low cost tygon tubing is introduced to centrifugal system.

• At the end, this paper also presents a photolithographic microfabrication process for mass production of 3D Lab-on-a-CD microfluidic devices.

The centrifugal Lab-in-a-tubing platform including a motor, a control board and a CD platform with 3D tubing networks etc.

photolithographic microfabrication processincluding multiple photolithography steps to fabricate 3D Lab-on-a-CD devices

MA1-3(3) 10:51-11:09 MA1-3(4) 11:09-11:27 Segmentation of Skin Cancer Images Based on

Gradient Vector Flow (GVF) SnakeMd Khaled Abu Mahmoud and Adel Al-Jumaily

School of Electrical, Mechanical and Mechatronic Systems, University of Technology SydneySydney, Australia

• Biomedical images are noisy and poorlyborders, that making them difficult tosegment and analyse.

• A gradient vector flow (GVF) snake withadaptive filters (winner and median) isproposed for the segmentation of skincancer images.

• The proposed GVF snake hasexperimented and compared with otherrecommended operators in the literatureswhich shown accurate results without anydeteriorating the actual lesion boundaries.

The Skin Cancer Images

Apply RRT-based Path Planning to Robotic Manipulation of Biological Cells with Optical

TweezerTao Ju, Shuang Liu, Jie Yang, and Dong Sun

City University of Hong Kong, University of Science and Technology of China, Suzhou, China

• Micromanipulation of cells with optical tweezers is of considerable importance to many biological tasks.

• We developed a RRT-based path planning approach to cell transportation, where the cell is trapped by optical tweezer and controlled robotically to move towards the target position. Path Planning in Cells manipulation

MA1-3(5) 11:27-11:45 MA1-3(6) 11:45-12:03

Nanoindentation Experiment and Modeling for Biomechanical Behavior of Red Blood Cell

Qingsheng Yang, Weiwei Li, Zhiyuan Liu and Luodan SuDepartment of Engineering Mechanics, Beijing University of Technology

Beijing, China

• A nanoindentation experiment is carried out to obtain Young’s modulus, hardness and load-displacement curve of the RBC.

• A 3D finite element model is built to simulate the experiment process.

• The effect of curvature radius of tip and friction coefficient is considered. Experiment of RBC

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Wireless Power Transfer System for Capsule Endoscopy Based on Strongly Coupled

Magnetic Resonance TheoryXuelin Fang, Hao Liu, Guiyang Li, Qi Shao and Hongyi Li

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences

Shenyang, China• Wireless power transfer

system for capsule endoscopy.• Strongly coupled magnetic

resonances theory.• System efficiency can reach

26.14%.• Improve the quality of coils

wireless power transfer system

5


MA1-4: Intelligent Control I

Session Chairs: T. J. Tarn, Washington University Guisheng Zhai, Shibaura Institute of Technology Room 11, 10:15-12:03, Monday, 8 August 2011

MA1-4(1) 10:15-10:33 MA1-4(2) 10:33-10:51

An Approach to Simultaneous Realizationof Neutral Steer and Sideslip Reduction

for Four-Wheeled Electric VehiclesGuisheng Zhai*, Masayuki Naka**, Tomoaki Kobayashi**, and Joe Imae**

*Shibaura Institute of Technology, Japan **Osaka Prefecture University, Japan

• Both neutral steer and sideslip reduction are dealt with for four-wheeled electric vehicles.

• Construct a servo system tracking appropriate reference input which is computed by the above mentioned control requirement.

• The tracking is achieved by using a gain scheduled H-infinity control, where less conservative controller design is adopted.

Four-Wheeled Vehicle Model

Real-time Dynamic Power Management of Electrically Assisted Bicycle

Stone Cheng, Ivan HuangDepartment of Mechanical Engineering

National Chiao-Tung University, Hsinchu, Taiwan, R.O.C.• The issues of the dynamic power

management of electrical system in power assisted electric bicycle.

• We approached two assisted power ratio during the cycling, and observe the actual batteries power output.

• The performances of dynamic power management controller are experimentally evaluated to demonstrate the effectiveness of power-assisted bicycle in various cycling circumstance.

Discharge test for energy density

Current, Voltage, Powerand Energy density

MA1-4(3) 10:51-11:09 MA1-4(4) 11:09-11:27

Zhaoyi Liu1,2, Shuxiang Guo1 Hui Li2 and Xichuan Lin1

1 Kagawa University, Japan2 UESTC, China

1 Kagawa University, Japan2 UESTC, China

An improved 3D Modeling of Water-jet propellers for a Spherical Underwater Robot

• A spherical shape is adopted for the underwater robot.

• Three water-jet propellers are used as the propulsion system.

• A new modeling is expanded to 3D vector space instead of previous one.

• The closed relations between the regulating angles and the forces and moments are given. 3D Design of the Propulsion System

Adaptive Controller for Omni-directional Walker: Improvement of Dynamic Model

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kochi University of Technology, JapanTianyou Chai, Northeastern University, China

Kenji Ishida, Kochi University, Japan Masakatsu G. Fujie Waseda University , Japan

• A new center-dynamic model of an omni-directional walker(ODW) is derived.

• An adaptive control method is proposed to deal with center-of-gravity shifts and load changes.

• Comparison with a dual-loop PI controller in simulations shows that the proposed method improves the path tracking accuracy. Omni-directional Walker

MA1-4(5) 11:27-11:45 MA1-4(6) 11:45-12:03

Adaptive Sliding Mode Control of MEMS Triaxial Gyroscope Based on RBF Network

Juntao Fei, Hongfei Ding and Yuzheng YangCollege of Computer and Information, Hohai University , Changzhou, China

• This paper presents a robust adaptive sliding mode control strategy of MEMS triaixal gyroscope using RBF neuralnetwork.

• Adaptive RBF neural network that could learn the unknown upper bound of model uncertainties and external disturbances is incorporated into the adaptive sliding mode control scheme.

• Numerical simulation is investigated to verify the effectiveness of the proposed adaptive RBF sliding mode control scheme.

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RBF Based Discrete Terminal Sliding Mode Control for Flight Simulator

Yaqing Chen and Weihong WangSchool of Automation Science and Electrical Engineering of Beihang Univeristy

Beijing, China

Flight Simulator

Three degree-of-freedom (3-DOF) flight simulator Design of discrete terminal sliding mode controllerDesign of RBFNN sliding mode controllerSimulation and conclusion

6


MA1-5: Robot Control I

Session Chairs: Kazuhiro Kosuge, Tohoku University Daisuke Uragami, Tokyo University of Technology


MA1-5(1) 10:15-10:33 MA1-5(2) 10:33-10:51

The Efficacy of Symmetric Cognitive Biasesin Robotic Motion Learning

Daisuke Uragami1, Tatsuji Takahashi2, Hisham Alsubeheen1, Akinori Sekiguchi1 and Yoshiki Matsuo1

1Tokyo University of Technology, 2Tokyo Denki University

• Human is known to have illogical symmetric cognitive biases that induce “if p then q” and “if not q then not p.”

• The loosely symmetric Shinohara model quantitatively represents the tendencies.

• We apply the model to Q-learning algorithm.• Testing the model on a simulated giant-swing

robot, we have confirmed its efficacy in convergence speed increase and avoidance of local optimum.

Giant-swing robot in ODE

An Energy Saving Open-Loop Control Technique for Flexible Manipulators

Akira Abe and Kazuma KomuroDepartment of Systems, Control and Information Engineering,Asahikawa National College of Technology, Asahikawa, Japan

• We present an energy-saving, open-loop control technique for a flexible manipulator with point-to-point motion.

• An ANN and the VEPSO algorithm are utilized to generate the trajectory of the joint angle that satisfies the minimum vibration and energy conditions.

• Simulations and experiments are performed to demonstrate the effectiveness of the proposed method.

Experimental Setup

Flexible Manipulator

AC ServomotorTip Mass

MA1-5(3) 10:51-11:09 MA1-5(4) 11:09-11:27

Tracking Control of Mobile Robot Using ANFISMasoud Imen , Mohammad Mansouri, Mehdy Aliyari Shoorehdeli

Department of Mechatronics Engineering, Science and Research Branch Islamic Azad university, Tehran, Iran

Department of Control Engineering, K.N.Toosi University of Technology, Tehran, IranDepartment of Mechatronics Engineering, K.N.Toosi University of Technology, Tehran, Iran

• The ANFIS Controller designed with considered next 2 time path curvature, that are defined using a LAC module.

• The controller inputs are VC, C, dR & dθ and its output are V & ω.

• In compares with the FUZZY controller, the ANFIS one has more abilities and better performance in tacking sudden turns, successive curves, and slopes.

Anti-Swing Control of Underactuated Overhead Crane System Using Multiple Lyapunov

Aydin YesildirekMechatronics Graduate Program, American University of Sharjah

Sharjah, UAE• Underactuated systems control is

given.• Multi Lyapunov-like function are

used to in actuated and unactuated subspaces.

• Local stability results have been extended union of all subsets.

• The overall performance is shown on 2-DOF overhead crane.

Crane Swing

MA1-5(5) 11:27-11:45 MA1-5(6) 11:45-12:03

Development of Learning Control in RoboticsHu Su, De Xu and Yanlong Huang

State Key Laboratory of Intelligent Control and Management of Complex SystemsInstitute of Automation, Chinese Academy of Sciences

Beijing，China.

• In this paper, current theories and recent development in learning control are discussed.

• Model and algorithm of dynamic motor primitive are introduced

• Hidden Markov Model and Gaussian Mixture Regression are presented in detail.

• Learning algorithms from only local information are also provided in the paper. Schematic illustration of an MP

Sliding mode adaptive control for flying robot based on recurrent CMAC algorithm

Hongjun DUAN, Deying GUDepartment of Automation Engineering, Northeastern University at Qinhuangdao

Qinhuangdao, China

• Introduction.• Problem Formulation.• Design of Sliding Mode Adaptive

Control.• Design of recurrent CMAC Observer.• Control Algorithm and Stability

Analysis.• Attitude Control Simulation of Flying

Robot.• Conclusion.

Description of coordinate systems

Z

O

Y

X

ly

lz

lo

lx

rx

rz

ro

ry

x

o

y

z

7


MA1-6: Dynamics & Cooperative Control for Robots

Session Chairs: Hajime Asama, The University of Tokyo Jizhong Xiao, City University of New York


MA1-6(1) 10:15-10:33 MA1-6(2) 10:33-10:51

Detailed Slip Dynamics for Nonholonomic Mobile Robotic System

S. Nandy1, R.Somani2, T.Tanmay2, G. Chakraborty2, C. S. Kumar2 & S.N.Shome1

1CSIR-CMERI, Durgapur, India & 2IIT, Kharagpur, India

• A detailed slip dynamics of Wheeled Robot has been formulated.

• Switching conditions from no-slip to slip and vice-versa are proposed.

• Forward slip dynamics is solved.• Forward & lateral slip velocities are

captured and demonstrated through simulation.

• Developed model may be utilized for controlling of slip for mobile vehicles.

Various Traction Forces acting on Wheeled Mobile Robot (WMR)

A Potential Field Method-based Extension of the Dynamic Movement Primitive Algorithm for Imitation Learning with Obstacle Avoidance

• An Extension of Dynamic Movement Primitives:

Huan Tan, Erdem Erdemir, Kazuhiko KawamuraVanderbilt University

Nashville, USA

Qian DuNankai University

Tianjin, China

)(ky→

→

g

)1( +→

kgtemp( ) ⊥→

kF impedance

( )kF impedance

→

( )'kF impedance→

)1( +→

kgimpedance

→

o

Modification of Goal State in DMP Using Potential Field

MA1-6(3) 10:51-11:09 MA1-6(4) 11:09-11:27

Radio Source Search Using Force Field Vectors Weighted By Received Signal Strength Gradients

Xiaochen Zhang, Yi Sun and Jizhong XiaoDept. of EE, the City College of New York

New York, NY 10031, US

• Indoor radio source search using received signal strength.

• Estimation on impossible locations.

• Attraction forces to the robot from potential radio source locations.

• Received signal strength gradients are weighting factors of attraction forces.

• Robust and fast.

Simulation comparison of three methods

0

5

10

15

Freq

uenc

y

Force Field Search

0

5

10

Freq

uenc

y

Thesues gradient search

0 5 10 15 20 25 30 35 400

2

4

6

8

Freq

uenc

y

Cost indicator

Chemotaxis

Dynamical Task Allocation and Reallocation Based on Body Expansion Behavior for Multi-robot Coordination System

Guanghui Li, Yusuke Tamura, Hajime AsamaDepartment of Precision Engineering, The University of Tokyo

Hongo 7-3-1, Bunkyo-ku, Tokyo, Japan

• We propose a dynamical task allocation and reallocation method for multiple robots coordination system based on multi-round negotiation and body expansion behavior.

• For the first time round negotiation, robots sequentially negotiate and select tasks to perform according the proposed algorithm, and declare the information to other robots.

• When all robots have finished first time selecting, then the remaining un-selection robots choose the rest un-assigned tasks again sequentially.

• Based on the body expansion behavior, one robot can request, accept and refuse other robots to execute tasks by intention communication under the order of two distance thresholds.

• The simulation results show that the efficiency for whole multi-robot coordination system to accomplish all tasks is improved by utilizing our approach. The illustration of initial step

ID, Coordinate

Task1

ID, Coordinate

Task2

ID, Coordinate

Taskn

Distances Distances Distances


… … …

…

…

…


… … …

…… … …

The second time round negotiation

The first time round negotiation

MA1-6(5) 11:27-11:45 MA1-6(6) 11:45-12:03 A Distributed Multi-Robot Formation Control Method

Yuan Li, Wei Zou, Feng Wen, and Kui YuanInstitute of Automation, Chinese Academy of Sciences

Beijing, China• Formation control of multiple

wheeled robots with nonholonomic constrains and limited acceleration.

• The method uses only local sensing information and the velocity information obtained by communication.

• An artificial identity mark for large scale multi-robot systems to measure relative distance and orientation.

• Well-suited for distributed controlMulti-Robot Formation Control

Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration Control

Hoon Lim*1, Jung-Min Han*1, Jaesung Hong*3, Byung-Ju Yi*1, Seung Hwan Lee*2, Jin Hyeok Jeong*2

Nozomu Matsumoto*4, Masamichi Oka*4, Shizuo Komune*4, Makoto Hashizume*5

*1 Department of Electronic, Electrical, Control and Instrumentation Eng., Hanyang University, Korea*2 Department of Otorhinolaryngology, School of Medicine, Hanyang University, Korea

*3 Department of Robotics Engineering, DGIST, Korea*4 Department of Otorhinolaryngology, Graduate School of Medical Sciences, Kyushu University, Japan*5 Department of Advanced Medical Initiatives, Faculty of Medical Sciences, Kyushu University, Japan

• An image-guided robotic Mastoidectomy with a 5 DOF robot and navigation system was proposed

• A human-robot collaboration control mode is used to compensate tremor by operator, and to protect the relevant organs

• Using the warning algorithm, a safety problem could be handled

5 DOF Otologic Surgical Robot

8


MA1-7: Organized Session: Image Processing I

Session Chairs: Hiroyasu Koshimizu, Chukyo University Toshio Asano, Hiroshima Institute of Technology Room 14, 10:15-12:03, Monday, 8 August 2011

MA1-7(1) 10:15-10:33 MA1-7(2) 10:33-10:51

Development of 3-D Position measurement method for a round hole

T.Tsukada*, K.Watanabe*, M.Koide*, M.Hirose**, Y.Horie** and Y.Yamagishi*** Toyota Central R＆D Labs., inc. Nagakute,JAPAN

** KANTO AUTO WORKS,LTD. Susono,JAPAN

Developed measurement methodround hole

TV cameralaser slit light source

laser slit light source

Slit light image

Round hole image

Combinedimage

Extractedfeature points

The feature points are extracted accurately by using 2-D image information by the light-section method.

A Method for Noise Suppression in Image Morphing Using Co-occurrence Frequency Image

• The noise often occurs in the border of texture when the exterior division of image morphing is applied.

• The cause of this noise is the incorrect correspondence between the input images in texture.

• In our method, the incorrect correspondence is detected based on Co-occurrence Frequency Image.

• Our method is robust in texture for illumination variation. Result of Image Morphing

Yosuke Nagasaka, Takayuki Fujiwara,Takuma Funahashi and Hiroyasu Koshimizu

SIST, Chukyo University, Aichi, Japan

MA1-7(3) 10:51-11:09 MA1-7(4) 11:09-11:27

Liquid Crystal Lens with ElectricallyControllable Focal Length

Mao Ye, Bin Wang, Masaru Uchida, Satoshi Yanase, Shingo Takahashi, and Susumu SatoAkita Industrial Technology Center

Akita, Japan

• Liquid Crystal Lens: electrically controllable focal length.

• Low Voltages: ~ 3.5 V.• Low Aberrations: all below the

tolerance conditions for optical lens.• Clear Images Forming: objects are

brought into focus separately by it.• Applications: focusing/zooming lens

systems in mobile phones, robots, production line etc.. Focusing lens

Autonomous Robot Human Detecting and Tracking Based on Stereo Vision

Songmin Jia, Liang Zhao, Xiuzhi Li, Wei CuiCollege of Electronic Information & Control Engineering

Beijing University of TechnologyBeijing, China

• A robust human detecting andtracking system is proposed.

• Hu moment was chosen to detecthuman because it has the invariantcharacter.

• Robust human tracking wasperformed with Extend KalmanFilter (EKF).

• Our experiments have demonstrated that the method of human detecting and tracking is effective.

The human detection and tracking

MA1-7(5) 11:27-11:45 MA1-7(6) 11:45-12:03

Moving Objects Detection Based on Space Vector Difference

Zhen Qian, Debao Huang and Xiaohui MaoCollege of Computer Science and Technology, Harbin Engineering University

Harbin,China

• Introduction.• Space vector difference method. • Implementation of the algorithm.• Experimental results.

Moving Objects Detection

Real-time Structured Light 3D Scanningfor Hand Tracking

Renju Li and Hongbin ZhaKey Laboratory of Machine Perception (Ministry of Education), Peking University

Beijing, China

• A real-time structured light scanning based on a color stripe pattern is proposed.

• Hand tracking is based on the online 3D scanned data.

• The tracking results can be used in some virtual reality applications such as manipulating an object in the virtual scene.

9


MP1-1: Kinematics of Manipulators

Session Chairs: Ming-Tzong Lin, National Formosa University Qinxue Pan, Beijing Institute of Technology


MP1-1(1) 13:30-13:48 MP1-1(2) 13:48-14:06

Configuring Kinematically Redundant Robotic Manipulators to Increase Effective Task-Specific Motion Resolution

Frank L. Hammond IIISchool of Engineering and Applied Sciences, Harvard University

Cambridge, Massachusetts, USA

• Redundancy resolution can increase motion precision without expensive, high-precision actuators.

• The effective motion resolution (EMR) index quantifies motion resolution achievable from a given manipulator configuration.

• Two case studies demonstrate significant increases in motion resolution for EMR-based robot designs and motion plans.

Redundant manipulator performs high-precision weld with low-

precision actuation architecture

Kinematics Analysis of Manipulation of Environment-Contacting object

with Free-Joint-StructureYasumichi Aiyama and Kazuki Sato

Manipulation System Lab., University of TsukubaTsukuba, Japan

• Kinematics of environment-contact task by position-controlled manipulator with free-joint structure

• Analysis for uncertainties of acting force between object and environment and between object and manipulator in 2-D work space

• Manipulation possibility is varied according to the acting force

• Linear Programming Method for the analysis

MP1-1(3) 14:06-14:24 MP1-1(4) 14:24-14:42

Algebraic-elimination Based Solution of Inverse Kinematics for a Humanoid Robot Finger

Ming-Tzong Lin, Chung-Ching Liu, Wei-Di Wen, Ying-Lung Lin, Che-Hau Wu, Cheng-Wei TungMDE, National Formosa University, Yunlin, Taiwan, R.O.C.

Precision Machinery R&D Center, Taichung 407, Taiwan, R.O.C.

• An algebraic-elimination based solution of inverse kinematics for a robot finger is proposed.

• Newton-Raphson method is adopted for solving polynomial roots of the inverse kinematics problem.

• DBLA algorithm is applied to plan feedrate profile and motion trajectory of a robot finger.

• The experiment results illustrate high-speed and high-accuracy finger motion control can be achieved .

Kinematic Configurationof a PMC Finger

PIP joint

DIP joint

MP joint

tO

tZ

tYtX

4O4θ

4Z

4X4Y

bObZ

bXbY

3O3θ

3Z

3X3Y

2O

2θ2Z

2X2Y

1O

1θ1Y

1X

1Z

A Comparison Study of Three Screw Theory Based Kinematic Solution Methods for the

Industrial Robot ManipulatorsEmre SARIYILDIZ and Hakan TEMELTAS

Department of Control Engineering Istanbul Technical UniversityIstanbul, Turkey

• Comparison Study of Three Inverse Kinematics Methods.

• Singularity Free Geometric Based Inverse Kinematic Solutions

• Quaternion, Dual-Quaternion and Matrix Algebras Based Solutions

• Screw Theory based kinematic solutions

6-DOF Robot Arm

MP1-1(5) 14:42-15:00 MP1-1(6) 15:00-15:18

Structural Analysis of Steel-Cable-DrivenMulti-Joint Robot Manipulator

Jianjun Yuan*, Weijun Zhang, and Wan YanResearch Institute of Robotics, Shanghai Jiao Tong University

Shanghai 200240, China

• Steel cable driven structure in multi-joint manipulator.

• Giving static geometric and force analysis for the whole mechanical design.

• Interesting performance and active prospect in practical application in flexible manipulator.

The Multi-joint manipulator by steel-cable structure

Design and Workspace Analysis of a Light Weight and High Stiffness ArmJing Li, Qiang Huang, Zhangguo Yu, Wei Xu, Xuechao Chen and Gan Ma

School of Mechatronical EngineeringBeijing Institute of Technology, China

• Light weight produces reduced inertial influence on humanoid robot

• High stiffness ensures high precision

• Adequate workspace

Physical robot arm

10


MP1-2: Mobile & Walking Robots

Session Chairs: Tatsuo Arai, Osaka University Masamitsu Kurisu, Tokyo Denki University


MP1-2(1) 13:30-13:48 MP1-2(2) 13:48-14:06

A Study on Teleopration System for a Hexapod Robot

- Development of a Prototype Platform -Masamitsu Kurisu

Mechanical Engineering, Tokyo Denki University, Tokyo, Japan

• A prototype platform of teleoperationsystem for the hexapod robot which has 6 equal limbs with both functions of leg and arm is presented.

• Implemented operation manners and control methods are introduced.

• Simple experiments show the validity of the prevention control method against overturning.

The Hexapod robot

Experimental study and DEM analysis on rigid driving wheel’s performance for off-road vehicles

moving on loose soilRunhuai Yang, Min Xu, Xu Liang, Shiwu Zhang, Yong Cheng, Hongcheng Xu, Jie Yang

Dept. of Precision Machinery and Precision Instrument, University of Science & Technology of China

Hefei, China

• An experimental and numerical investigation was carried out on the performance of a singlewheel travelling over various kinds of loose soil, including dry sand, wet sand, and mud. And discrete element methodwas used to simulate theinteraction between wheel and sand.

MP1-2(3) 14:06-14:24 MP1-2(4) 14:24-14:42 Dynamic Rotational Walking Motion on Inclined-plane

with Posture Optimization by Genetic AlgorithmsChayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo AraiArai Laboratory, System Innovations Division, Graduate School of Engineering Science,

Osaka University, Japan

• New inclined-plane motions for ASTERISK's dynamic rotational walking motion are designed.

• Genetic Algorithms is used to optimize foot positions for each inclined-angle

• The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.

Inclined-plane motion on 5 and 10 degree planes

Analysis and Modeling of Slip for a Five-Wheeled Mobile Robot (WMR) in an Uneven Terrain

Ozoemena A. Ani1 ,He Xu2 and Gang Zhao3

1,2,3College of Mechanical and Electrical EngineeringHarbin Engineering University, 150001 Harbin, P.R. China

• Increasing application of wheeled mobile robots

• Problem of wheel slip in traction and motion control of wheeled mobile robots

• Optimal point of slip wrt rotation angle = 32.3379290

• Further analysis of wheel terrain-interaction e.g.oh,ca,te

Fig. 6: Graphs of rotation angle (i) vs. slip (S) and T showing optimal point

1 1( ) 1 ln(1 ( ) / ) ( ) /(sin sin )kS Tr

θ τ θ θ θ θ θ⎡ ⎤⎛ ⎞= − − + − −⎜ ⎟⎢ ⎥⎝ ⎠⎣ ⎦

MP1-2(5) 14:42-15:00 MP1-2(6) 15:00-15:18

Preliminary Research of a Novel Soft Robot with Three Locomotion Modes

Yong Du, Min Xu, Erbao Dong, Qin Yan, Shiwu Zhang, Jie YangDepartment of Engineering Science

University of Science and Technology of ChinaHefei, China

• We presents the design of a novel soft robot which has three locomotion modes; rolling, Omega crawling and vermiculation.

• Through the locomotion switching, it effectively take into account the movement efficiency and the environment adaptability simultaneously.

Prototype of the soft robot

• In order to design a new manual wheelchair that can cross over a single step or a threshold, this paper presents several new concepts of wheelchair with specified obstacle-crossing ability and evaluates their advantages and disadvantages;

• Especially, a wheelchair based on a swing-legged system was studied. The system is foldable, and can complete two phases of crossing motion only by using the same swing link.

Design and Development of Manual Wheelchair With Obstacle-crossing Capability

Xuwei Guo, Shenghai Hu and Lixia YingSchool of Mechanical and Electrical Engineering, Harbin Engineering University

Harbin, China

The wheelchair based on a swing-legged system

11


MP1-3: Biomedical Mechatronics II

Session Chairs: Yong Yu, Kagoshima University Ryoichi Suzuki, Kanazawa Institute of Technology


MP1-3(1) 13:30-13:48 MP1-3(2) 13:48-14:06

Control Method for Powered Ankle Prosthesis via Internal Model Control Design

Ryoichi Suzuki, Takayuki Sawada, Nobuaki Kobayashi, Eberhard P. HoferDepartment of Robotics, Kanazawa Institute of Technology

Ishikawa 921-8501, JAPAN

A prototype of the powered ankle prosthesisInternal Model Control Design

Design of a 3-axial Force/torque Sensor for Arthroscopy Force Sensing

Ze Cui *, Zengjun Han*, Hongwei Pan*, Yanming Shao*, Danjie Zhu**

*School of Mechatronics Engineering and Automation, Shanghai University**Orthopedics, Zhejiang Provincial People’s Hospital

• Present the design of a three-axial force/torque sensor which is used for the measurement of the contact force on the probe of the arthroscopy.

• Use orthogonal test method to optimize the size of the flexor of the sensor.

• Describe the sensor's measurement principle and static calibration test.

Architecture of the system

MP1-3(3) 14:06-14:24 MP1-3(4) 14:24-14:42

Experimental Investigation of the Small Intestine’s Viscoelasticity for the Motion of

Capsule RobotRenjia Tan, Hao Liu, Gang Su, Cheng Zhang, Hongyi Li and Yuechao Wang

Shenyang Institute of Automation, Chinese Academy of Science,Shenyang, China

• The Motion of Internal Force-Static Friction Capsule Robot :Difficult.

• Resolution:Viscoelasticity of the Intestine

• Two Experiments: Shear Stress Relaxation and DMA test

• Results: Five-element Model and FEA in the future The Capsubot and Viscoelastic Experiment

on the Intestine Tissue

Numerical Simulation of Blood Flow in Blalock-Taussig Shunt for Hypoplastic Left Heart Syndrome

Xiaojun Zhang, Yun Cheng and Xiaoyang Li Department of Engineering Mechanics, Beijing University of Technology, Beijing, China

• Introduction• Mathematical Model• Numerical Results• Conclusion

Distribution of pressure in Straight BTS

MP1-3(5) 14:42-15:00 MP1-3(6) 15:00-15:18

Design of a Novel Master-Slave Robotic System for Minimally Intravascular Invasive SurgeryPeng Zhang1, 2*, Shichao Yu1,3, Ying Hu1, 2, Xin Ma1, 2 ,Jianwei Zhang4

1Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences 2The Chinese University of Hong Kong, Hong Kong, China

3Mechanical Engineering and Automation, HIT Shenzhen Graduate School 4TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany

The Master-Slave Robotic System

• A novel master-slave roboticsystem is proposed for minimallyintravascular invasive surgery.

• The robotic system is composed ofwire & catheter mechanism(slave),feedback device and mastersection.

• The structure mechanism, workingprinciple and control system of therobotic system are also introduced.

Novel approach of ulcer prevention based on pressure distribution control algorithm

Jalloul Elfehri, François Boussu, Vladan Koncar, Christian VasseurGEMTEX Research Lab., ENSAIT, Roubaix University of Lille1 France

• Interface pressure distribution and ulcer formation.

• Multi actuators control, distributed system.

• Impact of pressure evolution on the system, human modeling .

• Control algorithm and convergence.

Ulcer Prevention Sytsem

12


MP1-4: Intelligent Control II

Session Chairs: Rongqiang Liu, Harbin Institute of Technology Taeju Kim, Korea Institute of Industrial Technology


MP1-4(1) 13:30-13:48 MP1-4(2) 13:48-14:06

A Composite Algorithm for Flow Rate Reduction and Stable Body Trajectory Generation in a Hydraulic Actuated Quadruped Robot with

Kinematic RedundancyTaeju Kim*, Sangdeok Park*, and Byung-Ju Yi**

*Department of Applied Robot Technology, Korea Institute of Industrial Technology**School of Electrical Engineering and Science, Hanyang University

Ansan, Korea• We developed a hydraulic actuated

quadruped robot system with kinematic redundancy.

• Using the kinematic redundancy of each leg mechanism, a body trajectory generation algorithm combined with flow rate consumption minimization algorithm is proposed. Hydraulic Actuated Quadruped Robot

H∞ Control of Active Magnetic Bearings using Closed Loop Identification Model

Chen Junfeng, Liu Kun, XiaoKaiInstitute of Aerospace and Material Engineering, National University of Defense Technology

,Changsha, China• Closed loop identification experiments

are done to identify the models atdifferent speeds, and the modeluncertainty bound is deduced forcontroller design.

• H∞ controller is then synthesized toguarantee (through the specification ofloop-shaping weights) closed-looprobustness and performance with theidentified uncertainty bound at thedesigned rotational speed range.

• Results through numerical simulationsshow that the robustness against theuncertainty and the nominal performancefor output disturbance rejection of thecontroller satisfy the design requirements.

Experimental hardware of active magnetic bearings system

MP1-4(3) 14:06-14:24 MP1-4(4) 14:24-14:42 The The Research of Stability

Performance of 4WD Vehicles Basing on Electric Wheels Torque Control

Jianguo Song, Pingping Xu

College of Electronic Information＆Control Engineering , Beijing University of TechnologyBeijing, China

The nonlinear DYC control model of electric vehicle

Advanced Inversion Control for a Hypersonic Vehicle

Based on PSO and Arranged Transient ProcessZhiqiang Pu, Xiangmin Tan, Jianqiang Yi, and Guoliang Fan

Institute of Automation, Chinese Academy of Sciences, Beijing, China

• Have developed a curve-fitted thrust coefficient model which is suitable for a large flight envelope.

• Have designed a general inversion controller which can endure up to 10% parametric uncertainty.

• Apply the PSO to optimize the feed-back coefficients of the DI controller.

• Apply the ATP technique to improve the controller performance. Hypersonic Vehicle

MP1-4(5) 14:42-15:00 MP1-4(6) 15:00-15:18 A Closed-loop Method to Generate Fast

C-start for a Robotic FishZongshuai Su, Junzhi Yu, Min Tan, and Jianwei ZhangInstitute of Automation, Chinese Academy of Sciences

Beijing, China• Precise C-start with only a

little recoil.• Fast C-start with a

maximum turning rate of 200 degrees per second.

• The distinctive results of different types of caudal fins.

• New designs of the preparatory and propulsive stages during the C-start.

The snapshot sequence of a big caudal fin mode C-start.

Model Analysis and Active Vibration Control for Space Deployable Truss

Type MastHaojiang Zhao, Rongqiang Liu, Honghwei Guo, Zongquan Deng

Harbin Institute of Technology, Harbin, Heilongjiang Province, China

• Dynamic model of the large space deployable truss type mast is established.

• Use the distribution of the longerons’ model strain energy as an interpretational criteria to optimize actuator’s placement

• The independent modal space method and theory of quadratic optimal control are adopted to suppress the vibration of the truss type mast . The Control Diagram

13


MP1-5: Robot Control II

Session Chairs: Wenhao He, Institute of Automation, Chinese Academy of Sciences Dae-Keun Yoon, Hanyang University


MP1-5(1) 13:30-13:48 MP1-5(2) 13:48-14:06

Singularity Analysis Of 6DOF Stäubli TX40 Robot

Masoud Vaezi, Hesam Eddin Shoori Jazeh, Farzad Cheraghpour Samavati, S.Ali A.MoosavianDepartment of Mechanical & Electrical Engineering

K.N.Toosi University of TechnologyTehran, Iran

• All the singular directions in task space are specified.

• Kinematic equations and Jacobian matrix are provided.

• The manipulator singularities are decoupled into the forearm and the wrist singularities.

Stäubli Robot

A High Speed Robot Vision System with GigE Vision ExtensionWenhao He, Kui Yuan, Han Xiao and Zhengdong Xu

Institute of Automation, Chinese Academy of SciencesBeijing, China

• Use FPGA and DSP to boost the computing speed.

• A GigE vision interface isextended to obtain high speed image capturing.

• Implementation of Gaussian filter on FPGA.

• Implementation of Canny edge detector on FPGA. Results comparing

MP1-5(3) 14:06-14:24 MP1-5(4) 14:24-14:42

Dimension Optimization Design of An Under-Restrained 6-DOF Four-Cable-Driven Parallel Manipulator Based on

Least Square-Support Vector Regression Xiaoling Jiang, Yijian Huang, Yaqing Zheng

College of Mechanical Engineering and Automation in Huaqiao universityXiamen, China

• Pseudo-Curve model simplification• Least Square-Support Vector

RegressionThe Sketch map ofthe URPM4-3R3T

Position Control of a 2DOF Underactuated Planar Flexible Manipulator

Wei Chen, Yueqing Yu, Xinhua Zhao , Lianyu Zhao and QIyuanSunSchool of Mechanical Engineering, Tianjin University of Technology

Tianjin City, China

The 2DOF Underactuated Flexible Manipulator

• The dynamic equations are givenbased on the assumed mode methodKinemics and dynamics of the systemare analyze.

• The position control strategies aredesigned with the switch of the brakeat the passive joint.

• A 2DOF underactuated planar robotexperimental setup and its controlsystem is developed.

• Simulative and experimental resultsverify the validity of the presentedcontrol methods.

MP1-5(5) 14:42-15:00 MP1-5(6) 15:00-15:18 Automatic Tracking of Human-Body Using a 3

DOF Robotic LampYun-Seok Lee, Dae-Keun Yoon, Jong-Tae Seo, and Byung-Ju Yi

Department of Electrical, Electronics, Control, and Instrumentation Engineering Hanyang University

Ansan, Korea• A compact-sized robotic lamp using a

spherical type 3DOF parallel mechanism• Three motors are placed at the base frame to

control its two tilting angles and its one-DOF zoom in-and-out motion for a localized light.

• The robotic lamp tracks human-body automatically using the ubiquitous sensor network.

• A person is detected by PIR sensors. A sensor network using Zigbee gathers the sensor data. The 3 DOF Robotic Lamp

Modular Design for Small Humanoid Robots based on Robbus

Qian Xu, Qiang Huang , Xiaopeng Chen and Wei XuIntelligent Robotics Institute,

Beijing Institute of Technology, China

• Design the robot using Robbus.• An on-line motion planning based

on normalized function. • A quick response stability control

method using sensory system.• Experiments validate the on-line

motion planning and stability control methods.

14


MP1-6: Mechatronic Control Systems

Session Chairs: Simon Watson, University of Manchester Zuobin Wang, Changchun University of Science and Technology


MP1-6(1) 13:30-13:48 MP1-6(2) 13:48-14:06

Micro Gap Measurementby Vibration Mode for Needle-type dispenser

Kazuki Hirose, Yuuka Irie, Shinnosuke Hirata, and Hisayuki AoyamaDepartment of Mechanical Engineering and Intelligent Systems

The University of Electro-CommunicationsTokyo, Japan

• The needle-type dispenser can apply micro droplets from high viscosity liquid.

• The needle tip must be no contact with target surface during dispensed micro droplets.

• We propose a method that can determine whether the droplet contacts the target surface or not using the needle-vibration characteristics. Needle-type dispenser

A De-Coupled Vertical Controller for Micro-Autonomous Underwater Vehicles (uAUVs)

Simon A. Watson and Peter N. GreenSchool of Electrical and Electronic Engineering, The University of Manchester,

Manchester, UK• µAUVs can be used as part of

underwater sensor networks in to monitor industrial processes.

• De-coupled vertical/horizontal movement increase the manoeuvrability of the vehicle.

• This paper presents the work conducted on the design of a vertical control system .

Results of a µAUV Executing a Staircase Movement Sccenario

MP1-6(3) 14:06-14:24 MP1-6(4) 14:24-14:42

The Design and Technical Challenges of a Micro-Autonomous Underwater Vehicle (uAUV)

Simon A. Watson, Dominic J. P. Crutchley and Peter N. GreenSchool of Electrical and Electronic Engineering, The University of Manchester,

Manchester, UK• µAUVs can form the basis of

mobile underwater sensor networks for monitoring industrial processes.

• There are many technical challenges involved when using off-the-shelf components.

• This paper presents progress to date in the design of such a system. A Prototype µAUV

Dynamic Analysis and PID Control for a QuadrotorJun Li, Yuntang Li

College of Mechanical and Electrical Engineering, China Jiliang UniversityHangzhou, China

• Describe the architecture of the quadrotor and analyze the dynamic model of it.

• The dynamic model is implemented in Matlab/Simulink simulation, and the PID control parameters are obtained according to the simulation results.

• Based on the classic scheme of PID control, this paper designs a controller, which aims to regulate the posture (position and orientation) of the 6 d.o.f. quadrotor.

• A flying experiment for the quadrotor has been done.

Picture of the Quadrotor

MP1-6(5) 14:42-15:00 MP1-6(6) 15:00-15:18

Phase-Shift Control in Two-Beam Laser Interference Lithography

Jia Xu, Wei Zhang, Lanjiao Liu, Zuobin Wang, Zhengxun Song, Zhankun Weng, and Zhen Hu CNM & IJRCNB Centers, Changchun University of Science & Technology, Changchun, China

Jin Zhang Shaanxi Province Key Lab of Thin Films Technology and Optical Test, Xi’an Technological

University, Xi’an, ChinaYong Yue and Dayou Li

Institute for Research in Applicable Computing, University of Bedfordshire, Luton, UK

• Phase-shift control in two-beam laser interference lithography.

• A PZT actuator used to push a mirror and introduce phase shifts in two-beam laser interference .

• Control of phase shifts and fringe positions in interference patterns. System setup

The Dynamics Study of the Stick-slip Driving System Based on LuGre Dynamic Friction Model

Bowen Zhong, Lining Sun, Liguo Chen, and Zhenhua WangRobot Research Institute., Harbin Institute of Technology

Harbin, Hilongjiang Province, China• A novel structure of stick-slip stage was

designed and LuGre friction model was introduced and selected.

• Combined with LuGre model and dynamics model of flexible hinge, the dynamics model of stick-slip system was built and simulated.

• Experiment prototype and the testing system of stick-slip driving stage were designed.

• The simulation results are validated by the testing results. The dynamics model above is suitable to study the novel stick-slip stage and a kind of problem in stick-slip driving. 3D model of

Stick-slip stage

15


MP1-7: Organized Session: Image Processing II

Session Chairs: Hiroyasu Koshimizu, Chukyo University Toshihiko Tsukada, Toyota Central R&D Labs., inc.


MP1-7(1) 13:30-13:48 MP1-7(2) 13:48-14:06

Image Quality Evaluation based on Contrast Sensitivity Function

Toshio Asano, Yuji Takagi, Takahiro Kondo, Jun Yao* and Wei Liu*Hiroshima Institute of Technology, Hiroshima, Japan

* Fast Corporation, Yokohama, Japan

0

50

100

150

200

0.1 1 10 100

Spatial frequency[cpd]

Contrast Sensitiv Lum inance

Red-Green

Blue-Yellow

Color Contrast sensitivity function (CSF).

Luminance Red-Green Blue-Yellow

・A novel method that evaluatesthe color uniformity grade of electronic displays is

presented. ・The images are filtered by thenewly defined visual

perceptualfilter.

・The experimental results showed strong relations

Towel Mark Recognition System for Washing Cloth Handling System

Tatsuya Hojoh#1, Seiji Hata#1, Junichiro Hayashi#1, Toshihiro Hamada*2, Hirotaka Hojoh#3

#1Faculty of Engineering, Kagawa University*2 Kagawa Prefecture Industrial Technology Center *3 PUREX Co. Ltd.

Takamatsu, Japan• To automate laundry factories, a cloth

handling robot has been introduced.• Lighting system to observe towel

marks clearly has been developed.• The recognition method using HOG

features has robust recognition.• The feature space distance method ha

been proved to be practical.• The system has been installed into the

handling robot system and achievedsufficient recognition rate.

Cloth handling robot system

MP1-7(3) 14:06-14:24 MP1-7(4) 14:24-14:42

Cutting Tool Wear Measurement by Using Active Contour Model Based Image Processing

Guangxi Xiong, Jiancheng Liu, Adrian AvilaUniversity of the Pacific

Stockton, California, USA

• A new tool wear measurement technology using geometric active contour model based computer image processing is represented.

• This developed technology accurately and rapidly extracts the boundaries of the wear region in the captured image.

• The effectiveness of the method is verified through experiments.

Research on Intellectual Detection and Classification of Pork Freshness Based on SOM

Neural NetworkGuo peiyuan, Fu yan, Yuan Fang, Bao ManBeijing Technology and Business University

Beijing, China• CCD photoelectric detection

techniques • digital image processing

techniques• the final study of using neural

network technology micro-parameters of non-coherent multi-data fusion detection methods

Histogram equalization transformation

MP1-7(5) 14:42-15:00 MP1-7(6) 15:00-15:18

Color Image Segmentation Based on Watershed and Ncut of Improved Weight Matrix

Xiaoli Xu, Zhimao Lu, Haiyan LiInformation and Communication Engineering College, Harbin Engineering University

Harbin, China• A new color image segmentation method

is presented in this paper. • It preprocesses an image by the twice used

watershed algorithm to form segmented regions that instead of the image pixels are then represented by using the graph structure.

• a new weight matrix is designed in this paper according to the image color and space information.

• Then the Ncut method is applied to perform globally optimized clustering.

Results comparison(a) Original images (b) Ncut(c) MS and Ncut(d) Proposed method.

Finding Objects at Indoor Environment Combined with Depth Information

Yongqiang Gao1, 2, 3, Jianhua Zhang4, Liwei Zhang1,2, Ying Hu1, 2, Jianwei Zhang4

1Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences 2The Chinese University of Hong Kong, Hong Kong, China

3School of Computer Science and Technology, University of South China, Hunan, China4TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany

Desired Behavior of Measure

• Generic objectness measure thancategory-specific

• Combining depth informationcue

• Detecting and localizing genericobjects in the indoor scens

• Especially for closed objects• Selecting bounding box which

contains a possible objects

16


MP2-1: Mechatronic Device I

Session Chairs: Yangmin Li, University of Macau and Tianjin University of Technology Dan Zhang, University of Ontario Institute of Technology


MP2-1(1) 15:40-15:58 MP2-1(2) 15:58-16:16

Optimization of a Completely Decoupled Flexure -Based Parallel XY Micro-motion Stage

Jiming Huang¹, Yangmin Li¹ ², Xinhua Zhao²¹University of Macau, Macao, China

²Tianjin University of Technology,Tianjin, China

• A completely decoupled parallel XY stage is designed.

• Simplified matrix method is employed to derive the compliance model.

• The stage dimensions are optimized using particle swarm optimization (PSO) algorithm.

• The FEA result indicates that the XY stage has an ideal decoupling property.

A Decoupled Parallel XY Stage

Development of a Micromirror Based LaserVector Scanning Automotive HUD

Fan Chao, Siyuan He, James Chong, Ridha Ben Mrad and Lei FengMEMS Research Lab., Ryerson University, Canada

• Micromirror laser vector scanning• Small size, low cost and high

brightness• Low power laser and safe • Real image on windshield• Virtual image on the road

Micromirror HUD

MP2-1(3) 16:16-16:34 MP2-1(4) 16:34-16:52

Novel Design of a Three DOFs MEMS-based Precision Manipulator

Min Pan, Zhongzhe Chi and Dan ZhangRobotics and Automation Lab, University of Ontario Institute of Technology, Canada

• A novel design of a 3-DOF MEMS based parallel manipulator is described

• It is featured by comb drive actuators and integrated universal joints

• Two major micromachining processes are used in fabrication: bulk and surface micromachining fabrications The MEMS based Manipulator

Influence of the Navier Boundary Wall Slip onFlow Patterns in Micro-scale Cavity

Zhaomiao Liu, Guobin Wang, Feng ShenDepartment of Engineering Mechanics, Beijing University of Technology

Beijing, China• For the behaviors of micro-fluidics in cavity

micro-flow, a CFD numerical simulation is adopted to investigate the slip effects on cavity micro-flow.

• boundary wall with the Navier slipcondition will change the pattern of cavity micro-flow.

• a new slip model based on the concept of boundary layer thickness was derived theoretically and tested.

• the slip wall boundary condition will restrain the growth and development of vortex in the cavity ,also change the position and shape of vortex separation line under cavity

h

B

L

Fig.1 Sketch of numerical and grid refinement of micro-scale cavity

MP2-1(5) 16:52-17:10 MP2-1(6) 17:10-17:28

Mobile Robot Autonomous Navigation Using MEMS Gyro North Finding Method in Global

Urban SystemYuanlong Wei, Mincheol Lee

Measurement and control Lab., Pusan National UniversityBusan, South Korea

• Autonomous navigation method based on MEMS sensor optimization for mobile robot in Global Urban System (GUS).

• A new GPS/INS (Inertial Navigation System) navigation scheme is proposed, based on MEMS gyro north-finding approach.

• Give robot a “sense of direction”. North Finding Mobile Robot

180o

Micro/nano Displacement Measurements Using a Novel Contact Probe-Based FBG

Sensing SystemChen Lijuan , Chen Xiaohuai , Fei Yetai, Liu Fangfang

Department of Instrument Science and Optoelectronic Engineering,HeFei University of Technology

HeFei, China

• A high-precision and low-cost Micro /nano displacement measuring system

• Suspended FBG probe stem and micro-balltip to enlarge the attainable aspect ratio

• Applied filtering technology both in hardware and software to suppress the noises

• The measuring system resolution can reach 50nm in a range of 30um, using the linear nanopositioner stage with a displacementresolution of 5 nm

Image of the FBG-based probe

17


MP2-2: Nano Mechatronics

Session Chairs: Malte Bartenwerfer, University of Oldenburg Himanshu Dutt Sharma, Central Electronics Engineering Research Institute


MP2-2(1) 15:40-15:58 MP2-2(2) 15:58-16:16

Towards Automated AFM-based Nanomanipulation in a Combined Nanorobotic

AFM/HRSEM/FIB SystemM. Bartenwerfer, S. Fatikow, R. Tunnell, U. Mick, C. Stolle, C. Diederichs,

D. Jasper, and V. EichhornDivision of Microrobotics and Control Engineering

University of Oldenburg, Germany• A combined AFM system inside SEM

with focused ion beam and gas injection system is set up.

• Combination of AFM, SEM, and FIB capabilities allow fabrication, handling, and observation of handling objects and sequences.

• Positions observed by SEM can be converted into AFM positions.

Automated Alignment, Focussing and Control of Nanomanipulators in Microassembly Workccell

Himanshu Dutt Sharma, Sachin Bhardwaj, Rohit Kumar Singh, Gaurav Singh Naruka, and Amit TholiaCSIR-Central Electronics Engineering Research Institute(CEERI)

Pilani, India

• Design of 5-DoF Microassembly Workcell.

• Modelling and Kinematics of Nanomanipulator.

• Fine and Coarse Vision based Control System for Autofocussing, alignment and trajectory control.

• Real Time Collision Avoidance for safety of Nanomanipulator system.

The MM3A® Nanomanipulator

MP2-2(3) 16:16-16:34 MP2-2(4) 16:34-16:52

Directed Nanorobot-based Handling of Single Nanowires

Malte Bartenwerfer and Sergej FatikowDivision of Microrobotics and Control Engineering

University of Oldenburg, Germany

• Nanorobotic setup inside the SEM to transfer silicon nanowires with several µm length and about 80nm thickness.

• Utilizing electron beam depositions for mechanical and electrical connections by tungsten.

• Utilizing focused ion beam unit for fast ion beam induced depositions and milling.

Hysteresis Modeling and Inverse Feedforward Control of an AFM Piezoelectric Scanner Based

on Nano ImagesHui Tang¹, Yangmin Li¹ ², Xinhua Zhao²

¹University of Macau, Macao, China²Tianjin University of Technology,Tianjin, China

• A novel and simple mathematic modeling method by using polar coordinate is presented.

• The specific steps of image-based parameters identification method have been listed.

• The principle of inverse feedforward control strategy is introduced.

• Some experimental results are presented, and the analysis and performance evaluation have been conducted in detail.

The Working Principle of an AFM System

MP2-2(5) 16:52-17:10 MP2-2(6) 17:10-17:28

A 3D Stick-Slip Nanopositioner for Nanomanipulation

Weibin Rong, Shizhong Zhang, Miao Yu, Lining SunState Key Laboratory of Robotics and System, Harbin Institute of Technology

Harbin, China

• A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside SEM.

• A comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results.

• The positioner has strokes of 4mm×4mm×5mm, resolution of 10nm and load capacity up to 70g.

A 3D stick-slip nanopositioner

Design of Hardware and Software for A New Capillary Rheometer

Heping Song, Chengquan Hu, Guangyu Zhao, Lifeng Wang and Yuanbo XuCollege of Computer Science and Technology, Jilin University, Changchun, China

• A new capillary rheometer based on AVR single chip processor.

• Detailed hardware and software design.

• Stable, reliable, high accuracy and easy to use.

• Provide a competitive performancebut much cheaper in cost.

The figure of capillary rheometer

18


MP2-3: Biomedical Control System

Session Chairs: Jawad Al Khaburi, Higher College of Technology Zhu Chi, Maebashi Institute of Technology


MP2-3(1) 15:40-15:58 MP2-3(2) 15:58-16:16

Adaptive Controller for Motion Control of a Seated Walking Training MachineYuto Watanabe1, Shuoyu Wang1, Renpeng Tan1, Yinlai Jiang1,

Kenji Ishida2, and Masakatsu Fujie3

Kochi University of Technology1, Kochi University2, Waseda University3, Japan

• This Paper focuses on the accuracy of path tracking when the center-of-gravity shift caused by the user.

• An effective adaptive method is proposed.

• The simulation shows that the proposed adaptive control method is more feasible and effective than PID control. Seated Walking Training Machine

Power Assistance for Human Elbow Motion Support Using Minimal EMG Signals with

Admittance ControlChi Zhu, Shota Shimazu, Masataka Yoshioka, and Tomohiro NishikawaDept. of Systems Life Engineering, Maebashi Institute of Technology,

Gunma, Japan• A two degree of freedom power

assistance device is developed.• A simple but effective EMG signal

processing method is proposed. • Admittance control model using EMG

signal is introduced to generate speed command to perform power assist task.

• Experimental results show the validity of the proposed approach.

Power assist device helps the operator to hold up load with EMG signal

MP2-3(3) 16:16-16:34 MP2-3(4) 16:34-16:52

Jacobian Analysis for Parallel Mechanism Using on Human Walking Power Assisting

Yong Yu1, Wenyuan Liang1,2,3 , and Yunjian Ge2

1. Graduate School of Science & Engineering, Kagoshima University, Japan2. Institute of Intelligent Machine, Chinese Academy of Science, China3. Dept. of Automation, University of Science and Technology of China,

• A 3UPS parallel mechanism which is wearable for human hip joint’s 3-DOF power assisting is proposed

• By the way of differing the constraint equations, direct parallel kinematical Jacobian is worked out

• By simulation and experimental results, the proposed Jacobian can be applied to used on parallel assisting mechanism

Parallel Assisting Mechanism for Human Hip Joint

Measurement of Interface Pressure Applied By Medical Compression Bandages

Jawad Al Khaburi, Abbas A. Dheghani-Sanij, E. Andrea Nelson and Jerry HutchinsonUniversity of Leeds, Leeds, UK and ConvaTec Limited

• Investigate the feasibility of using FlexiForce® sensors to measure the pressures applied by medical compression bandages.

• Compare the sub-bandage pressures measured using FlexiForce® force sensors with the pressures measured using PicoPress®, FS01 force sensor, and the pressures computed using the level of extension in the bandage.

The test rig with the sensors attached

MP2-3(5) 16:52-17:10 MP2-3(6) 17:10-17:28

Optimal Combination of Channels Selection Based on Common Spatial Pattern Algorithm

Mingai Li, Jianyong Ma and Songmin Jia College of Electronic Information & Control Engineering, Beijing University of Technology

Beijing, China

• Introduction to some optimal combination of channels selection methods presented by other researchers.

• The optimal combination of channels selection method based on CSP and SVM algorithm is presented.

• Experimental results show that this method can not only reduce the number of channels effectively but also increase the average classification accuracy rate.

BCI systembased on EEG of GRAZ

Motion Control of Intelligent Wheelchair Based on Sitting Postures

Jinhui Fan, Songmin Jia, Xiuzhi Li, Wei Lu, Jinbo Sheng, Liwen Gao, Jun YanBeijing University of Technology，Beijing, China

Presents the hardware structure of omni-directional wheelchair control system.Analyses the omni-directional wheels motion control based on sitting postures. Postures and force sensors data acquisition simulations on Webots platform.Some results of simulations and experiment in our research. Curves of Force sensor

19


MP2-4: Control Theory I

Session Chairs: Zhidong Wang, Chiba Institute of Technology Muh ammad Farru, Monash University


MP2-4(1) 15:40-15:58 MP2-4(2) 15:58-16:16

Resonant Frequency Band Estimation using Adaptive Wavelet Decomposition Level

SelectionM. F. Yaqub, I. Gondal, and J. Kamruzzaman

Gippsland School of Information Technology., Monash UniversityMelbourne, Australia

• A wavelet based adaptive technique is proposed for estimation of the resonant frequency band.

• The resonant frequency band contains highest Signal to Noise ratio and helps in determining the condition of the machine.

UKF Parameter Optimization Method Using BP Neural Network for Super-Mini Aerial Vehicles

Guoyu Zuo, Xiaoqing Zhu, Kai Wang, Xiang Liu

School of Electronic Information and Control Engineering , Beijing University of TechnologyBeijing, China

• Difficult to decide Unscented • Kalman Filter (UKF) parameters• Learning method using BP neural

network to optimize parameters • Efficient, avoiding a lot of trail• INS&GPS for Super-Mini Aerial

Vehicles performance improved Flow chart of Learning algorithm

MP2-4(3) 16:16-16:34 MP2-4(4) 16:34-16:52

Temperature Control System of Air-conditioning Based on the Fuzzy Theory

JIANG Jing , ZHANG Xuesong

China University of Mining and Technology （Beijing）Beijing, China

• Average sample algorithm• Control system software flow• Soft-start control sub-program

was used in the process of soft-start or soft-braking.

• Anti-Fuzzy of Fuzzy Temperature Controller

• Simulation parameters of air-conditioning system

Simulation curvet(m)

T(° C)

40003500300025002000150010005000

10

12

14

16

18

20

22 21

Self-evolution fuzzy chaotic neural network and its application

Mo Tang, Xiaojun Bi,Kejun WangDepartment of Automation. University of Harbin Engineering, Harbin Engineering University

Harbin, China• A novel neural network model called

self–evolution fuzzy chaotic neural network is proposed.

• The model is constructing on the basis of fuzzy Hopfield neural network and self-evolution neural network.

• The novel network is proved to have both fuzzy clustering function and chaotic associate memory ability.

• Both theory analysis and simulation in application of fuzzy classification and associate memory are given.

MP2-4(5) 16:52-17:10 MP2-4(6) 17:10-17:28

A control system of a ping-pong robot arm based on fuzzy method

Xiaowen Yu, Jing Xu, Shaoli Liu, and Ken ChenRobotics and Automation Lab., Tsinghua University

Beijing, China

• Present a six DOFs low-cost arm of a ping-pong robot to balance a ball on a plate.

• Fuzzy control method is used in the main controller.

• Infrared touch screen is installed as a sensor to automatically obtain the position of the ball.

• Simulation and experimental studies are included.

The ping-pong robot arm

Fuzzy Tuning Manipulation Control of a Space Robot with Passive Flexible Solar Panels

Payam Zarafshan S. Ali A. MoosavianAdvanced Robotics & Automated Systems (ARAS) Laboratory

Department of Mechanical Engineering, K. N. Toosi Univ. of Technology, Iran

The system dynamics is partitioned into two rigidand flexible bodies’ motion, and a practical modelfor control implementations on compoundedrigid-flexible multi-body systems is developed.The Fuzzy Tuning Manipulation Control (FTMC) algorithm was implemented on this system. It was shown that vibration of the passive flexible solar panels results in generalized forces which can disturb the robot, and indirectly controlled by FTMC algorithm . Obtained results reveal the merits of the proposed model and developed controller which will be discussed. The considered space

robotic system which has

20


MP2-5: Robotic Vision

Session Chairs: Lae-Kyoung Lee, Pohang University Qinxue Pan, Beijing Institute of Technology


MP2-5(1) 15:40-15:58 MP2-5(2) 15:58 -16:16 SDAT: Simultaneous Detection and Tracking of

Humans using Particle Swarm OptimizationSung-Tae An, Jeong-Jung Kim, and Ju-Jang Lee

Department of Electrical Engineering, Korea Advanced Institute of Science and TechnologyDaejeon, Republic of Korea

• Gaussian-PSO for human detection and tracking with the HOG features to achieve a fast and accurate performance.

• More robust than typical tracking methods.

• Real-time detection and tracking.• Simple process with 1 linear-SVM

and HOG features.

Object Detection by Parts Using Appearance, Structural and Shape Features

• An HOG based classifier is first used to detect parts (teeth) of an object.

• Structural constraints among parts are imposed to detect the object (shovel).

• A segmentation algorithm is employed to derive shape features of the parts.

• Finally, another classifier is used to determine the overall object likelihood by incorporating the shape features.

Li He1,2 , Hui Wang2 and Hong Zhang2

1 School of Automation, Northwestern Polytechnic University, China2 Department of Computing Science, University of Alberta, Canada

True (top) and false (bottom) parts

A mining shovel of seven teeth

MP2-5(3) 16:16-16:34 MP2-5(4) 16:34-16:52

Place Recognition based on Latent Dirichlet AllocationJinfu Yang, Yangli Wang, Mingai Li and Min Song

Department of Control Science and Engineering, Beijing University of TechnologyBeijing, China

• The introduction of the method based on Latent Dirichlet Allocation model for place recognition.

• The description of the databases used for the experiments.

• Experiments and results on the IDOL2 Database

• Experiments and results on our own pictures.

• Discussions on the experimental results and Conclusion. The flow chart of the method

A Bilinear Model Based Solution to Object Pose Estimation with Monocular Vision for Grasping

Zhicai Ou, Wei Liu, Jianhua SuInstitute of Automation, Chinese Academy of Sciences

Beijing, China

• A bilinear model with randomprojection is used to separate thepitch factor and the yaw factorfrom the object image.

• A weighted Euclidian distancebased factor identification methodfor robustness improvement of thefactor identification.

• A Three-step bilinear model basedsolution to object pose estimationfor grasping.

Separating Factors with Bilinear Model

MP2-5(5) 16:52-17:10 MP2-5(6) 17:10-17:28

Efficient Face Detection and Tracking with Extended CAMSHIFT and Haar-Like Features

Lae-Kyoung Lee, Su-Yong An, and Se-Young OhIntelligent Robotics Lab.

Pohang University of Science and TechnologyPohang, Korea

• Two level approach to detect faces and tracking

- Extraction of face candidates with the combination of YCbCr skin color model and haar-like features based adaboost

- Robust face tracking with Extended CAMSHIFT

• Proposed face detection/tracking performance

- Robustly detect human faces with reduced computational cost in different scale, various poses, and illumination condition. (Avg. precision : 94%)

- Tracking the target face with high success rate. (Success rates: 95.3%, Avg. frame rates: 30~35 fps)

Proposed Method Flowchart

Proposed Face Detection and Tracking Result

Real-time Human Detection Based on Cascade Frame

Li Zhihui, Shao Chunyan, Sun Di Computer Science and Technology College, Harbin Engineering University

Harbin, China• A real-time pedestrian detection

approach with two steps is proposed in this paper. The first step is the detection by HOG in combination with the classifier of cascade frame.

• The second step is to extract the head image in positive window and compute the color histograms as feature. Traditional AdaBoost is used to validate the detection result.

• The experiment result in the paper shows that the approach is effective and real-time detection is implemented.

The detection performance of algorithm

21


MP2-6: Sensing Calibration

Session Chairs: Yong Yu, Kagoshima University Kotaro Nagahama, The University of Tokyo


MP2-6(1) 15:40-15:58 MP2-6(2) 15:58 -16:16

End Point Tracking for a Moving Objectwith Several Attention Regionsby Composite Vision SystemKotaro Nagahama, Tomohiro Nishino, Mitsuharu Kojima,

Kimitoshi Yamazaki, Kei Okada and Masayuki InabaJSK Robotics Lab., The University of Tokyo, Tokyo, Japan

• An approach of multi-target tracking for gaze control to know the motions of end points on a moving object.

• Three different types of tracker to observe temporal, spatial and appearance changes are combined.

• Composite vision system on which two wide-angle cameras and two zoom-enabled cameras are mounted. The Composite Vision System

of HRP-2VZ

Least-Square Based Self-calibration ofTwo-Dimensional Ultra-Precision Stages

Yu Zhu, Chuxiong Hu and Jinchun HuState Key Laboratory of Tribology, Department of Precision Instruments and Mechanology,

Tsinghua University, Beijing 100084, China.

• A comparative simple method for self-calibration of two-dimensional ultra-precision stages to effectively attenuate the effects of random measurement noise

• Least-square method• When there exists measurement

noise with standard deviation of 3nm, the calibration error has a standard deviation of about 2.4nm Calibration Error

MP2-6(3) 16:16-16:34 MP2-6(4) 16:34-16:52

Study on the Space Burst Point Test System Used in Proximity Fuze Projectile

Jin-ping Ni, Tao Dong, School of Optoelectronic Engineering, Xi'an Technological University, Xi’an, China

• When the projectile passes through the screens， the analog signal will be produced and recorded by the data acquisition instrument.

• By processing the signal can obtain the flying parameters.

• The explosion time T can be detected by the flame detector. The Composition of the system

The Evaluation of Measurement Uncertainty for Laser Tracker based on Monte Carlo Method

Jindong WANG, Junjie GUO, Hao WANG, Yufen DENGState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong

University, China

The Monte Carlo method is used to evaluate the measurement uncertainty of laser trackers multi-station andt ime-sharing measurement.

The simulation and experiment verify the effectiveness of the Monte Carlo method.

MP2-6(5) 16:52-17:10 MP2-6(6) 17:10-17:28

Ultrasonic Echoes Estimation Method using Genetic Algorithm

Zhongzhu Liu, Xiaoguang Bai, Qinxue Pan, Yong Li and Chunguang XuKey laboratory of Fundamental Science for Advanced Machining, Beijing Institute of

Technology, Beijing China• Accurate estimation of the echoes

parameters is important in ultrasonic nondestructive evaluation (NDE).

• Model based method is often used to estimate ultrasonic echo signals, but itrequires good initial guesses for parameters and may get the local minima in the error function search space, instead of the global the minimum.

• Genetic algorithm (GA) is used to improve the model based method. The improved algorithm doesn’t need doing the initial guessing work manually, and can even acquire the estimation result directly. .

The original and estimated echoes with SNR = 20 dB

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -1

-0.5

0

0.5

1

1.5

A Calibration Process for Tracking Upper Limb Motion with Inertial Sensors

Hao Yang, and Juntao YeInstitute of Automation, Chinese Academy of Scienses

Beijing, China

• Hardware design.• Physical segment kinematic model. • Sensor-segment orientation calibration.• Tracking of the upper limb motion.• Experimental results.

The predefined calibration postures

22


MP2-7: Image Processing III

Session Chairs: Lei Wang, Harbin Engineering University Huabo Sun, Peking University


MP2-7(1) 15:40-15:58 MP2-7(2) 15:58 -16:16

The A Filtering Method for Generating DTM based on Multi-scale Mathematic Morphology

Shuwei Li, Huabo Sun,Lei Yan College of Computer and Information Engineering, Zhejiang Gongshang University

Hangzhou, China• A filtering method is proposed in

this paper that can generate DTM (digital terrain model) based on multi-scale mathematic morphology.

• Comparing adjacent filter surface with the threshold parameter, we extract surface feature during gradually increasing transform scale of filtering window.

• Experiment shows that Our method can effectively generate DTM and also can maintain the terrain details.

Our method result494000 494050 494100 494150

5419800

5419850

5419900

5419950

5420000

5420050

5420100

5420150

5420200

Edge-Directed Interpolation based on Canny Detector

Yang Luo, Shanshan Liu and Huiyan ZhuDepartment of Computer and Technology, University of south China

Hengyang, Hunan Province, China

• Digital images could be represented as a kind of linear filter model.

• High resolution edge map is obtained based on Canny edge detector.

• The pixels to be interpolated are classified to three categories.

• Sample-points-selection from a statistical standpoint before interpolation is used to solve the problem of edge diffusion.

The original image and expanded images

MP2-7(3) 16:16-16:34 MP2-7(4) 16:34-16:52

Level-set models driven by Bidimensional EMD for Sonar image segmentation

Xiufen Ye, Lei Wang , Tian Wang and Gang WangCollege of Automation Harbin Engineering University

Harbin, Heilongjiang 150001, PR China

• Introduce four phases level set segmentation mode.

• Introduce the principle and factorization of BEMD, and give its description.

• Put forward the new level set energy function which is based on the BEMD, and establish anti-noise level set sonar image segmentation model

• Give the contrast experimental results. Contrast experimental result

Structural Similar Patches for Nonlocal-means with Modified Robust M-estimator and Residual

ImagesBo Xiong and Zhouping Yin

State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and Technology

Wuhan, China• Study is about the NL-means for

removing Gaussian noise• Show the connection between the

NL-means and the robust M-estimator

• Propose a modified weight function based on robust M-estimator for NL-means

• Use moving average for speeding up the NL-means Lena with Gaussian Noise

MP2-7(5) 16:52-17:10 MP2-7(6) 17:10-17:28

Scene Flow Based Stereo Augmentation Reconstruction

Xiuzhi Li, Songmin Jia, Jinbo Sheng, Wei Cui and Jinhui FanCollege of Electronic Information & Control Engineering, Beijing University of Technology

Beijing, China

• An effective technique is presentedto reconstruct an accurate andreliable 3D surface model frommulti-view stereo.

• Motion analysis approach in whichoptical flow-scene flow frameworkis involved is integrated with stereovision technique.

• Experimental results exhibit anappealing performance of ourreconstruction solution.

Surface adjustment based on scene flow

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Translational Offset Detection Based onFar-Field Intensity for Grating Tiling

Yanlong Huang, Zaojun Fang, Lan Xia, De Xu ,and Min Tan

Institute of Automation, Chinese Academy of SciencesBeijing, China

• The detection of main focal spot: search for the focal spot’s centreand feature extraction

• The detection of left or right focal spot: image segmentation, feature extraction and calculation of energy

• Energy ratio and formula fitting. Far-Field Intensity

ο ο ο

23

Tuesday August 9, 2011

Morning Sessions

TA1-1 Mechatronic Device II

TA1-2 Novel Actuator System I

TA1-3 Organized Session: Robots for New Fields I

TA1-4 Control Theory II

TA1-5 SLAM

TA1-6 Sensor Networks

TA1-7 Signal Processing I

25

Tuesday August 9, 2011

Afternoon Sessions

TP1-P Mechatronics & Automation

TP2-1 Organized Session: Human Assistive Technologies and

Industrial Applications I

TP2-2 Novel Actuator System II

TP2-3 Organized Session: Robots for New Fields II

TP2-4 Control Application I

TP2-5 Robot Navigation I

TP2-6 Sensor Design I

TP2-7 Signal Processing II

26


TA1-1: Mechatronic Device II

Session Chairs: Chenglong Lv, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shinji Kurose, Kobe University

Room 1, 10:15-12:03, Thursday, 9 August 2011

TA1-1(1) 10:15-10:33 TA1-1(2) 10:33-10:51

• Utilization modes for audio near-distance directional loudspeakerare investigated to examine anovel auditory experience.

• Two kinds of Emitter array arepresented and measured.

• A prototype based on PZTceramic transducer array wasconstructed and tested.

Structure of audio near-distance directional

loudspeaker

Audio Near-Distance Directional Loudspeaker Technology for Portable Multimedia Devices

Xuesheng Li, Limei Xu,and Leon Xu Institute of Astronautics and Aeronautics, University of Electronic Science and Technology

Chengdu, China

A Proposal of Optimization Methodology on Manufacturing Scheduling and its Application into Actual Scale Problem in Semiconductor

ManufacturingShinji Kurose, Toshiya Kaihara, and Nobutada Fujii

Department of Computer Science and System Engineering, Kobe UniversityKobe, Japan

• Verified the effectiveness of the Lagrange Decomposition and Coordination method application into not only the small scale model but also the actual large scale model in Semiconductor Manufacturing, comparing with the traditional dispatching method.

Re-entrant Flow Shop

TA1-1(3) 10:51-11:09 TA1-1(4) 11:09-11:27

Underwater Experiments of a Water-jet-based Spherical Underwater Robot

Xichuan Lin, Shuxiang Guo, Koujirou Tanaka and Seji HataFaculty of Engineering, Kagawa University

Kagawa, Japan• A spherical underwater robot with

water-jet propulsion system is presented.

• Dynamics modeling of single water-jet propeller is briefly illustrated, and the coordination transforms is introduced.

• To evaluate the characteristics of basic motions, different experiments are carried out. Spherical Underwater Robot

The Kinematics Analysis For A Five DOF Serial-parallel Manipulator With RP-(2-RRU/1-RUU)

Structure Chenglong Lv1,2,Ying Hu1,2, Zhong Wan1,2,Jianwei Zhang3

1Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences2The Chinese University of Hong Kong, Hong Kong, China

3TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany

• A novel serial-parallel robot with five DOF is developed. The robot can be used in automatic production line to handling materials.

• The spiral movement is described.• The kinematics model is introduced.

Simulations show that the result is right. And the workspace is drawn.

the five DOF serial-parallel robot

TA1-1(5) 11:27-11:45 TA1-1(6) 11:45-12:03

Research of Micro Removing Copper Foil of FCCL Assisted with Laser

Jianwen Yuan, Jimin Chen, Chao HeInstitute of Laser Engineering, Beijing University of Technology

Beijing, China

• Use FCCL of 18μm copper (Cu) foilplated on 70μm polyester (PET) film asthe experimental material.• Remove the Cu without damaging thePET substract selectively.• Coat the Cu surface with a layer of acid-resisting film and obtain the patterns bylaser scanning the coating, then throughwet etching to remove the exposred Cu.• Good experimental results are displayedin the right picture.

The final sample

Modeling of the PDMS Diaphragm Micropump Using EOActuators

Wei Wei, Shuxiang Guo1.College of Automation, Harbin Engineering University ,Harbin, Heilongjiang, China

2. College of Automation, Tianjin University of Technology, Tianjin, China3.Faculty of Engineering, Kagawa University, Takamatsu, Kagawa, Japan

• A novel micro fluidic system using EOpumps was presented in this paper.

• Equipped the micro fluidic system witha PDMS diaphragm micro valve andtested the output. A maximum flow rateof 133μl/min (using top water asworking liquid) was obtained by aninput voltage of 30V and an excitingfrequency of 1.4Hz.

• In order to find the characteristic of themicropump, the Bouc-Wen model wasused to model it. Micro Fluidic System

Using EO Pumps

27


TA1-2: Novel Actuator System I

Session Chairs: Manabu Aoyagi, Muroran Institute of Technology Wei-Hsin Liao, The Chinese University of Hong Kong


TA1-2(1) 10:15-10:33 TA1-2(2) 10:33-10:51

A New Model of Hysteresis in Piezoelectric Actuators

Issam M. Bahadur and James K. Mills Department of Mechanical and Industrial Engineering

University of Toronto, Toronto, Ontario, Canada

• The approach presented in thispaper can be used to model rate-independent and rate-dependent,symmetric and asymmetrichysteresis in piezoelectricactuators.

• The proposed hysteresis model is

where, U and h are the input andhysteric output state, respectively.

Rate-independent hysteresis loops for an unbiased signal at 2 Hz

Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor

Bo Lu, Manabu Aoyagi, Hideki Tamura, Takehiro Takano, Muroran Institute of Technology, Muroran, Japan

Tohoku Institute of Technology, Sendai, Japan• A novel rotor-embedded-type multi-

degree-of-freedom (MDOF) sphericalultrasonic motor (SUSM) is proposed.

• The MDOF-SUSM consists of aspherical rotor which is embedded ina stator vibrator with a spherical innersurface can rotate around three axes.

• A prototype motor at the present stage,confirmed the working principle ofthe proposed design, and the torqueperformance for rotation about the Z-axis was measured.

The Rotor-Embedded-Type MDOF-SUSM

TA1-2(3) 10:51-11:09 TA1-2(4) 11:09-11:27

Active-Passive Hybrid Actuators for Tracking and Focusing Motions in Optical Pickup Devices

Kwong Wah Chan, Chien Yu Shen, and Wei-Hsin LiaoDepartment of Mechanical and Automation Engineering

The Chinese University of Hong Kong, Shatin, Hong Kong, China

• A novel piezo-based optical pickup device with passive damping was proposed for higher precision and better shock resistance

• Fine tracking and focusing motions were implemented for the next generation high resolution optical disk drives

• Testing results showed the triangular constrained layer damping actuator would outperform current DVD voice coil motor

A Novel Piezo-based Pickup Device

Research and Development of Expert System for Permanent Magnet Retarder Design

Lezhi Ye, Desheng Li, Bingfeng JiaoCollege of Mechanical Engineering and Applied Electronic Technology


• The basic principle, structure, and functionof an expert system for designing permanentmagnet retarder (PMR) is described.

• The system takes into account thepreliminary design process. The framestructure and work mode of the platform areintroduced by analyzing function modules.

• The functions of the simulation analysis andvirtual assembly module are discussed. Theexpert system of the technology integrationis developed.

The main frame

The frame of CAE module

TA1-2(5) 11:27-11:45 TA1-2(6) 11:45-12:03

Structure Design and Mechanical Characteristic Test of Cylindrical Ultrasonic

MicromotorJingshan Wang, Hua Zhu, Jianhui Zhang, Chao Chen

Precision Driving Lab., Nanjing University of Aeronautics and AstronauticsNanjing, China

• A cylindrical ultrasonic micromotor wasdesigned which is 2mm in diameter,15mm inlength and 0.28g in weight.•The finite element modal analysis of the stator was discussed .The first bending mode frequency 141KHz was obtained.•When the motor operates with the driving frequency at 103.2KHz and driving voltage at 200Vp-p, its maximal rotation speed and the stall torque reach 531r/min and 0.52 mn·m. Prototype of CUSM

Accurate controlled Shape Memory Alloy Actuator for Minimally Invasive Surgery

Zhenyun Shi and Da Liu and Cheng Ma and Depeng ZhaoRobotic Laboratory of BeiHang University

Beijing, China

• A rotation Shape Memory Alloy (SMA) actuator was developed

• Both angle feedback and resistance feedback have been used to the close-loop control.

• Error has been limited less than 2% in the angle feedback system with Fuzzy-turned PID controller after optimization.

• Angle to resistance curve has been investigated, even though the hysteresis disturb the resistance, which make the control absolute error up to 10%.

The SMA Actuator and stepresponse experiment

28


TA1-3: Organized Session: Robots for New Fields I

Session Chairs: Shigeoki Hirai, Chiba Institute of Technology Seiji Hata, Kagawa University


TA1-3(1) 10:15-10:33 TA1-3(2) 10:33-10:51

Robots for New FieldsShigeoki HIRAI

Future Robotics Technology Center, Chiba Institute of TechnologyChiba, JAPAN

• Robots and related systems have been highly expected to offer useful applications for our society, opening a new market and bring about big economic growth.

• Variety of research and development projects have been conducted. However they did not necessary achieved expected results especially from the view point of social dissemination, i.e. they could not necessary open new market as they had been expected.

• Studying white papers on roadmaps and/or strategy for robotics R & D gives good consideration for fundamental issues of robotics and futuristic topic.

• In addition to engineering view of science and technology, societal matters are also important and should be considered.

Cloth Handling System for Linen Supply Industry

Seiji HATA*, Hirotaka HOJOH**, Masaaki TODA**, Toshihiro HAMADA****Kagawa Univ.,**PUREX Co.,***Kagawa Prefecture Industrial Technology

Center, Takamatsu, Japan

• To make laundry factory fullyautomated, two cloth handlingsystems has been developed.

• Handling robot for press and foldingline picks up a washing cloth frompiles of clothes, spread and place iton the line, face side up.

• Handling system for washing linepicks up a dirty cloth, recognizes itskind, and classify the clothe usingforce sensor.

Cloth Handling Robot System

TA1-3(3) 10:51-11:09 TA1-3(4) 11:09-11:27

Autonomous rice field operation project in NARO

Yoshisada Nagasaka, Katsuhiko Tamaki, Kentaro Nishiwaki, Masahiro Saito, Yutaka Kikuchi and Kyo Kobayashi

National Agriculture Research OrganizationTsukuba, Ibaraki, Japan

• The outline of autonomous rice field operation project is reported.

• GPS guided tractor, rice transplanter and combine harvester has been developed.

• To share the sensors among different machineries, communication protocol is standardized.

An automated rice transplanter

Object Spatial Recognition for Service Robots: Where is the Front?

Lu Cao, Dipankar Das, Yoshinori Kobayashi, and Yoshinori Kuno Graduate School of Science and Engineering, Saitama University, Japan

• Pose prediction is crucial in spatial recognition. The orientation of ‘Front’ is helpful for robots to locate the target object.

• We proposed a model to evaluate object poses.

• We proved the strategies at tabletop experimental environments with our own datasets, including 6 categories, 100 images.

Front

TA1-3(5) 11:27-11:45 TA1-3(6) 11:45-12:03

Geometry Optimization of a New Hybrid Robot Manipulator

Jiman Luo1,2, Dalong Wang2,Yang Jiang1

1.School of Traffic & Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China2.School of Mechanical & Manufacturing Engineering, The University of New South Wales,

Sydney, 2052, Australia• This paper addressed the geometry

optimization of a 3-TPS-TP parallel manipulator used as a parallel machining head, which is a part of a new hybrid robot manipulator.

• In the normalization mechanism, the workspace and the GCI are studied and the corresponding 3D performance charts and 2D atlases are constructed.

• An optimum region and the optimum parameters which satisfy the demands can be identified from the design space.

The atlas of the optimum region

A Novel Shrimp Rover-based Mobile Robot

for Monitoring Tunnel Power CablesSongyi Dian, Tao Liu, Yan Liang, Mengyu Liang and Wei Zhen School of Electrical Engineering and Information Technology,

Sichuan University; Chengdu, China• The bogies and the front fork make

the novel robot adapt unstructuredenvironment passively.

• The balance slide guarantees thebalance ability of the robot whiletravelling along power cables andclimbing over obstacles.

• The special designed six wheelsenhance the robot’s mobility,obstacle climbing ability andstability while travelling on cables. The Functional Views of the Robot

29


TA1-4: Control Theory II

Session Chairs: T. J. Tarn, Washington University Chi-ying Lin, National Taiwan University of Science and Technology


TA1-4(1) 10:15-10:33 TA1-4(2) 10:33-10:51

Vibration Control of Active Structures Using Hybrid PD/Repetitive Control

Chi-Ying Lin and Chih-Ming ChangDepartment of Mechanical Engineering

National Taiwan University of Science and Technology

• PD control for broad band disturbance rejection

• Repetitive control for narrow band disturbance rejection

• Hybrid control for better vibration suppression performance

• Modularized design with an “add-on” property

• Experiments on a piezoelectric cantilever beam demonstrate the effectiveness of the method

Vibration Control of Active Structures Using Hybrid Control

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Adaptive Hybrid Suppression Control of a Wheeled Mobile Robot with Active Flexible Members

Payam Zarafshan S. Ali A. MoosavianAdvanced Robotics & Automated Systems (ARAS) Laboratory

Department of Mechanical Engineering, K. N. Toosi Univ. of Technology, Iran

The considered wheeled mobile robotic system which

has Flexible Solar Panels

The system dynamics is partitioned into tworigid and flexible bodies’ motion, and apractical model for control implementations oncompounded rigid-flexible multi-body systemsis developed.The Adaptive Hybrid Suppression Control (AHSC) algorithm was implemented on this system. Also, its stability and the error convergence were proved when the virtual damping is changed by using the designed adaptation law. Obtained results reveal the merits of the proposed model and developed controller which will be discussed.

TA1-4(3) 10:51-11:09 TA1-4(4) 11:09-11:27

Discrete-Time Zhang Neural Network and Numerical Algorithm for Time-Varying Linear

Equations SolvingYunong Zhang, Bingguo Mu, Huicheng ZhengSchool of Information Science and Technology

Sun Yat-sen University, Guangzhou 510006, China

• Discrete-time ZNN models are proposed for time-varying linear equations solving.

• Such discrete-time ZNN models could make use of time-derivative information of time-varying coefficients.

• Simulative and numerical results illustrate the efficacy and superiority of discrete-time ZNN models as compared to the GNN model. Solutions of discrete-time ZNN models

Induction Compensation Control of Bearingless Induction Motor

BU Wenshao, XIAO Juanya, YUAN Lan, HUANG ShenghuaHenan University of Science and Technology, Luoyang, China

• Air-gap Flux Orientation Control of Torque System

• Rotor Flux Orientation Control of Torque System.

• Flux Orientation And Induction Compensation Strategy Of Suspension Control System.

•

• Simulation and experiment results indicate the validity of the united control strategy.

Principle Chart of bearingless induction motor control system

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TA1-4(5) 11:27-11:45 TA1-4(6) 11:45-12:03

A Novel Control Strategy for Five-phase Concentrated Full-pitch Windings

Induction Motor Under Open-phase FaultZhu Peng, Zhang Xiao-feng, Qiao Ming-zhong, Cai Wei, Liang Jing-HuiDepartment of Electric Engineering, the Navy University of Engineering,

Wuhan, Hubei Province, China

Block diagram of five-phase induction motor with rotor field-

oriented control method for phase a open

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• Built the decoupled model of five-phase concentrated full-pitch windings induction motor

• analyzed the condition for reducing the electrical torque oscillations

• proposed the rotor field-oriented tolerant control method

Delay-dependent Stability Analysisfor Time-delay Systems

with Uncertain ParametersYanhui Ai and Changhui Song, Xi Gong, Zongyong Tang and Zuoqiong Zhang Hua Zhong

University of science & Technology Yichang Testing Technique Research Institute

Yichang, Hubei, China

• Introduction of the paper • Problem statement• The main results• Two Numberical Examples• Conclusion of the paper

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30


TA1-5: SLAM

Session Chairs: Su-Yong AN, Pohang University of Science and technology Guoli Wang, Sun Yat-sen University


TA1-5(1) 10:15-10:33 TA1-5(2) 10:33-10:51

Ground View-Based SLAM Using a Commercial Web Camera in Unstructured Indoor

EnvironmentsSu-Yong An, Lae-Kyoung Lee, Jeong-Gwan Kang, and Se-Young Oh

Intelligent Robotics Lab, Pohang University of Science and TechnologyPohang, Korea

• Extract the salient vertical edge features with fixed vanishing point.

• Feature parameters including uncertainty are estimated by RANSAC.

• Tracking of extracted feature with non-linear least squares method for its initial location estimation.

• Experiment in a small-scale, highly unstructured environment shows a good EKF-based SLAM performance. Proposed Ground view based SLAM

An Adaptive Data Association for Robotic SLAM in Search and Rescue Operation

Rex Wong, Jizhong XiaoRobotic Lab of CCNY, City University of New York, New York, USA

• Robotic SLAM – a mission critical operation for rescue.

• Data association – key for feature-based SLAM

• Difficulty in dynamic scenario• Extra step to extinguish adverse

effect imposed by interference• A machine learning classifier

can help robot adapt to ad hoc situation in SLAM operation.

TA1-5(3) 10:51-11:09 TA1-5(4) 11:09-11:27

Lane Departure Estimation by Side Fisheye CameraShigang Li, Hideki Oshima, Isao Nakanishi and Kikuo Fujimura

Graduate School of Engineering, Tottori UniversityJapan

• A fisheye camera is mounted on the side of the vehicle so that a part of the body of the vehicle and the road scene at the side can be observed simultaneously.

• The contour of the side boundary of the vehicle and the lane marking are detected by image processing.

• The deviation of heading direction and the distance of the vehicle from the lane marking are computed for lane departure estimation.

The Side Fisheye Camera

Target Localization via Correlated Link InferenceRenbing Kuang, Heping Song and Guoli Wang

School of Information Science and Technology, Sun Yat-Sen UniversityGuangzhou 510006, China

• Radio Tomographic Imaging utilizes the received signal strength (RSS) measurements to image the attenuation of targets within a wireless networkarea.

• Consider heavily obstructed multipath channel model.

• The effect of targets obstruction is dominated by RSS attenuation and RSS enhancement.

• Locate targets by imaging both RSS attenuation and RSS enhancement. The Reconstructed Image

TA1-5(5) 11:27-11:45 TA1-5(6) 11:45-12:03

Mobile Robot Localization and Map Building Based on Laser Ranging and PTAM

Songmin Jia, College of Electronic Information & Control

EngineeringBeijing University of Technology

Beijing, China

Jinbo Sheng , Shunichi TanoGraduate School of Information Systems

University of Electro-CommunicationsTokyo, Japan

• An effective localization and map building method for mobile robot using a monocular camera and Laser Range Finder (LRF) was proposed.

• The laser scanning data was integrated into local map using an effective combination approach.

• Some experimental results verified the effectiveness of the proposed method.

Initialization

YesIf map exist?

No

Project pointsto image plan

Measure points

Update mobilerobot pose

If keyframes?No Yes

Mobile robot localisation part

Tracking thread Initialization

Acquire data

Generate 2Dgird map of LRF

Map generation by laser range data part

Start

Capture image

Motion controller

Mobile robot Control

Map Initialization

Stereo Initialization

Transformation ofcoordinates

Waiting for new keyframe

Add new points

Optimize map

Project points

Generate 2Dgird map of camera

End

Integration rule

Generate global 2D gird map

Map generation by vision data part

Mapping thread

Initialization

YesIf map exist?

No

Project pointsto image plan

Measure points

Update mobilerobot pose

If keyframes?No Yes

Mobile robot localisation part

Tracking thread Initialization

Acquire data


Initialization

Acquire data


Map generation by laser range data part

Start

Capture image

Motion controller

Mobile robot Control

Map Initialization

Stereo Initialization

Transformation ofcoordinates

Waiting for new keyframe

Add new points

Optimize map

Project points

Generate 2Dgird map of camera

End

Integration rule

Generate global 2D gird map

Map generation by vision data part

Mapping thread

The flowchart of system

Extended Strong Tracking Filter SLAM AlgorithmFeng Wen, Xiaojie Chai, Yuan Li, Wei Zou and Kui YuanInstitute of Automation, Chinese Academy of Sciences

Beijing, China

• An extended multiple fading strong tracking filter SLAM algorithm is proposed and the calculation method of the multiple fading factors is also described.

• The algorithm is able to decrease the error induced by the linearization, improve the localization precision and the map accuracy and constrain the covariance within a small range to enhance the credibility of the map.

EMF-STFSLAM

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50

100

150

200

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OdometryEMF-STFActual Path

31


TA1-6: Sensor Networks

Session Chairs: Max Q.H. Meng, Chinese University of Hong Kong Yu Song, Beijing Jiaotong University


TA1-6(1) 10:15-10:33 TA1-6(2) 10:33-10:51

Solutions for Connectivity-based Sensor NetworkLocalization

Dapeng Qiao and Grantham K.H. PangDepartment of Electrical and Electronic

Engineering, The University of Hong Kong, Hong Kong

• It is argued that the connectivity-based sensor network localization problem should be represented as an optimization problem with both convex and non-convex constraints.

• A new method (NPCC) is proposed which utilizes multi-dimensional scaling (MDS) to provide an initial solution on the location of the unknown nodes and then searches for a solution to satisfy all the constraints of the problem.

• The final solution can reach the most suitable configuration of the unknown nodes because all the information on the constraints (convex and non-convex) related to connectivity will have been used. Simulation results have shown that better solution can be obtained through the use of this method when compared with those produced by other methods.

Comparison on accuracy between SDPCC and NPCC

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Tracking Based on Multiple Instance Learning Particle FilterYu Song and Qingling Li

School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China

• The main shortcoming of the visual tracker is template drift.

• A novel online Multiple Instance Learning particle filter tracking algorithm is proposed to overcome the problem.

• In proposed algorithm, the MILBoosting classifier is utilized to construct the target appearance model (i.e. template).

• Some experimental results verify the effectiveness of the proposed tracking algorithm. The tracking results

TA1-6(3) 10:51-11:09 TA1-6(4) 11:09-11:27

Energy-Efficient Data Acquisition in Wireless Sensor Networks through Spatial Correlation

Li Xun and Tang Shiqi Geoff V Merrett and Neil M WhiteSchool of Mechatronics Engineering and Automation School of Electronics and Computer Science

National University of Defense Technology University of Southampton Changsha, Hunan Province, China Southampton, UK

• Report on the design of a distributed sampling scheme-VSS

• Give a concept: virtual cluster• Design an algorithm to form

virtual clusters automatically• Provide a round robin sampling

scheme to balance energy amongst sensor nodes Variance of Fusion Result

Research of Wireless Sensor Networks for anIntelligent Measurement System Based on ARM

Wenbin Huang, Guanglong Wang, Jianglei Lu, Fengqi Gao, Jianhui ChenInstitute of Nanotechnology and Microsystems, College of Mechanical Engineering

Shijiazhuang, Hebei province, China

The system structure

• The paper introduces a WSN used for an intelligent temperature measurement system.

• Temperature signals are acquired by digital multi-point thermometers, and transmitted to ARM by using WiFi technology.

• Temperature signals acquired are stored in SD card.

• The Embedded Linux operating system is selected to support the hardware.

TA1-6(5) 11:27-11:45 TA1-6(6) 11:45-12:03

GA Based Optimal Placement of PIR Sensor Arrays for Human LocalizationGuodong Feng, Min Liu, Xuemei Guo, Jun Zhang, and Guoli Wang

School of Information Science and Technology Sun Yat-Sen UniversityBeijing, China

• Sensing Model with PIR Sensor Arrays for Human Localization

• Optimal Placement of Multiple PIR Sensor Arrays for Performance Improvement

• GA based Optimization Design • Design Example for Human Following

Mobile Robots• Experimental Results

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An Iteratively Reweighted Least Square Algorithm for RSS-based Sensor Network

LocalizationDapeng Qiao and Grantham K.H. Pang

Department of Electrical and Electronic Engineering,

The University of Hong Kong, Hong Kong

• In this article, we give a new algorithm for localization based on RSS measurement. This paper proposes a target function - signal-based maximum likelihood (SML), which uses the maximum likelihood based on the directly measured RSS signal. An iteration surrogate algorithm named IRLS (Iteratively Reweighted Least Square) is introduced to solve the SML.

• From the simulation results, the IRLS algorithm can give accurate results for RSS positioning. When compared with other popular algorithms such as MDS-MAP, PDM, and SMACOF, the error (distance between the estimated position and the actual position) calculated by IRLS is less than all the other algorithms. In anisotropic network, IRLS also has good performance.

Comparison on the accuracy in 50-node situation with

diff t t d d d i ti

32


TA1-7: Signal Processing I

Session Chairs: Sherin Youssef, Arab Academy for Science&Tech Qinxue Pan, Beijing University of Technology


TA1-7(1) 10:15-10:33 TA1-7(2) 10:33-10:51 Analysis of Non-Stationary ElectrocardiogramSignals Using Iterative Wavelet Decomposition

Sherin M. YoussefDepartment of Computer Eng., Arab Academy for Science & Technology

Alexandria, Egypt• Integrating integer packet wavelet

decomposition.• ECG feature extraction and

detection of small variations. • Separation of signal subspace of

arbitrary dimensions from noisy multi-channel mixtures.

• Separating the subspaces without losing main characteristics of signals.

• Relatively high sensitivity and high positive predictivity.

ECG Signal showing P-QRS-T Wave

Fast self-tuning weighted measurement fusion Kalman filter for the ARMA signal

Chenjian Ran and Zili DengDepartment of Automation, Heilongjiang

Harbin, China•For the multisensor single channel autoregressive moving average (ARMA) signal with common disturbance measurement noise and sensor bias, when the model parameters, the sensor bias and the noise variances are all unknown, their consistent estimates are obtained by a multistage fused identification method. •A self-tuning WMF Kalman signal filter with asymptotic global optimality is presented. •A fast inversion algorithm of the extended Pei-Radman matrix is presented in order to reduce the computational load.

TA1-7(3) 10:51-11:09 TA1-7(4) 11:09-11:27

Inspecting Integrity and Residual Stress of Plate by Ultrasonic Wave

Qinxue Pan1, Yong Li2, Xiaoguang Bai3, Chunguang Xu1, Xiangchen Yang1

1School of Mechanical Engineering, Beijing Institute of Technology, China, 1000812China North Industries Group Corporation, Beijing 100821, China

3Inner Mongolia First Machinery (Group) Co.,Ltd., Baotou Inner Mongolia 014032, [email protected]

• The detection of residual stresswhich existing in metal andnonmetal component is veryimportant.

• Propose a method to detect theresidual stress of the plate.

• Design a experimental systemfor detecting the residual stress.

• Carry out the experiments andevaluate the characteristic of thecomponent.

The Critically Refracted Longitudinal wave

Prediction of side-drilled hole signals in anisotropic cladding component

Xinyu Zhao1, Zongxing Lu1, Qinxue Pan1, Zhipeng Shan2, Xiaoguang Bai 2, Long Liu31. Key laboratory of Fundamental Science for Advanced Machining,

Beijing Institute of Technology, Beijing 100081, China2. Inner Mongolia First Machinery (Group) Co.,Ltd., Baotou Inner Mongolia 014032, China

3. Patent Examination Cooperation Center of SIPO, Beijing 100190, China

Beam fields in x-z plane for differentgrain orientations

An efficient ultrasonic measurementmodel for a vessel component withanisotropic cladding layer is establishedby combining the multi-Gaussian beammodel and the scattering model with theseparation of variables method.

TA1-7(5) 11:27-11:45 TA1-7(6) 11:45-12:03

Multichannel ARMA Signal Covariance Intersection Fusion Wiener Filter

Yuan Gao, Wenjuan Qi and Zili DengDepartment of Automation, Heilongjiang University

Harbin, China

• By the CI fusion method, based on the modern time series analysis method, the multichannel ARMA signal CI fusion Wiener filter is presented for the two-sensor systems with unknown cross covariance.

• It is proved that its estimation accuracy is higher than those of the local Wiener filters, and is lower than that of the steady-state optimal weighted fused Wiener filter with known cross-covariance.

The comparison between MSE curves and the trace lines

0.5

1

1.5

2

2.5

3

3.5

1 20 40 60 80 100 120 140 160 180 200

1tr sP

2tr sPtr sCIP

tr sCIP0tr sP

t

Development of Scenes Drawing System for Urban Road Accidents

Yangshan Tang, Liying WangCollege of Automobile and Transportation Engineering, Liaoning University of Technology

Jinzhou, Liaoning Province, China• Traffic scenes drawing system was

developed utilizing a new method with MATLAB tools.

• Scene classes and subclasses were precisely analysed and classified.

• Attribute parameters of scene items were defined.

• Objects creation functions for subclass items and low layer items were developed.

• Accident scenes drawing system was developed, it also gave an applying example.

Accident Scene Objects Structure

Figure

Road

Vehicle

Trail

Motor

Falling Standard

Harbor

Lane

IsolationZ

IsolationL

Curb

Pavement

PassingA

SIsland

Entrance

OtherR NonMotor

Wounded

FObject

CollisionPt

Traces

Bloodstain

Oilstain

Mark

PFrame

33


TP1-P: Mechatronics & Automation

Session Chairs: Desheng Li, Beijing University of Technology Qinxue Pan, Beijing Institute of Technology

International Conference Room, 13:00-14:30, Thursday, 9 August 2011

TP1-P(1) TP1-P(2)

Improved Evaluation Method of Major Hazard Installations

Zhang Hailong1 , Liu Jinzhong1, Li Wei2, Dong Liyan2

1.Xinjiang Astronomical Observatory, Chinese Academy of Sciences, Urumqi,830011,China2. College of Computer Science and Technology, Ji Lin University, Changchun, 130012, China

• We propose an improved evaluation model of major hazard installation.

• Add the influencing factors of emergency plan into the evaluation model.

• We calculated and analyzed the damage, influenced range, loss of life and personal injury and economic loss .

• The results show that the efficient emergency plan will reduce the accident possibility of major hazard installations . Fig.1 Evaluation model of Major

Hazard Installations

Hybrid Position, Posture, Force and Moment Control with Impedance Characteristics for Robot

ManipulatorsYu Yao*, Qingjiu Huanga,*,**, Yan Peng***, Taishi Oiwa**

* Institute of Robotic Science and Engineering, Nanjing University of Technology ** Department of Mechanical and Control Engineering,Tokyo Institute of Technology

*** School of Mechatronics Engineering and Automation,Shanghai University

Character-erasing Model

• A separation method of posture components tosolve the problem of the rotation order isproposed.

• A method of introducing the impedancecharacteristics into hybrid position, posture,force and moment control to eliminate theinterference between free space andconstrained space.

• Dynamic simulation is performed to verify our control method.

TP1-P(3) TP1-P(4)

Aerial Fish Feeding SystemM.F.Shaari, M.E.Indra Zulkefly, M.S.Wahab and F.Esa

Faculty of Mechanical and Manufacturing Engineering, Universiti Tun Hussein Onn Malaysia,Johor, Malaysia

• The proposed system combines the feed delivery and feeding as one process.

• Mobile feeder is driven as it is attached to the moving fiber cable.

• The entire system is controlled by PLC.

• Feeder actuation activated through radio frequency communication.

• This system reduce feed waste that contributes to water pollution.

Aerial Fish Feeding System

Vehicle for Automation Research and Underwater Navigation

Ravindra Kumar Sinha, Sabir Ahmed, Mayank Tutwani, Puneet Bahuguna, Rohit Kumra, Vineet Agarwal, Vidush Saxena, Vinay Mittal, Prateek Gupta

Delhi Technological University (formerly Delhi College of Engineering) Bawana Road, Delhi-110042, India

• PID control on all three parameters viz. yaw pitch and roll.

• 2-D Passive SONAR using 4 sensors arranged in square shaped planar array.

• Indigenous water proofing mechanism inspired from pressure cooker sealing.

• Four quadrant control of thrusters achieved using type-E dc-dc chopper. VARUN

TP1-P(5) TP1-P(6)

Fluid Dynamic Analysis of an ICPF Actuated Fish-like Underwater Microrobot with 3 DOF

Baofeng Gao and Shuxiang GuoFaculty of Engineering, Kagawa University, Japan

• We set up the experimental platform to test andmeasure the material characteristic of ICPFActuator, and designed the fish-like microrobotconsists of ICPF Actuator, AVR control systemand wireless remote control system.

• We developed the fluid dynamic analysis of the3 DOF movement of fish-like microrobot and weused ANSYS to give the important analysisabout the speed and stress, and accordinglyprove the efficient structure of the fish fin.

• Finally, we set up experiments of the microrobotsystem, to test the possibility of the motioncontrol of the microrobot underwater

Simulation results of the stress position of the ICPF actuated fish-like microrobot fin

A New Cartesian Cutting Robot with Laser Height Control System

Ronghuai Qi1, Huihuan Qian1, Tin Lun Lam1, Yangsheng Xu1, Tao Zhang2, Wei Zhu2, Feng Zhang3 and Jianxiong Liao3

1. Dept. of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 2. Institute of Industrial Robotics, Kunshan Industrial Technology

Research Institute, Kunshang, Jiangsu Province, China, 3. Kunshan Huaheng Welding Co.,Ltd, Kunshang, Jiangsu Province, China

• A new Cartesian gas cutting robot with laser height control system is designed, which can cut 5-200mm height steel.

• A three-torch model is studied, and algorithm and boundary conditionsare satisfied with three-torch device.

• A laser height control system is designed, and experiments shows that it can control the actual height well.

The Cartesian Cutting Robot

34





TP1-P(7) TP1-P(8)

Focused Crawler URL analysis model based on improved genetic algorithmHui Ning, Hao Wu , Zhongzheng He and Ya-zhou Tan

Computer Science and Technology College Harbin Engineering University Harbin, Heilongjiang, China

• we propose a URL analysis model based on the improved genetic algorithm, in which the selection operator, crossover operator and mutation operator are optimized.

• The user query is introduced to construct the virtual documents to participate the genetic process.

• The Rocchio feedback learning algorithm is used to amend the theme vector, and also to compute the relevant degree of the themes for the anchor text.

The Robustness Analysis of Two Motion Control Algorithms for Stäubli TX40 Robot in Object

Manipulation TaskHesam Eddin Shoori Jazeh, Masoud Vaezi, Farzad Cheraghpour Samavat, S.Ali A. Moosavian

Department of Electrical & Mechanical EngineeringK.N.Toosi University of Technology

Tehran, Iran

• Robustness analysis of PID control and Feedforward approach under uncertainty.

• Uncertainty situations consist of an external disturbance and object manipulation task.

Object Manipulation Task

TP1-P(9) TP1-P(10)

The Application of MAG Index for Optimal Grasp Planning

Hamed Mesgari, Farzad Cheraghpour, and S. Ali A. MoosavianARAS Lab., K. N. Toosi Univ. of Technology

Tehran, Iran

• The Multiple Aspect Grasp (MAG) performance index used for evaluating the grasp quality and find the best grasping point.

• MATLAB optimization toolbox, PSO, and GA maximized this index and found the best point of grasp.

• The results from each method are compared in speed and accuracy.

The Best Grasping Point

Modeling of a Constraint Force at RCM point in a Needle Insertion Task

Hyo-Jeong Cha and Byung-Ju YiSchool of Electrical Engineering and Computer Science, HanYang University

Ansan, Korea• For a safety surgery, the constraint

force model at RCM point should be derived and be controlled to be zero.

• A serial surgical manipulator can be modeled as a five-bar linkage.

• The open-chain dynamics is designed first, and the kinematic constraints are applied.

• The simulation shows that the constraint force at the RCM point exists. Constraint force model at RCM point

in a needle insertion task

TP1-P(11) TP1-P(12)

Error Analysis of the Attitude Updating Algorithm for Submarine in the Dynamic environment

Xu Bo, and Sun Feng

College of Automation, Harbin Engineering UniversityHarbin , China

• Attitude algorithm is an important part of SINS algorithm.The calculation of attitude algorithm is used for building the mathematic platform and its accuracy of attitude algorithm can enormously affect the accuracy of SINS.Based on the practical applying,this paper analyses Euler algorithm, orientation-cosine algorithm,quaternion algorithm,Rodrigues Parameters,optimal rotation vector attitude algorithm and an improved recursion rotation vector attitude algorithm.All algorithms, except the first one,are simulated in the classical coning motion.This paper can be used for reference for the study on attitude algorithm of SINS.

Stability Control of Quad-Rotor Based on Explicit Model Following with

Inverse Model Feedforward MethodXun Gong, ZhiCheng Hou, Yue Bai and YanTao Tian

School of Telecommunication Engineering, Jilin UniversityChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences

• It is hoped that the quad-rotor canperformance different characteristicsaccording to the requirements ofdifferent missions.

• A flight stability augmentation controlsystem based on explicit modelfollowing with inverse modelfeedforward control method is proposedin this paper.

• In order to calculate an inverse model ofthe coupled multivariable aircraftsystem, a feedback linearization loop isalso applied to this control system.

The scheme of an quad-rotor.

o

o

bx

gx

by

gz

bz p

q

r

φ

θψ

gy

1Ω

2Ω

3Ω

4Ω

35





TP1-P(13) TP1-P(14)

Robust Fault Detection of Mobile Robots using an Ellipsoid Bounding Identification Algorithm

• Mobile robots with dynamic linear in fault-related parameters

• Unknown-but-bounded assumptions for model uncertainties and sensor accuracy

• New set membership identification algorithm for linear MIMO systems

• Robust fault detection to distinguish real fault form model uncertainties

Zhou Bo and Dai XianzhongKey Laboratory of Measurement and Control of CSE(School of Automation,

Southeast University), Ministry of Education

Guaranteed parameter estimation

0 50 100 150 200-0.1

0

0.1

0.2

No. of samples

θ 1 (m

)

0 50 100 150 200-0.2

0

0.2

0.4

No. of samples

θ 2 (m

)

True valueSMI bounds

True valueSMI bounds

Sliding Mode Control Based Hybrid Closed-loop Design for Stable Walking of Biped Robot with Heterogeneous Legs

Fei Wang, Shiguang Wen, Chengdong Wu, and Zhiyong ZhangState Key Laboratory of Synthetical Automation for Process Industries, Northeastern University

Shenyang, China

• Biped robot with heterogeneous legs is an integration of a common biped robot leg and an intelligent bionic leg, which is a significant subject.

• The bionic leg recognizes and tracks the gait of artificial leg in real-time to realize stable walking of the whole robotic system.

• A hybrid closed-loop system was constructed to improve the gait tracking.

Biped Robot with Heterogeneous Legs

• Sliding mode control was designed for outer loop of the joints’ servo system.

TP1-P(15) TP1-P(16)

The Design and Implementation of Volume Adaptive Control at Worksite

Qi Li,Yanfei Liu, Yan Liu and Yanping MeiElectroninc Research Lab., The Second Artillery Engineering College

Xi’an, China• Introduces the principles of volume

adaptive control at worksite, this system uses C8051F340 as processor, adopting the technology of audio signal sample compare and feedback control.

• Emphasis is put on analog circuit of audio signal sample, including Pre-amplifier, effective value transform, Sound pressure level and Power Management can save energy.

System Functional Test

Study on the Effective Visual Navigation for an Alife Mobile Robot

Jiwu Wang, Masanori SugisakaDepart. Of Mechanical and Electrical engineering, Beijing Jiaotong University, China

Depart. Of Mechanical and Electrical engineering, Nippon Bunri University, Oita, Japan

The Alife Robot

TP1-P(17) TP1-P(18)

Information fusion multi-stage identification method for multisensor multi-channel ARMA models

Chenjian Ran and Zili DengDepartment of Automation, Heilongjiang

Harbin, ChinaFor multisensor multi-channel

autoregressive moving average(ARMA) signal with white measurement noises and a common disturbance measurement noise, when the model parameters and the noise variances are all unknown, an information fusion multi-stage identification method is presented.

The consistency of the fused estimates is proved. One simulation example is given to verify the consistency of the estimates.

Application Research of Laser Interferometer to Measure Length of Gauge Blocks

Lei Huang, Hong Ma and Yanhong Dou Chang Chun University of Science and Technology

Changchun Jilin Province ,China • The influences of gauge block

gestures for calibrating coordinate measuring machine(CMM) attach importance to people more and more.

• Adjustable platform is developed and single-frequency laser interferometer is adopted as measuring datum

• Advance multi-point bracing means to reduce the length variation of gauge blocks.

• The results of experiments indicate that multi-point bracing means make the maximum length variation of gauge blocks to be.

Length Variation Measuring Platform

36





TP1-P(19) TP1-P(20)

Fetal birth simulation teaching systemZi-Ming Zhang, Wang Lu, Yuan-Zheng Shi, Ting-Lei Yang, Shu-Li Liang

College of Electronic Information and Control Engineering, Beijing University of TechnologyBeijing, China

• Fetal birth simulation teaching system includes a simulation pregnant woman and baby, fetal tone controller, fetal birth controller, contraction controller and the software package on PC.

• There is a dual-display design in the software include a simulation viral signs monitor

• The system integrated the CPR(Cardiopulmonary resuscitation) to train the student to rescue the pregnant woman whom in the dangerous situation. Fetal birth simulation teaching system

Fast Vision-based Object Segmentation for Natural Landmark Detection

on Indoor Mobile RobotXiaojie Chai, Feng Wen, and Kui Yuan

Institution of Automation., Chinese Academy of scienceBeijing, China

• Real-time & Robust object segmentationfor natural landmark detection.

• Depend on abundant straight line features of common indoor scenes.

• Form possible polygons with detected lines following our proposed rules.

• Give reasonable object segments after a series of polygon tests.

TP1-P(21) TP1-P(22)

The Design and Implementation of Audio Analyzer Based on ARM

Qi Li,Yan Liu,Yanfei Liu and Yanping MeiElectroninc Research Lab., The Second Artillery Engineering College

Xi’an, China• This paper introduces the principle

of Audio analyzer, analyses the method of analyzing audio spectrum by Fast Fourier Transform.

• It puts forward the scheme of audio analysis over the audio signal using ARM, adopting the technology of double cache and DMA to increase speed of data processing.

• A system of collecting audio signal and audio analysis is designed based on this scheme.

The structure of the hardware

Autonomous Navigation for an Unmanned Mobile Robot in Urban Areas

Jisheng ZhangBeijing Aerospace Automatic Control Institute

Beijing, China• An autonomous navigation system

for an unmanned mobile robot in urban areas is presented in this paper, including location subsystem and navigation tracking subsystem.

• An inexpensive single GPS receiver and inertial sensors as gyro, compass and encoders are deployed in the location subsystem.

• The important contribution is the GPS/DR fusing algorithm and trajectory linearization control algorithm.

Autonomous navigation experiment

-20 -10 0 10 20 300

5

10

15

20

25

30

35

40

45

xe/m

yn/m

navigation pathGPS locationDR locationGPS/DR location

mobile robotautonomous navigation stop point

P1

P2

P3

P4

TP1-P(23) TP1-P(24)

Mathematic Modeling and Characteristic Analysis for the Intelligent Compactor

Shen PeihuiFujian Communications Technology College

Fuzhou, China• According to the mechanical character

and operational principle of intelligent compactor, a multi-mode integrated model for dynamic system was put forward.

• The coupling characteristic between the horizontal and vertical direction was pointed out.

• The fact that the vibratory drum may slide with subgrade in the horizontal direction was thought over and the dynamic responses were investigated. The dynamic model

Fe(t)

xf-v

kf-v cf-v

mf

rθ

α md

ks-vks-h

kf-h

cf-h

cs-v

cs-hJ

xf-h

xd-h

xd-v

xs-h

xs-v

Simultaneous Localization and MappingBased on Multilevel-EKF

Hongjian Wang, Jing Wang, Liping Qu, Zhenye LiuDepartment of Automation, Harbin Engineering University, Harbin, China

• Simultaneous localization and mapping technology is studed .

• A new SLAM algorithm based on multilevel-EKF is presented in this paper.

• The new method reduced the influence of linearization and improved the estimated precision.

The estimated path of multilevel-EKF-SLAM

-100 -50 0 50 100

-80

-60

-40

-20

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20

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80

metres

met

res

37





TP1-P(25) TP1-P(26)

Design and Realization of Acceleration Sensor Static Error Detection System

Xiaoming Chang,Lifen Chen,Hengxi Wei, Jinjun DuanCollege of Comupter and Software., Taiyuan University of Technology

Taiyuan, China• This paper introduces the design of

acceleration sensor static error detection system, which was used to evaluate the static performance parameter of acceleration sensor.

• The test platform was constructed based on the Virtual Instrument Development Environment LabVIEW.

• The mean residual and the indicators of static error of ADXL203 is 20% of MMA7260.

NO. of measurements M 1 2 3 4 5 6

0

1

2

3

4

5

6MMA7260

ADXL203

Mea

n ee

sidu

al[m

V]

U

cc

Mean Residual

The Automated Inspection Planning of Freeform Surfaces for Manufacturing Applications

Awei Zhou, Junjie Guo, and Wei ShaoState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University

Xi’an,Shaanxi, China• The Automated Inspection system of

sheet metal parts with large.• The CAD model of measured surface

is the input to the system .• planning algorithm is used to

generate an optimal sample pointsbased on the CAD model ofmeasured surface.

• Based on this transformation ofgeometric information, the nominalinspection paths become the outputof this process.

Process System

TP1-P(27) TP1-P(28)

Crack Propagation in Matrix with Inclusions by BEM

Yifeng Huang, Jun Lei and Qingsheng YangCollege of Mechanical Engineering and Applied Electronics Technology

Beijing University of Technology, Beijing, China• A time-domain boundary element

method is applied to simulate the matrix crack propagation in composite with inclusions under impact loading.

• The interactions of a crack with various clusters of inclusions are investigated.

• The dynamic shielding and amplification effects of dissimilar inclusions which superimposed on the propagating crack-tip are analysed by using the obtained numerical results.

A solid with a crack and inclusions under dynamic loading

matrix-B

crack

nj

ni

bondery exB−∂

( ),t x tα

( ),u x tα

inclusion 1

inclusion 2

tB−∂

uB−∂

c−Γ

1in−Γ

2in−Γ

Study on Semi-Active Suspension System of Tracked Vehicle Based on Variable Universe

Fuzzy ControlLingjie Kong, Xinjun Zhao, Baili Qi

Science and technology on complex land systems simulation laboratoryBeijing, China

• Based on the fluid mechanics theory, an amendment dynamic model of magnetorheological damper is derived.

• Using multi-body dynamics software ADAMS/ATV, a multi-body dynamics model of tracked vehicle is established.

• A variable universe fuzzy controller is designed to reduce vertical vibration and pitching vibration of the tracked vehicle simultaneously.

• The co-simulation model is established in MATLAB/Simulink.

co-simulation model

TP1-P(29) TP1-P(30)

Measurement of Piezoresistance Coefficient with Different Gate Voltages of GaN HEMT Micro-

accelerometerQianqian Zhang, Ting Liang, Yong Wang, Jianjun Tang, Jun Liu and Jijun Xiong

Science and Technology on Electronic Test & Measurement Lab., North University of ChinaTaiyuan , China

• The microstructure and GaN-HEMT is described.

• The piezoresistance coefficients of AlGaN / GaN HEMT under different gate voltages in the structure of micro-accelerometer are studied.

• The drain saturation current and piezoresistance coefficient of HEMT decreases with the increase of the temperature.

• The trend has relation with the concentration of 2DEG and polarization effect. I-V characteristics of HEMT

Application of Particle Filtering Technique for Sensor Fusion in Mobile Robotics

Shikha Jain, S. Nandy, R. Ray and S. N. ShomeCSIR-CMERI, Durgapur, India

• Particle Filtering (PF) Technique hasbeen applied for reliable estimation ofthe state vector of a mobile robot.

• Proprioceptive (Odometry) andExteroceptive (LRF) sensors are usedfor better estimation & efficient control.

• Linear feedback controller is adopted.• Fused sensor data are used as input to

the controller.• Variance obtained using PF technique

is less as compared to the EKF asdemonstrated through simulation.

Plot of Estimated Vs.True Value with PF/EKFbased Sensor Fusion

38





TP1-P(31) TP1-P(32)

Mechanism Design of a Medical Manipulator for Vascular Interventional Surgery

Guodong LIANG, and Yan XU Vocational Technology School., Hebei Normal University

Hebei, China

• Introduction of vascular interventional surgery (VIS).

• Overview of the medical robot system for VIS.

• Mechanism design of the novel active supporting medical manipulator (ASMM).

• Design of the quick disassembly and assembly interface.

• Experiments validated the feasibility of mechanism design. The Medical Manipulator

Automatic Assembly Control System of Bar-type

Engine Oil CoolerYuling Zhan,Xinglong Zhu,Longqin Gao and Hao Ren

School of Mechanical Engineering,University of YangzhouYangzhou, China

• Introduction.• Operational Principle and

Constitute of Engine Oil Cooler . • Analysis of the Shortest Path .• Control System Design .

The Shortest Path

TP1-P(33) TP1-P(34)

Development of Small Humanoid Robot BJHR-IChengkun Wang, Jiandong Zhao, Gengxiao Wang, Boqiang Zhao and Zhonghua WangDepartment of Mechanical & Electronic Control Engineering, Beijing Jiaotong University

Beijing, China

• Adams and Solidworks modeling and simulation based on virtual prototyping technology.

• The ARM11 + Single Chip system based on the hierarchical control system.

• Accomplished the walking experiment with the height of step 20mm, the distance of one step 85mm, and the walking period 12s through the physical prototype.

• Provided as a basis for the following research projects related to the platform.

BJHR-I

Research on the Tele-Operation Robot System with Tele-Presence

Bi-qiang Yao, Guang Wen

School of Machinery and Engineering Pan-zhihuaUniversity Pan-zhihua, China

• INTRODUCTION • THE STRUCTURE OF THE

SYSTEM• THE DESIGN OF THE

FORCE BILATERAL HYDRAULIC SERVOCONTROL SYSTEMTELE-OPERATION EXPERIMENT RESULT ANALYSISCONCLUSIONS

TP1-P(35) TP1-P(36)

Application of a New Adaptive Kalman Filitering Algorithm in Initial Alignment of INS

sun feng , zhang hong qi Department of Automation, Harbin Engineering University

Harbin, Heilongjiang, China• A new algorithm of adaptive kalman

filitering in initial alignment of INSis proposed in this paper.

• Provide the method of choosingoptimal forgetting factor and putwhich into adaptive kalman filiteringt o i m p r o v e t h e a c c u r ac y o falignment.

• Simulation results show that t h ealorithm of simplified sage-husaadaptive filtering w i t h optimalfiltering factor improve s t h eaccuracy of alignment .

estimation error curve of UΦ

Directivity Analysis of Transducer Array of Acoustic Directional Dispersing Device

Tianwen Yang, Dagui Huang, Min Chen and Yun WangUniversity of Electronic Science and Technology , Chengdu, China

• Formula used for the directivity calculation has been derived .

• Directivity of octagon transducer plane array has been analyzed.

• In the low frequency range, the directivity of octagon transducer array is weak ,when frequency>2kHz, directivity is good.

• By increasing moderately distance between array units, directivity can be improved.

Directivity analysis

39





TP1-P(37) TP1-P(38)

Application of Kalman Filter Algorithmin Gravity-aided Navigation

Fanming Liu, Yan Li, Yingfa Zhang, Huijuan HouCollege of Automation, Harbin Engineering University

Harbin, China

• Presentate the virtues and shortagesof inertial navigation system.

• Introduce the principle of gravity-aided navigation.

• Establish the state and observationequations of EKF and UKF.

• Use the method of Kriging algorithmto make gravity map interpolated.

• Carry out simulation and experimentto prove the algorithms is feasible.Error can be significantly reducedafter filtering. Navigation Principle and Results

In-situ Measuring Material Parameters of a MEMS Thin-film with a Centre-anchored Circular

Plate by Non-contact MethodHan Chen1, Hua Rong2,

1. PLA University of Science and Technology, 2.Nanjing Normal University, Nanjing, China

• Young’s modulus and stress gradient could be determined simultaneity.

• The anchor of the circular plate could be considered as rigid.

• The stress gradient wouldn’t affect the measuring the Young’s modulus.

• The non-contact measuring method wouldn’t mar the test structure and with high repetition. Results Simulated By CoventorWare

TP1-P(39) TP1-P(40)

Image match algorithm through correlation coefficient computation in

micro stereovisionWANG Yue-Zong YANG Cai-Zhi YIN Shu-Juan YIN Wen-Jia

College of Mechanical Eng and Applied ET, Beijing University of Technology, Beijing, China

• An algorithm through correlationcoefficient computation is proposed forstereo matching of color images in microstereovision.

• The samples of matching output are acquired by the statistics of multi similarity measurements and multi-matching areas.

• The false matching results and the wrong matching results are partially filtered by performing the mean-square error statistics of matching output samples. The Stereo Match

Research on Credible Start-up and I/O Access Control of Embedded Linux Based on Trusted Computing

Jin Guo and Bo LiUniversity of Electronic Science and Technology of China, Chengdu, China

• Introduce the structures of credible start-up and I/O access control of embedded Linux kernel based on trusted computing module.

• Design the core root of trust measurement to measure the boot loader program and Linux kernel.

• Design the credible I/O resource access control model based on trusted computing and encryption file system.

• Test the process of start-up and I/O control and guarantee the process is reliable.

System structure based on the trusted computing module

TP1-P(41) TP1-P(42)

Research on Linear Ultrasonic MotorUsing Longitudinal and Bending Mode

Zhijian Wan*1*2, Hong Hu*1

1.Harbin Institute of Technology Shenzhen Graduate School 2. Shenzhen Polytechnic

ShenZhen, ChinaThe solid model of the piezoelectric

resonator is developed and the modal and harmonic responses for the piezoelectric resonator are inspected. The value difference between the B2-mode frequency and the L1-mode frequency become smaller when there are holes in the elastic part. The amplitudes of the piezoelectric resonator in the B2 mode and L1 mode with holes are more than twice those of the piezoelectric resonatorwithout holes. As the result, frequencies of the piezoelectric resonator can be optimized by changing the number and size of holes.

The motor and the piezoelectric resonator with holes

Research on Intelligent Acoustic FeedbackExploration and Suppression System

Ziteng Huang, Dagui Huang,and Ding Yang School of Mechatronics Engineering, University of Electronic Science and Technology of China

Chengdu, China

• Acoustic feedback is a common phenomenon in public addressing systems.

• Propose an effectual scheme: use FFT + CZT to detect acoustic feedback

• Create a reverse phase sine wave to add on the input signal in order to remove the howling frequency

• Accuracy of system is 1HzThe flow chart of system

40





TP1-P(43) TP1-P(44)

An FPGA-based VME slave module for industrial control system

Hongchi Liu, Xiaoxin Wang and Shutian ZhangKey Laboratory of Power Electronics and Electric Drive, Institute of Electrical Engineering,

Chinese Academy of SciencesBeijing, China

• The VME bus is a widely used industrial bus.

• This paper presents a VME slave module based on FPGA, which is applied in an industrial control system.

• Comparing with traditional cases without FPGA, this module has the ability to be reprogrammed.

• The experiments demonstrate its two main types of data transfers on the VME bus, single byte cycle, and Block Transfer cycle.

The structure of FPGA board

FPGA

Address signals drive

circuit

Optical signals drive circuit

Data signals drive

circuit

Control signals drive

circuit

J1/P

1 co

nnec

tor

J2/P

2 co

nnec

tor

Optical fiber transmitter

Optical fiberreceiver

5v/3.3v

3.3v/1.2v5v/2.5v

Dynamic Neuro-fuzzy Control Design for Civil Aviation Aircraft in Intelligent Landing System

Kaijun Xu, Guangming ZhangDepartment of air navigation, school of flight technology

Civil aviation flight University of China

• This paper presents the aircraft intelligent landing systemwith dynamic neuro-fuzzy controller that enhances thefault tolerant capabilities of a high performance civilaviation aircraft during the landing phase when subjectedto severe winds and failures such as stuck controlsurfaces.

• The controller proposed in this paper is comprised of afuzzy logic controller (FLC) in the feedback configurationand two dynamic neural networks in the forward path. Adynamic control network (DCN) is used to control theintelligent landing system, and a dynamic learningnetwork (DLN) is employed to learn the weighting factorof the fuzzy logic.

• It is envisaged that the integration of fuzzy logic andneural network based-controller will encompass themerits of both technologies, and thus provide a robustcontroller for the intelligent landing system.

Block-diagram of the intelligent landing system

TP1-P(45) TP1-P(46)

Output Feedback Control for Dynamic Positioning Vessels Using Nonlinear Observer

BacksteppingShi Xiaocheng, Xie Wenbo and Fu Mingyu

Department of Automation Harbin Engineering University Harbin Heilongjiang Province, China• Passive nonlinear observer equations

are augmented to include more nonlinear hydrodynamic terms.

• Backstepping control method is used based on observer outputs.

• Stability of the whole observer-controller system is guaranteed by Lyapunov method.

• Simulation results verify the performance of dynamic control system.

Controller and observer performance

The Application Study of Heave Compensation Control Based on Motion Prediction and Fuzzy-

PID for Intelligence CraneFeng Lin, Zhang Xinfu, Zhai Xingquan, and Huang Haibo

Box 7220 Beijing city, China

• The principle of heave compensation and the structure of intelligence crane system.

• The compensation control based on motion prediction and Fuzzy-PID.

• The analysis of motion prediction algorithm.

• The analysis of fuzzy PID control.• The analysis of the test of semi-

physical simulation on land. An intelligence crane

TP1-P(47) TP1-P(48)

The Computational Design of a Water Jet Propulsion Spherical Underwater Vehicle

Shuxiang Guo, Juan Du, Xiufen Ye, Rui Yan and Hongtao GaoCollege of Automation, Harbin Engineering University

Harbin, China• Underwater vehicles have become

an important tool to develop oceans.• The design of the shape, hardware

circuit and software of a water jet propulsion spherical underwater vehicle was introduced, and the characteristics of water jet pump were presented.

• The design of the thruster and computation of the thrust was proposed, too. The spherical underwater vehicle

Stable Adaptive Control of Nonlinear Dynamical Systems

Lin Niu, Junsheng Li, Jingye LeiEngineering College, Honghe University

Mengzi, Yunnan, ChinaBy introducing the approximators, an

indirect adaptive control method is presented for the control of a class of nonlinear systems. The proposed scheme can overcome the drawbacks of existing adaptive nonlinear control techniques which can only control minimum phase nonlinear systems and may easily result in a large control effort. The stability of closed-loop system was proved, and the convergence of the state vector to a residual set around the equilibrium, whose size can be set by the choice of several design constants is demonstrated by the simulation results.

41





TP1-P(49) TP1-P(50)

Design and Realization of Fluxgate Sensor Signal Processing Unit

Wei GAO1, Guochen WANG1, Qichao ZHAO2

1.College of Automation, Harbin Engineering University , Harbin , China；2.College of Engineering & Computer Science, The Australian National University,

Canberra , Australia.• This paper conducts an in -

depth analysis to themagnetic fluxgate sensoroutput signal from theaspect of its mathematicalmodel, then proposes thesecond harmonic detectingmethod.

• The paper gives theimplementation for thefluxgate magnetometer andcompletes signal detectionand processing circuitdesign of the closed - loopfluxgate sensor.

The diagram of Fluxgate sensor signal processing circuit

Improved Particle Filter Algorithm for INS/GPS Integrated Navigation System

Feng SUN, Lijun TANGAutomation College., Harbin Engineering University

Harbin, China

• To tackle nonlinear states under the large initial conditions errors in INS/GPS.

• Use cubature particle filter (CPF) to estimate navigation attitude errors.

• Develop cubature kalman filter to generate the importance proposal distribution in CPF.

• Attitude errors estimated by CPF reduce at least 15% than that of PF Flight Trajectory

108.85

108.9

108.95

34.234.25

34.334.35

300

400

500

600

Latitude (deg)Longitude (deg)

Hei

ght (

m)

TP1-P(51) TP1-P(52)

Optimal Control in Variable-speed Pumping Stations

Yao Fulai , Sun HexuInstitute of Automation, Hebei University of Technology

Tianjin, China

• The optimal control method is to keep the same load for each pump..

• The optimal point is at the same load. • The minimal value of the total power

consumption is given.• The total optimal efficiency is given.• The conclusion can also be applied to

the energy optimization of other general devices.

The Q-V curve

An Algorithm of Moving Objects Detection for Indoor Environment based on Lasor and Vison

Liying Su, Shucai Wang and Yueqing YuMechatronics Research Lab., Beijing University of Technology

Beijing, China

• A new approach of moving objects detection is proposed in this paper.

• It is based on the background difference and the frame difference, and combines information of image and distance.

• It can effectively overcome strong light changing in indoor environment.

• It can better detect and extract a moving object in indoor environment whether it moves fast or slowly.

The Mobile Robot BasedWhich Algorithm Is Verified

TP1-P(53) TP1-P(54)

Development of the Remote Monitoring and Warning System for Operation Condition of the Main Drainage Pump in Mine

Sheng Fu, Yabin Zhang and Haiqiang SongBeijing University of Technology

Beijing, China

• The operation condition of the main drainage pumps in mine directly affects the safety production of mine.

• This warning system is mainly divided into the sensor layer at the bottom, the equipment layer on the lower computer and the monitoring layer on the upper computer.

• This system being used has good extensibility, modifiability, reliable performance and has significantly enhanced the level of enterprise safety management.

The monitoring center of the system

Statistical Analysis of Steam Turbine FaultsMa Yufeng, Liu Yibing and An Hongwen

Key Laboratory of Condition Monitoring and Control for Power Plant Equipment ,North China Electric Power University , Beijing, China

• A steam turbine fault case database of various fault cases is established.

• Analysis is done from capacity of the units and fault types by the mainline of the development of the domestic steam turbine unit.

• Statistics results are further discussed, which can ensures the safety of the power industry and the stable operation.

Statistics of steam turbine fault types

0

0.05

0.1

0.15

0.2

0.25

0.3

Imba

lance

Rubbin

g

Misalig

nmen

t

Shaft V

ibrati

on

Structu

re Vibr

ation

Axial V

ibrati

on

Blade F

ault

Faul

t Pro

porti

on

42





TP1-P(55) TP1-P(56)

Based on AHP comprehensive evaluation of optical strapdown inertial navigation system

Yanling Hao, Hongwei MuCollege of Automation, Harbin Engineering University

Harbin, China

Workflow of AHP

• Establishing the index system of warship optical strapdown inertial navigation system.

• Dividing hierarchy of the system and calculating indexes weightson AHP.

• Getting value of comprehensive evaluation.

• Enhancing the quality and level of warship system in our country.

An anomaly recognition algorithm for DVLHao Yanling, Zhang Yi and Sun Feng

Department of Automation, Harbin Engineering UniversityHarbin, Heilongjiang, China

• An anomaly recognition algorithm forthe Doppler velocity log (DVL) isproposed in this paper.

• This approach use two SINS/DVLintegration systems with differentmeasurement noise covariance matricesand make each of them estimate the statevector simultaneously. As the two systemrespond difference to the growth of theDVL measurement noises, the anomalyof the DVL velocity measurement can berecognition though the differencebetween their heading outcomes.

• Simulation results show that the anomalyperiod of DVL can be observed throughthe heading difference outcome of thisdouble SINS/DVL integration system.

Conceptual arrangement for double SINS/DVL integration system

TP1-P(57) TP1-P(58)

Research on Stability for Linear Control System with Time Delay

Changhui Song, Wei ji,Xi Gong, and Zuoqiong Zhang Yichang Testing Technique Research Institute

Yichang, Hubei, China

• Introduction of the paper • Problem statement• The main results• Two Numberical Examples• Conclusion of the paper

The Control System Research of Paving Machine for the modified asphalt coiled material

Weihan Zhang, Bengdong Liu, Desheng Li and Jiahui YangCollege of Mechanical Engineering and Applied Electronics Technology, Beijing University of

Technology

• The paving machine is is a machine that is high efficiency for modified asphalt coiled material.

• The paving machines can adapt for demand of work environment

The Paving Machine

TP1-P(59) TP1-P(60)

Simulation and Analysis of Ship Electrical Propulsion System in WavesShijia Lv, Yaohua Luo, Jiang You and Shaobo

College of Automation, Harbin Engineering UniversityHarbin, China

• A propeller open water test has been finished.

• A model of ship motion considered regular waves is introduced and the inverter-motor-drive system based on rotor magnetic field vector control is studied.

• Simulation results show the interaction between ship, inverter-motor-drive system and the propeller.

Ship Electrical Propulsion System

Study on Magnetic Coupling FBG Displacement Sensor

MI Hao-kun,NAN Qiu-mingNational engineering Laboratory of Fiber Optic Sensing Technology

Wuhan University of Technology, Wuhan , China

The Calibration Experimental Equipment

•A non-contacting magnetic coupling displacement sensor based on fiber Bragg grating sensing technology is researched in the paper•It combines advantages of FBG sensors with ones of magnetic measuring methods •It is feasible for the sensor to monitor axial or radial vibration of such high-speed rotary machines.

43





TP1-P(61) TP1-P(62)

A Model and Optimization Method Used for Vehicles Velocity Calculation of Non-central

Crash AccidentYangshan Tang, Liying Wang

College of Automobile and Transportation Engineering, Liaoning University of TechnologyJinzhou, Liaoning Province, China

• Non-central collisions are further classified as non-central point collision and non-central surface collision.

• Three coordinate systems used for describing collision are set up with vehicles impact part position for non-central collision.

• A converse analysis model is put forward.

• Impact point, normal direction and parameters optimizing.

①

②

x1τC1 ω1

Pn

Pτ

D

1xn

D

Pτ

nP

x2n

C2

ω2

x2τ

τ

nC

Impacts Plot Under Non-central Point Collision

Research on Positioning Operation Control Method of J-lay Vessel

Zhao Dongyan1, Bian Xinqian2, Chen Cuihe1, Fu Mingyu2, Xie Wenbo2, Cai Lianbo1

1.China Offshore Oil Engineering CO.LTD2. College of Automation, Harbin Engineering University, Harbin, China

• Model of J-lay dynamic positioning vessel is established

• Passive nonlinear observer is applied to estimate immeasurable states

• Acceleration feedback and pipe force feed forward control strategy are designed

• Simulation demonstrates the observer and controller system performance with J-lay model

Pipelay process

O

d

H

VT

O

( )0CL t

( )0CL t t+ Δ

( )0AL t t+ Δ( )0AL t

TP1-P(63)

PID Controller Tuning using Multi-Objective Optimization based on Fused Genetic-Immune Algorithm and Immune

Feedback MechanismMaryam Khoie, Ali Khaki Sedigh, Karim Salahshoor

South Tehran Branch,Islamic Azad University, Khaje Nasireddin Tousi University, Petroleum University of Technology

Tehran, Iran

•PID tuning scheme, using multi-objective optimization, is evaluated based on the Genetic-Immune algorithm. •PID controller is Optimized with a nonlinear proportional Immune controller based on Immune feedback mechanism

44


TP2-1: Organized Session: Human Assistive Technologies and Industrial Applications I

Session Chairs: Hiroshi Hashimoto, Advanced Institute of Industrial Technology Chiharu Ishii, Hosei University; Sho Yokota, Setsunan University


TP2-1(1) 14:45-15:03 TP2-1(2) 15:03-15:21

Control of Myoelectric Prosthetic Hand Based on Surface EMG

Chiharu Ishii, Akitoshi Harada, Takashi Nakakuki and Hiroshi HashimotoHosei University, Kogakuin University, Advanced Institute of Industrial Technology

Tokyo, Japan• A robot hand with a thumb and an

index finger, which can hold the object in accordance with the shape of the object, was built for myoelectric prosthetic hand.

• In order to control each finger independently, recognition of four finger motions using the identifier composed of three neural networks was performed based on the surface EMG.

• Experiment on online finger motion control of the built myoelectric prosthetic hand was carried out.

Experiment on The BuiltMyoelectric Prosthetic Hand

Online Collision and Occlusion Detection Based on 3D Cuboid Maps for a Daily

Assistive Robot with a Tilting LRF Kimitoshi Yamazaki(*1), Masayuki Inaba(*1), Takemitsu Mori(*2) and Takashi Yamamoto(*2)

*1 The University of Tokyo, Tokyo, Japan, *2 Toyota Motor Corporation

• A method of 3D environment map generation based on a cuboid group (TCCM) is represented

• An algorithm of effective map renewal is also proposed

• Experiments by using a daily assistive robot mounting a tilting LRF on its head were performed. They showed the effectiveness of our approach

TP2-1(3) 15:21-15:39 TP2-1(4) 15:39-15:57

Design of Downsized and Efficient Manufacturing Systems

Nozomu Mishima and Kiwamu AshidaNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan• A new concept of a modular and

downsized manufacturing systemcalled on-demand MEMS factorywas introduced.

• A simple index to evaluate thesystem efficiency was proposed.

• The efficiency of the on-demandMEMS factory was basically higherthan that of the conventional facility.

• The research group is trying to applythe concept to the production ofsemi-conductor devices.

On-demand MEMS factory

A new application

Camera-based AGV Navigation System for Indoor Environment with Occlusion Condition

1Naoya Isozaki, 1Daisuke Chugo, 2Sho Yokota and 3Kunikatsu Takase1Graduate school of Science and Engineering, Kwansei Gakuin University, Hyogo, Japan

2Setsunan University, Osaka, Japan3The University of Electro-communications, Tokyo, Japan

• Our system consists of AGV controller and high accuracy recognition system which sends a robot position using wireless LAN to AGV controller.

• We use ceiling cameras with infrared filters and LED markers for robust recognition.

• AGV navigation system can continue working under occlusion condition.

Our proposed system.

TP2-1(5) 15:57-16:15

Analysis and Evaluation of Tennis Playsby Computer Vision

Ryota Mukai, Toshio Asano and Hajime HaraHiroshima Institute of Technology, Japan

• Two cameras are used to detect the three-dimensional positions of balls and players.

• Six skill parameters were decided, and the return stroke and the service of the game of tennis were evaluated.

• This figure shows an individual skill parameter coefficients . The relative size of skill parameter coefficients differs noticeably between players.

29.61

16.53

37.76

45.76

21.51 47.11 3.66

9.962.79

10.19

24.71

15.13

31.28

13.22

12.81

12.18

14.80 12.95

21.0516.97

0%

20%

40%

60%

80%

100%

v δp c d l

Coefficient values for each player.

Player A B C D

45


TP2-2: Novel Actuator System II

Session Chairs: Yu Zhou, State University of New York Junhong Liu, Lappeenranta University of Technology


TP2-2(1) 14:45-15:03 TP2-2(2) 15:03-15:21

An Experimental System for Robotic Needle Biopsy of Lung Nodules with Respiratory Motion

Yu Zhou, Kaarvannan Thiruvalluvan, Lukasz Krzeminski, William H. Moore, Zhigang Xu, Zhengrong LiangState University of New York at Stony Brook, USA

• Current CT-guided needle biopsy of lung nodules requires breath holding during needle advancing.

• Robotic needle placement is introduced to biopsy lung nodules with respiratory motion.

• An experimental system for robotic needle placement has been created.

• Tests show that the proposed technique can accurately and quickly deliver the needle to a moving target.

Experimental system for robotic needle placement

CameraComputer

Image feedback

Robot command

Nodule path

Lung nodule phantom

Motion stage

Needle gripper

Robot

Study of Leakage Model for Servo Valve Junhong Liu, Huapeng Wu, Heikki Handroos, Heikki Haario

Faculty of Technology, LUT, Lappeenranta, Finland

• Empirical leakage formula of valve

• Comparison• Modeling by statistical

analysis approach with noise-corrupted physical data

• Verification using new independent experiments

• Results: dynamics; real responses

Servo hydraulic system

TP2-2(3) 15:21-15:39 TP2-2(4) 15:39-15:57

A Multi-functional Magnetoelectric Sensor Based on Eddy Current in Cantilevered Piezoelectric

Unimorph BenderJia-wei Zhang, Benoit Guiffard, Laurent Lebrun and Daniel Guyomar

Laboratoire de Génie Electrique et Ferroélectricité, LGEF, INSA de Lyon, Villeurbanne, France

• No magnetic phase is required and eddy current caused by ac magnetic flux is sufficient to generate Lorentz forces of this Magnetoelectric sensor.

• High magnetoelectric voltage coefficient 83.8 mV/cm-Oe.

• Good linear magneto-electric response and broad range of magnetic field test.

ME experimental test bench

Experiment on Dual-chamber Parallel Piezoelectric Stack Pump for Electrorheological Fluids

Jianfang Liu, Xuguang Sun and Guojun Liu* College of Mechanical Science and Engineering, University of Jilin

Changchun, Jilin Province, China

• Comparing with single chamber pump, dual chamber parallel piezoelectric stack pump cannot improve output pressure, but it can raise the output flow rate.

• In synchronous mode, the output flow rate of dual chamber has been increased to twice, but pulsation is large, while in asynchronous mode the output flow rate of dual chamber has been increased to three times and pulsation is little.

Dual-chamber parallel PESP

TP2-2(5) 15:57-16:15 TP2-2(6) 16:15-16:33

Union Operation of PS and Its Engineering Application Method

Xinqin Gao, Yan Li, Mingshun Yang, Yong Liu and Erbao XuSchool of Mechanical and Precision Instrument Engineering, Xi'an University of Technology

Xi'an, China

• How to describe and resolve the problem of logical reasoning is very important in engineering application. The polychromatic sets (PS) theory is suited to treat the logical reasoning problem.

• The union operation of PS will obtain some new entities, which may be new technical solutions and come from the specific engineering field knowledge, artificial intelligence or creative human activity.

[A×A(F)]

A 1(F

3)A 2

(F3)

A 2(F

4)

A 1(F

8)A 2

(F8)

A 1(F

1)A 2

(F1)

A 1(F

2)A 2

(F2)

A 3(F

3)A 1

(F4)

A 1(F

6)A 2

(F6)

• We proposed a new hybrid biomimetic underwater microrobot with a triangular prism body and two pectoral fins.

• The body could mimic the actions of an actual jellyfish to implement the floating motion driven by the SMA actuator, and two pectoral fins could generate the propulsion for the swimming motion, which imitated a butterfly.

• The experiment results also showed that the floating motion of the last prototype was superior to the previous ones. Prototype hybrid biomimetic underwater microrobot

Liwei Shi and Shuxiang GuoDept. of Intelligent Mechanical System Eng’g, Kagawa University, Japan

Kinji AsakaKansai Research Institute, AIST, Japan

A Novel Butterfly-Inspired Underwater Microrobot with Pectoral Fins

Two Pectoral Fins

SMA Actuators

46


TP2-3: Organized Session: Robots for New Fields II

Session Chairs: Shigeoki Hirai, Chiba Institute of Technology Shin'ichi Yuta, University of Tsukuba


TP2-3(1) 14:45-15:03 TP2-3(2) 15:03-15:21

A robotic assembly system capable of handlingflexible cables with connector

Demonstration system of assembling FA device containing flexible cables with connector

Yasuo Kitaaki, Rintaro Haraguchi,Koji Shiratsuchi,Yukiyasu Domae, Haruhisa Okuda and Akio Noda,Mitsubishi Electric Corporation

Toshio FukudaNagoya UniversityKazuhiko SumiAoyama Gakuin UniversityTakayuki MatsunoToyama Prefectural University

Shun’ichi KanekoHokkaido University

・3D vision sensing・Motion stereo ・cable/connector recognition algorithm

・error recovery by visionparts supply

Kitting

assembly

• Generate an individual’s facial expression muscle model.

• Simulate the fusion of speech and facial expression using our GFFD method.

Examples for several sentences

A Method of Simulating the Fusion of Speech and Facial Expression for Individuals

Based on the GFFD MethodShen Yue and Katsuhiro Kitajima

Tokyo University of Agriculture and Technology Tokyo, Japan

TP2-3(3) 15:21-15:39 TP2-3(4) 15:39-15:57

An Open Experiment of Mobile Robot’s Autonomous Navigationat the Pedestrian Streets in the City - Tsukuba Challenge -

Shin’ichi Yuta *, Makoto Mizukawa, Hideki Hashimoto, Hirofumi Tashiro, and Tsuyoshi Okubo* University of Tsukuba, Tsukuba, Japan

• We have been organizing the “Tsukuba Challenge,” every year since 2007 in Tsukuba, Japan.

• “Tsukuba Challenge” is a Real World Robot Challenge, which aims at intelligent robot technology for realizing a practical autonomous robot that works in the real environment of daily life.

• As the objective task of the Tsukuba Challenge, the autonomous mobile robots were required to make their way, safely and autonomously, over 1 km down a pedestrian street and through a park in Tsukuba.

• In 2010, more than 60 autonomous mobile robots participated in this challenge, and seven robots completed the autonomous navigation of the designated course at the center area in Tsukuba City.

Dynamics Analysis of the AFM Manipulator-Sample Interaction Using Nano-Contact

Mechanics ModelsKhadijeh Daeinabi and Moharam Habibnejad Korayem

Department of Mechatronics Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

• Influence of applied load and adhesion force work on nano-indentation tip Radius.

• Analysis of applied load and contact-radius during tip-sample interaction using Hertz, DMT, JKRS, BCP, MD, COS, PT and Sun models.

• AFM tip models: conical tip, cylindrical tip and spherical tip.

Mass-Spring Model of the Contact Mechanic for the AFM Cantilever

Tip -Sample Interaction

TP2-3(5) 15:57-16:15 TP2-3(6) 16:15-16:33

Research on a Development Hydraulic Servo Tele-robotics System

Guang Wen , Ming-de Gong & Hong-yan Zhang

School of Machinery and Engineering Pan-zhihuaUniversity Pan-zhihua, China

Institute of Mechanical Science and Engineering Jilin University, ChangChun, China

• INTRODUCTION • A NEW DRIVING METHOD

OF HYDRAULIC SERVO-SYSTEM BY MEANS OF A FORCE SENSOR

• EXPERIMENTAL INVESTIGATIONS

• CONCLUSIONS

Master

Hydraulic StationRegulator

proportional controllerServo Controller

Master-Slave Controller

4-DOF Tele-robot

AA

Regulator

Cleaning Robot for Carbon Anode Block Based on Vision Inspection and Hybrid

Force/Position ControlJunjie Yuan, Guangping He and Xiguang Huang

College of Mechanical &Electrical Engineering, North China University of TechnologyBeijing, China

• Cleaning the mounting holes of carbon anode with fully automatic control system

• Cleaning inner surface and spiral grooves of mounting holes simul-taneously.

• Determining position of the holes through vision inspection.

• Use special cutting tool with force and torque feedback.

The cleaning robot and the carbon anode block

47


TP2-4: Control Application I

Session Chairs: Jason Gu, Dalhousie University Zhaoguo Qiu, Beijing University of Technology


TP2-4(1) 14:45-15:03 TP2-4(2) 15:03-15:21

A Cost Effective Approach Towards Filament Winding

Trinankur Hazra, Jason Gu and Farid TaheriElectronic & Inf. Eng. College, Henan Univ. of Sci. and Tech. Henan, ChinaElectrical and Comp. Eng., Dalhousie Univ., Halifax, NS Canada B3J 2X4

• A novel actuation system for tension controlling fibers is mathematically modeled.

• A comparison between the conventional PI controller and a Mamdani type Fuzzy inference based control system is proposed.

• Simulation study has been presented The Tension Control

Multi-Objective Evaluation Based Optimizing Control Method for Shaft Furnace Roasting

ProcessYan Ai-jun , Zhang Chun-xiao, Xu Zhe and Wang Pu

College of Electronic Information & Control Engineering, Beijing University of TechnologyBeijing, China

• Setting level is to calculate the pre-setting points s1~s3.

• Air-fuel ratio adjustment model obtains the online-adjusted value K.

• Loop control level collect the set points s1~s3 that come from the setting level and their measured values to obtain their errors e, e3, and e4. Frame of hybrid intelligent control

FaultPrediction

ModelAir-fuel Ratio

Adjustment Model

Case Retrieve

Case Reuse

Indices Prediction

Model

Revision Model

...

...

Case-base

PID2

PID1

PID3

PID4

V1

V2

V3

V4

FuzzyController Shaft

Furnace Roasting Process

u1(k)

de

e

K

s2

s1

s3

s11

s12

e1(k)

u2(k)e2(k)

u3(k)e3(k)

u4(k)e4(k)

v11

v12

v1

v2

v3

-

-

-

-

Loop Control Level

Setting Level

r1

r5

Xf

Xs {

v1

s1~s3

Appraisal Model

Ye

Y

YS

-

TP2-4(3) 15:21-15:39 TP2-4(4) 15:39-15:57

Research on the Permanent Magnet using Comsol Multiplysics in Generator

Wang Suli1, Wen Liping2Institute of Disaster Prevention

Langfang, China

• Introduction• An ordinary differential equation

(ODE) and arbitrary Lagrangian -Eulerian (ALE)

• Numerical simulation result• Conclusions

Magnetic Flux Norm and Contours

High-Performance Coordinated Motion Control of High-Speed Biaxial Systems For Contouring Tasks

With Comparative Experimental InvestigationsChuxiong Hu* **, Bin Yao*, Qingfeng Wang* and Yu Zhu**

*State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

**State Key Laboratory of Tribology, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China

• A GTCF based contouring controller with cogging force compensation

• Linear-motor-driven biaxial high-speed industrial gantry

• Excellent contouring performance for high-speed/high-accuracy contouring tasks in actual implementation even undervarious parametric uncertainties and uncertain disturbances. Actual contours

TP2-4(5) 15:57-16:15 An approach to manage over-constrained

mechatronic system in teamworkLIU Ruixian, SERRÉ Philippe, CHOLEY Jean-Yves

Laboratoire d’Ingénierie des Systèmes Mécaniques et des Matériaux, Institut Supérieur de Mécanique de Paris, Paris, France

Piezoelectric truss with four Piezo-Beams

• Topological model guarantees the compatibility between geometrical aspect and physics aspect.

• Use Cayley-Menger determinants to generate geometrical compatibility equations.

• Merge geometrical compatibility equations with physics equations to couple geometry and physics in mechatronic complex system.

• Use multiphysics compatibility equations to ensure the parameters’ consistency of over-constrained mechatronic system.

48


TP2-5: Robot Navigation I

Session Chairs: Paulo Oliveira, Instituto Superior Tecnico Xiaochuan Zhao, Beijing Institute of Computer Application


TP2-5(1) 14:45-15:03 TP2-5(2) 15:03-15:21

Stairway Segmentation Using Gabor Filter and Vanishing Point

Danilo Cáceres Hernández and Kang-Hyun JoIntelligent Systems Lab., University of Ulsan

Ulsan, Korea

• Localization of stairways in unknown enviroments.

• Horizon detection on the image plane. • Vanishing point detection based on

clustering process.• Good response with non-uniform

ilumination condition.

Stairway segmentation

A Novel Vehicle Navigation System Based on MSINS

Feng Sun, Qian Li, Yueyang Ben, Wei GaoCollege of Automation , Harbin Engineering University

Harbin, Heilongjiang, China

• The general GPS/MSINS error model is presented .

• the new scheme of vehicle navigation system based on MSINS is introduced and analysed .

• The simulation test is conducted to validate this new scheme .

• The field test carried out in Shanghai Jiaotong University demonstrates the validity of this novel vehicle navigation system . Software flow chart

TP2-5(3) 15:21-15:39 TP2-5(4) 15:39-15:57

An Improved Adaptive Kalman Filtering Algorithm for Advanced Robot Navigation System based on

GPS/INSBeijing Institute of Computer Application, Beijing, China

• Advanced Robot and Its Navigation System

• Mathematical Model of Advanced Robot Navigation System and Analysis of Noise Measurement Errors

• Design for Cascaded Two Order Fuzzy Self-adaptive Kalman Filter

Study on Mobile Robot Navigation Based on Strategy of Blind Man Finding Way

DaiFeng Chen, Cong Ma, WeiGuo Ma, HaiRong Zhu, Jianhong Zhu, Longfang YiSchool of Electrical Engneering, Nantong University

Nantong, Jiansui Province, China

• Investigate the mechanism of blind man finding their way.

• Strategy of the interactive information navigation .

• Decomposition of interaction force .

Local adjustment

Y

Xo

fγ

R r L

correctedrange d

O

P

v

TP2-5(5) 15:57-16:15

UAV-based Marine Mammals Positioning and Tracking System

Tiago Gaspar, Paulo Oliveira, and Carlos SilvestreInstitute for Systems and Robotics, Instituto Superior Técnico

Lisbon, Portugal

• New strategy to localize and trackmarine mammals using KalmanFilters.

• Use measurements provided by aGPS, an AHRS, and a PTZ camerainstalled onboard an UAV.

• Use active contours to segment andisolate marine mammals.

• Results illustrating experimentswhere marine mammals areoccluded are presented.

49


TP2-6: Sensor Design I

Session Chairs: Dangxiao Wang, Beihang University Qingyong Shi, Changchun University of Science and Technology


TP2-6(1) 14:45-15:03 TP2-6(2) 15:03-15:21

Design and Calibration of Sensing System for High-precision Meso-scale Friction Test

Huadong Yu Qingyong Shi Yiquan Li Jinkai Xu Ying Xu Department of Mechanical Engineering, Changchun University of Science and Technology

Changchun, China • A high-precision sensing system

is designed for meso-scalefriction test, which consists oflaser, CCD and parallel plate-spring structures. Principles ofmicro-friction test and of sensingsystem are described in detail.Calibration experiments arecarried out for sensing devices.The results show that theresolution of sensing system forfriction testing can reach 10μN.

Schematic diagram of test sensing system

Study on the Design Method of Giant Magnetostrictive Force Sensor

Huifang Liu, Zhenyuan Jia, Fuji Wang, and Fucai ZongKey Laboratory for Precision and Non-traditional Machining Technology of Ministry of

Education, Dalian University of Technology, Dalian, Liaoning Province, China

• The design method of a giant magnetostrictive force sensor is proposed, including the magnetic circuit and the whole structure.

• The influence law of initial conditions and component parameters on output characteristics of the sensor is analyzed.

The Giant Magnetostrictive Force Sensor

TP2-6(3) 15:21-15:39 TP2-6(4) 15:39-15:57

Measurement and Identification of the Structure Parameters in the Four-Light-

Screen Optical TargetHong-wei Lu, Jin-ping Ni, Ying An,

School of Optoelectronic Engineering, Xi'an Technological University, Xi’an, China

• Measure the structure parameters such as S, , using a virtual reference plane

• Identify the structure parameters via the real firing results

• Compare the two results with paper target respectively, and then get the precision structure parameters

α

The Four-Light-ScreenOptical Target

α β

Flexible Building Blocks: Modularized Design Concept of A Six-Axis Force/Torque Sensor

Dangxiao Wang, Lei Fang, Mu Xu and Jiaqi YuState Key Lab of Virtual Reality Technology and Systems., Beihang University

Beijing, China• A novel force sensor design concept:

using 1-D force sensors to integrate multi-axis force/torque sensors.

• Flexible: adapting the mechanical structure can easily design multi-dimensional F/T sensors ranging from 2-DOFs to 6-DOFs.

• Modularized design, compact structure and small size.

• A tradeoff between cost and performance.

Six-Axis Force/Torque Sensor

TP2-6(5) 15:57-16:15 TP2-6(6) 16:15-16:33

Design and Simulation of an Ultrasonic Flow Meter for Thin Pipe

Yang Yu, and Guanghua ZongRobotics Institute, Beihang University, Beijing, China

• A high precision ultrasonic flow meter, designed especially for thin pipe, is presented.

• Conventional clamp-on ultrasonic flow meter is not appropriate for thin pipes, which have a diameter less than 10 millimeters.

• A special shape of pipe is designed, accompanied with customized transducers.

• CFD is used to simulate the velocity distribution of the liquid.

Structure of part of the Ultrasonic Flow Meter

Analysis of Star Tracker/Accelerometer Inertial Navigation System in Theory

Yingbo Cai ,Qiuying Wang, Xuetong Wei and Debiao LiDepartment of Automation, Harbin Engineering University

Harbin , China

• In the star tracker/accelerometer inertial navigation system, the star tracker will be used to calculate the attitude matrix.

• The accelerometer is integral utilizing the attitude matrix, to get the velocities and position of carrier, the feedback is formative.

• The errors will be discussed and the result will be proved by the simulation test.

Navigation positioning error of the star tracker error

50


TP2-7: Signal Processing II

Session Chairs: Songmin Jia, Beijing University of Technology Zhenhe Ma, Northeastern University At Qinhuangdao


TP2-7(1) 14:45-15:03 TP2-7(2) 15:03-15:21

Data Processing and Error Analysis of Two Way Satellite Time and Frequency Transfer

Jiangmiao Zhu ,Dong Han and Jisheng Guo School of Electronic Information and Control Engineering,Beijing University of Technology

Beijing, China• The basic principle and construction of

TWSTFT in National Institute Metrology (NIM) were demonstrated.

• When the data was processing, software standardization guide made by Consultative Committee for Time and Frequency (CCTF) was adopted and the comparison precisionof NIM is about 0.35ns.

• The results show that the equipment delay error is the major source in the TWSTFT with the value of 0.12ns.

The satellite ground station

Experiment research on the Metal Magnetic Memory in gear micro crack detection

Chenhui Kang, Lingli Cui, Jianyu Zhang, Lixin Gao, and Yonggang XuCollege of Mechanical Engineering and Applied Electronics Technology

Beijing University of Technology, Beijing, China

• The position of crack can be detected by the peak of magnetic field gradient (the red curve in the figure).

Magnetic Memory Signal Distribution of Circumference of Fault Gear Tooth Root

TP2-7(3) 15:21-15:39 TP2-7(4) 15:39-15:57

Flow measurement using high speed spectral optical coherence

Ma Zhenhe, and Su YixiongAutomation Engineering Department, Northeastern University at Qinhuangdao,

Qinhuangdao, China

• High speed spectral optical coherence tomography system

• Human skin structure imaging • Early stage chicken embryo heart

blood flow measurement

Chicken embryo heart blood flow

(a) 200ms

Time)

X

(b)100µm

-50

0

50

(c)

0 0.2 0.4 0.6 0.8 1 1.2-20

0

20

40

60

X(mm))

Velocity(mm/sec)

(d)

Code Acquisition Using the Locally Optimum Test Statistics in both Multiplicative and Additive

NoisesSHEN Feng, GAI Meng, WANG Zhao-loong, and LI Zhi-qiang

Automation School, Harbin Engineering University Harbin, China

• The pseudo noise (PN) code acquisition in multiplicative and additive noises is considered.

• Modeling the acquisition problem as a hypothesis testing problem, a new detector is proposed for multiplicative noise, based on the locally optimum detection technique.

• To reducing the complexity of the proposed detector, a simpler detector is derived.

Structure of PN codeacquisition systems

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TP2-7(5) 15:57-16:15 TP2-7(6) 16:15-16:33

A Novel Target Tracking Algorithm Under Complex Background

Jingyu Cao, Weiyan Chai and Peizhi Liu

• Analysis of The Difficulties in The Target Tracking in Complex Environment

• Target Tracking Algorithm For the Complex Environment

Multi-Class Imagery EEG Recognition Based on Adaptive Subject-Based Feature Extraction and

SVM-BP ClassifierMingai Li, Lin Lin and Songmin Jia

College of Electronic Information & Control EngineeringBeijing University of Technology, Beijing, China

• In BCI, the classification accuracy significantly drops in solving multi-class EEG recognition.

• The adaptive method of Wavelet Packet Best Basis and OVR-CSPare used to extract EEG feature.

• A hybrid classification model ofSVM-BP is built to classify EEG.

• Experimental results showed that the proposed approach achievesgood performance and has adaptability for different subjects.

The BCI system

51

Wednesday August 10, 2011

Morning Sessions

WA1-1 Organized Session: Human Associative Technologies and

Industrial Applications II

WA1-2 Mechatronic Systems

WA1-3 Analysis & Design of Robotic Systems

WA1-4 Control Application II

WA1-5 Robot Navigation II

WA1-6 Sensor Design II

WA1-7 Signal Processing III

WA2-1 Manufacturing Technology

WA2-2 Mechanism Analysis I

WA2-3 Robot Applications

WA2-4 Control Application III

WA2-5 Robot Navigation with Ranging

WA2-6 Industrial Sensing

WA2-7 Numerical Analysis

53

Wednesday August 10, 2011

Afternoon Sessions

WP1-1 Humanoid & Biped Robot

WP1-2 Mechanism Analysis II

WP1-3 Measurement Technology

WP1-4 Control Application IV

WP1-5 Teleoperation

WP1-6 Industrial Control

WP1-7 PID Control

WP2-1 Human System Interaction & Interface

WP2-2 Modeling & Analysis

WP2-3 Pattern Recognition

WP2-4 Vibration Control & Analysis

WP2-5 Predictive & Learning Control

WP2-6 Fault Diagnosis

WP2-7 Control of Nonsmooth Systems

54


WA1-1: Organized Session: Human Associative Technologies and Industrial Applications II

Session Chairs: Hiroshi Hashimoto, Advanced Institute of Industrial Technology Chiharu Ishii, Hosei University; Sho Yokota, Setsunan University

Room 1, 8:00-9:48, Wednesday, 10 August 2011

WA1-1(1) 8:00-8:18 WA1-1(2) 8:18-8:36

A Robotic Extremities Muscle Rehabilitation System for QuadriplegiaDongxiao Wang, Xueshan Gao and Yunhui Liu

Intelligent Robotics Institute, University of Beijing Institute of TechnologyBeijing, China

• The system is featured with the ability to drive patients to do active and passive exercises for the limb weakness from early rehabilitation of the general paralysis, limb spasmodic movements after stroke and the muscle atrophy.

• It consists of mechanical platform, monitoring system and control system.

The Muscle Rehabilitation System

Virtual reality based robotic therapy for stroke rehabilitation: an initial study

Wu1, Liu1, Handroos1, Miraftabi1, Heinonen2, Peurala2, Tarkka2, Rossi3, Nousiainen3

1Faculty of Tech., LUT, 2Dep.of Health Sciences, JYU, 3LPR:n Kuntoutus Oy, LPR, FInland

• Stroke rate• Stroke rehabilitation methods• Mirror therapy: limb practice; virtual

reality (VR) rehabilitation: enhance effect; robot: realize the position and force manipulation

• Aim: design, develop and test a VR-based robotic therapy system to help patients evoking motor image and acquire motor abilities (forearm…) using VR-Mirror.

System configuration

WA1-1(3) 8:36-8:54 WA1-1(4) 8:54-9:12

Development of an Assistive Wheelchair Caster Unitfor Step Climbing - Design and Construction of a unit -

Sho Yokota*, Takanori Ito, Tatsuya Yamaguchi, Daisuke Chugo and Hiroshi Hashimoto* Faculty of Science and Engineering, Setsunan University

Osaka, Japan

Proposed caster unit

• This caster unit is easily replaced with a conventional wheelchair caster.

• The caster unit requires smaller driving force than conventional caster.

• The caster unit has two functions :

Assistive plates to enlarge the caster radius imaginarily.A lock function of caster rotation for yaw direction, which enables easy step climbing with oblique approach.

Intelligent Tennis Wheelchair Control Method Based on Webots Platform

Songmin Jia, Liwen Gao, Jinhui Fan, Jun Yan, Xiuzhi Li, Jinbo Sheng College of Electronic Information & Control Engineering,

Beijing University of Technology• This paper presents a new prototype of an

intelligent tennis wheelchair with fouromnidirectional wheels installed on thebottom.

• The centre of gravity can be computed bycalculating the values of four pressuresensors under the wheelchair seat, thusthe orientation and velocity of wheelchaircan be controlled by using human bodymotion.

• A lot of simulations results verified theeffectiveness of proposed control method.

Intelligent Tennis Wheelchair

WA1-1(5) 9:12-9:30 WA1-1(6) 9:30-9:48

Dynamic Modeling and Analysis of the different cavity-type Hydrostatic Slide Turntable System

Hongling YE, Xiaolong Zheng and Pin WENCollege of Mechanical Engineering and Applied Electronics Technology,

Beijing University of Technology, Beijing, China• Hydrostatic slide, via the sliding bearing supported by hydrostatic

pressure of the fluid between the supported faces, is the main component of CNC machine tools.

• A nonlinear oil-film force model with velocity term for hydrostatic slide system with rectangular, sector and round chamber is established respectively.

Hydrostatic Slide Turntable System

• The turntable dynamic equations of hydrostatic slide system with different chambers are formulated.

• Analysis of dynamics properties of the hydrostatic slide turntable is investigated by numerical simulation.

Proposal of Anthropomorphic Hand with Passive Warped Fingertip

• New anthropomorphic hand made by operational unit (Index finger and middle finger) with 2 D.O.F and holding unit (Ring finger and little finger) with 1 D.O.F.

• Each fingertip realized warped motion for dexterous operation.

• The prototype achieved several simple motions by the open control

H. Ishihara, N. Hirose and S. FunaokaKagawa University, Japan

T. Miyake and K. MoritaMiraikikai Inc., Japan

55


WA1-2: Mechatronic Systems

Session Chairs: Changdoo Jung, Changwon National University Sunao Ishihara, The University of Tokyo


WA1-2(1) 8:00-8:18 WA1-2(2) 8:18-8:36

Optimal Mechanism Design of In-pipe Cleaning Robot

ChangDoo Jung, Wonjee Chung, Jinsu Ahn, Myungsik Kim, Gisoo Shin, Soonjea Kwon Dept. of Mechanical Design and Manufacturing Engineering, Changwon National Univ.,

Changwon, Korea

Basic Design Using TRIZ Dynamic Simulation

Optimal Design Safety Evaluation

Stressed Nanomechanical Resonator Fabrication Utilizing Stiction Phenomena

Hiroki Ashiba, Reo Kometani, Shin-ichi Warisawa and Sunao IshiharaDepartment of Mechanical Engineering, The University of Tokyo

Tokyo, Japan

• A simple method of stress application to nanomechanical resonators utilizing stiction phenomena was proposed.

• Vibration characteristics of the resonators were largely increased owing to the tensile stress.

• The stress applied to the stiction resonators were calculated to be up to 300 MPa . Stiction Resonators

WA1-2(3) 8:36-8:54 WA1-2(4) 8:54-9:12

Adaptive Sliding Mode Observer and Control Design for Biased Momentum Satellites

Lin Zhao, Xin Yan, Yong Hao, ZhonghuaCollege of Automation, Harbin Engineering University, Harbin, China

• A novel sliding mode observer (SMO)is designed for momentum biased

• An adaptive update law is designed for the sliding mode observer .

• An adaptive SMC is designed for the biased momentum satellites use the information result from SMO

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ˆ( )x t

( )e t

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000-0.01

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0.005

0.01

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0.025

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500 1000 1500 2000 2500 3000-4

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x 10-3

Luenberger ObserverAdaptive SMO

Design and Optimization of Overall Structure fora Landing AUV

Fei Liu, Hongwei Zhang and Bing DuSchool of Mechanical Engineering, Tianjin University,

Tianjin, China• The importance and function of

the landing Autonomous Underwater Vehicle.

• Overall layout and structural design of the landing AUV.

• Tank test and water test for the AUV.

• Two points of ideas for the design improvement of AUV.

The Overall Structure of the Landing AUV

USBLbeacon

ADCP

CTD

ObstacleAvoidance Sonar Water ballast tanks

GPS/Satellite antenna/wireless communication

Conduit-typepropeller

Whole circleRotationrudder

ReleasingWeights

Circuit cabin Battery cabin

Supporting legs

WA1-2(5) 9:12-9:30 WA1-2(6) 9:30-9:48

Dynamic Analysis of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

Yongquan Li, Lijie Zhang and Yuewei NiuHebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,

Yan shan University, Qin , Huang dao , China

• Presentation of spherical 2-DOF parallel manipulatorwith actuation redundancy.

• Establishing coordinates. • Dynamic analysis of the

manipulator. • Optimization method.• Numerical calculating

example and conclusion.

Mechanical model of spherical 2-DOF parallel manipulatorwith actuation redundancy

2α

1αβ

O

P

1B

2B3B

1A

2A3A y

z

x0α

Design of a Wireless Hybrid In-Pipe Microrobot with 3 DOFs

Takuya Okada, Shuxiang Guo, and Yasuhiro YamauchiDept. of Intelligent Mechanical Systems Eng’g, Kagawa University

Kagawa, Japan• We developed a wireless in-pipe

microrobot in small area such as organ of digestion or small plumbing for medical and industrial applications.

• We proposed novel type hybrid microrobot to take advantage of strong point of its microrobot.

• We also proposed three axes helmholtz coil to implement the multi DOFs locomotion of the microrobot.

The hybrid wireless microrobot with 3DOFs

56


WA1-3: Analysis & Design of Robotic Systems

Session Chairs: Seng Chong, De Montfort University Takayoshi Yamada, Gifu University


WA1-3(1) 8:00-8:18 WA1-3(2) 8:18-8:36

Model Driven System Engineering for Vehicle System utilizing Model Driven Architecture approach and Hardware-in-the-Loop Simulation

• Establishment of baseline Model Driven Architecture (MDA) approach at the platform independent level

• Identification of suitable methodology and toolset to permit MDA system designs and hardware-in-the loop (HIL) simulation for system verification

• Design and development of a model transformer for seamless transformation of the Rhapsody model to a Simulink model

• Model based designHardware-In-The-Loop Simulation using xPC by MATLAB

Seng Chong, Chi-Biu Wong, Haibo Jia, Hongtao Pan and Philip Moore Roy Kalawsky and John O’BrienMechatronics Research Centre

Department of EngineeringResearch School of Systems EngineeringSystems Engineering Innovation Centre

De Montfort University Loughborough UniversityLeicester, UK Leicestershire, UK

Stability Analysis of A Single Object Grasped by A Multifingered Hand with Angular Joints in 2D

Takayoshi YAMADA1, Manabu YAMADA2, and Hidehiko YAMAMOTO11 Department of Human and Information Systems, Gifu University, Japan.

2 Department of Mechanical Engineering, Nagoya Institute of Technology, Japan

• The effect of angular joint model is investigated.

• The grasp stiffness matrix is analytically derived by considering both frictionless sliding contact and frictional rolling contact.

• The gravity effect is also derived.• The grasp stability and its

corresponding motion direction are evaluated by the eigenvalues and eigenvectors of the matrix.

A single object grasped by a multifingered hand with angular joints

oΣ fkΣ

bΣ

WA1-3(3) 8:36-8:54 WA1-3(4) 8:54-9:12

Experimental study of active vibration control for flexible beam by using a Stewart platform

manipulatorBo Luo, Weipeng Li, Hai Huang

School of Astronautics, Beihang UniversityBeijing, China

• Experiments of active vibration control for flexiblebeam are studied, with a Stewart platform manipulator(SPM) employed as an active equipment at the bottomof the beam.

• The dynamic modal of the rigid-flexible couplingsystem composed of the upper platform of the SPM andthe flexible beam is deduced.

• Based on the dSPACE real-time simulation system, thecontrol test system for the beam is built, on which theauto disturbances rejection control (ADRC)experiments are carried out.

• The experimental results verify the effectiveness of thecontrol conducted by SPM.

System of Stewart-beam

A Modular Approach to Detailed Dynamic Formulation and Control of Wheeled Mobile Robot

1Sambhunath Nandy, 1Sankar Nath Shome, 2Goutam Chakraborty and 2Cheruvu Siva Kumar1CSIR-CMERI, Durgapur, India & 2IIT, Kharagpur, India

• A modular approach has been adopted to formulate detailed dynamics of Wheeled Robot considering Kinetic Energy of all the moving components.

• Actuator dynamics is also considered.• Lie Algebra based input-output feedback

linearization controller is designed.• Developed model has been simulated

using the parameter of real robot for smooth & non-smooth trajectories.

• Developed model may be utilized for high velocity maneuvering applications.

7 8 9 10 11 12 132

4

6

8

10

12

14

16A

A

0 1 0 20 30 40 50

-1 0

0

1 0

2 0

3 0

4 0

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8 0

Mot

or V

olta

ges

T im e(s )

R ight Left

Start Point: (10.8m, 9m, 1o)

C.P. : (10m, 6m), R=3m

Y (m

)

X (m)

C.P. : (10m, 12m), R=3m

Tracking performance (eight-shaped) with motor voltages.

WA1-3(5) 9:12-9:30 WA1-3(6) 9:30-9:48

Modular Design Method and Module Interface Development for Small Reconfigurable

Underwater VehicleYujia Wang, Mingjun Zhang and Hao Su

College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China• Modular Design Method for

Underwater Vehicle. A. Functional Requirements AnalysisB. Functional DecompositionC. Function Module Partition and Decoupling

• Module Interface Development for Underwater Vehicle.A. Mechanical Interface DesignB. Electrical Interface Design

• Reconfiguration of Modular Underwater Vehicle. The Modular Underwater Vehicle

Development of a Dual-mode Mobile Robot System for Practical Applications

Chaoquan Li, Fuquan Dai, Fangxing Li, Shusan Wang, Xueshan Gao and Kejie LiIntelligent Robot Institute of Beijing Institute of Technology, Beijing, China

• Modular designing of a coaxial two-wheeled self-balance robot platform.

• Two operating modes for multiple practical applicationsboth as a patrol robot and a personal transporter.

• Fast switching working modes. • Good performance and ability

to adapt to the tilted surface. The CCWR Platform

57


WA1-4: Control Application II

Session Chairs: Alina-Simona Baiesu, Petroleum Gas University of Ploiesti Yan Pang, Beijing University of Technology


WA1-4(1) 8:00-8:18 WA1-4(2) 8:18-8:36

Using an Internal Model Control Method for a Distillation Column

Baiesu Alina-Simona, Paraschiv Nicolae, Mihaesu DanielControl Engineering, Applied Informatics and Computers Department,

Petroleum Gas University of PloiestiPloiesti, Romania

• Model based control strategies such internal model control (IMC) have proven to be successful controller design strategies in industrial practice.

• When the plant is operated over a wide range of operating conditions, as a consequence of large setpoint changes and/or at the presence of disturbances, it is wise to use an adaptive IMC structure.

IMC of a Distillation Process

Air Cushion Vehicle Track-Keeping Based on AGA Auto Disturbance Rejection Control

• Maneuverability of air cushion vehicle is studied.

• Auto disturbance rejection controllers are designed for track guidance and course control.

• Adaptive genetic algorithm is used for real-time optimizing the control coefficients of ADRC.

Air cushion vehicle

Xiaocheng Shi, Zhenye Liu, Mingyu Fu, Chenglong Wang Department of Automation,Harbin Engineering University, Harbin ,China

WA1-4(3) 8:36-8:54 WA1-4(4) 8:54-9:12

Design of EtherCAT Slave Module Cunfeng Kang, Yan Pang, Chunmin Ma and Chenmei Li

College of Mechanical Engineering and Applied Electronics TechnologyBeijing University of Technology

NO.100 Pingleyuan, Caoyang District, Beijing, 100124, China

• E t herCAT r ea l - t i m e Et herne tt echn o lo g y t ha t p r oposed b yBeckhoff Company, is now widelyused in industrial automation andmotion control fields. In this paper,slave module design based onEtherCAT fieldbus is carried outfrom the view of the theoretical studyand product application as well. EtherCAT Slave Module

PCA-AR based Fault Prognosis for Turbine Machine

Qiuyan Wang, Jie Ma and Xiaoli XuKey Laboratory of Modern Measurement & Control., Beijing Information Science and

Technology UniversityBeijing, China

• A PCA model was built and the fault is detected by squared prediction error (SPE) index, then predicted by AR model.

• With development of fault process,the SPE will produce a corresponding change and carry important fault information , so calculate statistics ofSPE can be characterized and predict the trend of fault and level.

Fault detection for Turbine machine using SPE index

The actual value and forecast value

WA1-4(5) 9:12-9:30

Study on the Speed Control Method for Three Axes High Speed Engraving Machine Based on

Embedded SystemMuye Pang,Hui Li, Songsong Li, and Bo Wang

Institute of Astronautics & Aeronautics, University of Electronic Science and Technology of China

Chengdu, Sichuan Province, China

An improved arc inserting method is usedto increase the turning velocity by reducedjunction angle, so that the whole cavingvelocity gets increased. To prevent thevelocity of short axis motor overshooting,according to the natural characteristic ofstep motor, a look-ahead feedrate planningmethod is used to restrict the frequencyhopping rate by index decelerating to getthe short axis motor smooth running

Simulation of Speed Control Method

58


WA1-5: Robot Navigation II

Session Chairs: Hakan Temeltas, Istanbul Technical University Mincheol Lee, Pusan National University


WA1-5(1) 8:00-8:18 WA1-5(2) 8:18-8:36

Location Dependent Variable Information Gain Approach to Multi Robot Coverage Problem

Mert Turanli, Hakan TemeltasInstitute of Science and Technology, Istanbul Technical University

Istanbul, Turkey

• The aim is to achieve optimal coverage control in an unexplored environment.

• Computation of control signals of multiple robots by using Voronoi partitioning.

• Dynamic information gains

Simulation Environment

A Study of Cluster Robot’s Line formatted Navigation Using Potential Field Method

Yo hwan Kang, Min cheol Lee, Chi yen Kim, Sung min Yoon and Chi beom Noh Measurement & Control Lab., Pusan National University

Pusan, Korea• Cluster of robot arrive at the target in

the line formation based on potential field method.

• The system equipped with basic robot sensor with minimum specification as a peripheral nerve function.

• It uses information only on comparative distance and degree among objects, driving algorithm is very simple, and processor is speedy due to small amount of calculation.

WA1-5(3) 8:36-8:54 WA1-5(4) 8:54-9:12

Sparsed Potential-PCNN for Real Time Path Planning and Indoor Navigation Scheme for

Mobile RobotsS. U. Ahmed, U. A. Malik, K. F. Iqbal, Y. Ayaz and F. Kunwar

Dept. of Mechatronics Engineering, National University of Science and Technology(NUST)Islamabad, Pakistan

• An improved Sparsed Potential PCNN is presented for path planning of mobile robots in indoor environments.

• An effective navigation technique is employed and tested using Player/Stage simulations.

• Computational complexity is decreased and Time efficiency is increased by providing directional behavior to PCNN.

Research on Object Recognition Using Bag of Word Model for Mobile Robot Navigation

Jin-fu Yang, Kai Wang, Ming-ai Li and Lu LiuCollege of Electronic Information & Control Engineering, Beijing University of Technology

Beijing, China• This paper introduced an object

recognition method based on the bagof word model.

• The image patches are sampledusing SIFT algorithm, and outliersare removed by RANSAC.

• The resulting descriptors arerepresented as a word based on thecodebook.

• The KNN algorithm is used toclassify images. Object Recognition

WA1-5(5) 9:12-9:30 WA1-5(6) 9:30-9:48

Research on Real-time Route Planning for Unmanned Aircraft in Geomagnetic Matching Guidance

Yuan Sun, Jinsheng Zhang, Shicheng Wang, and Wei JiaoPrecise Guidance and Simulation Lab., High-tech Institute

Xi'an, China• A method of real-time route planning is

researched for unmanned aircraft (UA) in geomagnetic matching guidance.

• A two-subpopulation particle swarm optimization (TSPSO) algorithm is proposed to track the changeable environment factor.

• Methods including route node extension and fitness function calculation are used to design the real-time route planning algorithm.

• Result indicates that the real-time route planning method designed can track changes of the environment factor to re-plan a new route in time. Real-time Route Planning

Ultrasonic Transducers Frequency Response Study with Equivalent Circuit

and Finite Element MethodChunyan Gao, Dingguo Xiao, Qinxue Pan, Chunguang Xu

Key laboratory of Fundamental Science for Advanced Machining, Beijing Institute of Technology, Beijing 100081, China

• Broadband transducers have many advantages and are widely used to detect anisotropic materials.

• The KLM model was used to obtain the frequency response characteristics of an ultrasonic transducer. FEM is used to verify the viability of the KLM model.

• To calculate the resonant frequency and bandwidth of the ultrasonic transducers, the KLM model and FEM are equally effective.

The FEM and the KLM model result

4 4.2 4.4 4.6 4.8 5 5.2 5.4 5.6 5.8 6

x 105

0.4

0.5

0.6

0.7

0.8

0.9

1

f-Hz

rela

tive

ampl

itude

KLM model curveFEM curve

59


WA1-6: Sensor Design II

Session Chairs: Atsushi Umemura, Tokyo Denki University Zhang De-Yin, Civil Aviation Flight University of China


WA1-6(1) 8:00-8:18 WA1-6(2) 8:18-8:36

Tip Force Depend on the Motor Distribution with Bi-Article Arm Using Planetary Gear

Atsushi Umemura, Toshimasa HaneyoshiTokyo Denki University

Saitama, JapanIn conventional robot arms, one motor is placed in one joint. The human upper extremities can be simplified into three antagonistic pairs of muscles included bi-article muscles. In the present study, it is assumed that the bi-articlar muscles have profound effect power output and rigidity of the arm tip. This study reports that the system is able to imitate the function of bi-article muscles in human uppers by using rotary motors and planetary gear.

Bi-Article Robot Arm with Planetary Gear

Megahertz-range Magnetostrictive Sensor for Exciting Longitudinal Guided Waves in Steel

Rods/StrandsHe Cunfu, Liu Xiucheng, Wu Bin and Fu Hao

NDT&E Lab., Beijing University of TechnologyBeijing, China

• The FPMC-based MsS has a central frequency around 1.25 MHz and the L(0,1) mode occupies dominated component in the excited guided waves in rods/strands.

• The FPMC-based MsS can be easily wrapped onto the twisted strand surface and disassembled from the strand. It can be also installed onto the central rod of the strand after being wrapped into multiple layers. The FPMC-based MsS

(a)

(b)Rod

Strand

Flexible printed meander coil

Flexible printed meander coil

WA1-6(3) 8:36-8:54 WA1-6(4) 8:54-9:12

Study on the compensation technology for the intensity modulated fiber optic displacement

sensor of two-circle coaxialChengqi Li, Xiaodong Zhang and Ping Zhang

School of Mechanical Engineering, Xi’an Jiaotong UniversityXi’an China

• There are three groups opticalfibre in the displacement sensor.

• The inner fibre is used totransmit the light, and the outtwo groups are used toreceiving light.

• The Diameter is only 2mm.

The distribution of the detector for the sensor

Dielectric Property of Ion Beam Enhanced Deposited Lithium Tantalate Thin Film Infrared Detector

De-Yin Zhang, Wei Qian Kun Li, Jian-Sheng Xie Civil Aviation Flight University of China,China Changzhou University, China

• Novel LiTaO3(LT) thin film IR detector prepared by IBED Method.

• XRD show thin film have polycrystal structure of LT with preferred orientation of <012> <104> .

• 5500C annealed, 587nm thick IBED LT thin film detector has dielectric permittivity of 39.44, dielectric loss of 0.045 at 100 kHz .

• Leakage current of 4.76×10-8A/cm2

when LT detector subjected to testedelectrical field of 400kV/cm.

• Breakdown electrical field of LT thin film detector is 680kV/cm.

WA1-6(5) 9:12-9:30 WA1-6(6) 9:30-9:48

Research and Realization of Real-time Wavelet Filter Algorithm for Ship borne FOG

CHENG Jian-hua, LI Ming-yue, RONG Wen-ting, CHEN LiAutomation College, Harbin Engineering University , Harbin,

Heilongjiang Province , China• Since its initial application in geophysics,

wavelet transforms is widely used in thesignal processing.

• By processing the output signals of FOGand analysing signal spectrum, we can seethat the signal less than 2 Hz are usefullow frequency signals, 10~50Hz range isdistributed of high levels of noise.

• Design real-time algorithm, it is includingthe selection of wavelet, decompositionscale and the width of a sliding window.

• SNR and RMSE is introduced to determinethe wavelet scale and the sliding windowwidth. The algorithm is applied in thephysical FOG system , and it is practically.

Fig 4 De-nosing result of X-axis Ship rocking signals

The Research of an Energy Recovery Retarder with SRM Structure

Liu Bendong 1, Zhang Weihan1 and Yang Jiahui 21 Beijing University of Technology, 2 Beijing Vocational College of Agriculture.

Beijing, China

• A energy recovery retarder is introduced in this paper in order to overcome the shortcoming of the traditional retarder.

• The special single-phase switched reluctance motor is selected as the energy recovery retarder because of the launch of conditions.

• This solution has advantages such as large braking torque, simple structure , durable.

The energy recovery retarder

Detector ECU

Engine

Retarder

Main Circuit

BatteryGearBox

60


WA1-7: Signal Processing III

Session Chairs: Satoshi Kondo, Tokyo University of Agriculture and Technology Liwei Zhang, Harbin Engineering University


WA1-7(1) 8:00-8:18 WA1-7(2) 8:18-8:36

Study on a Method of Restoring the 3D Virtual Nail Model

from the 2D Image Data Based on the GFFD Deformation Method

Satoshi KONDO, Tuoya and Katsuhiro KITAJIMATokyo University of Agriculture and Technology

Tokyo, Japan

• Extract operation points from multiple image data with image processing.

• Obtain the 3D positions of the operation points using a stereo computing method.

• Deform the generic nail model into an individual’s one with the GFFD deformation method.

• Evaluate the accuracy of the restored model.

Generic model Restored model

Extract operation points

GFFD

3D positions of operation points

Fast Tracking of Feature Points in Full-View Image

Xuebin Qin and Shigang LiGraduate School of Engineering, Tottori University, Japan

• A tracking method of feature points is proposed in a Full-view image.

• The similarity of local region offeature points is measured by thenormalized image patch of the localregion on a spherical model.

• The method has a good performance of tracking feature points for heavy distortion of fisheye images.

• The computation cost is carried out speedily using a look-up table. The Range for Feature matching

LX

LY

RX

RY

SY

SXSZ

SO

tm

t

LX

LY

RX

RY

1+t

tp

1+tp

1+tm

σ

tRI ,

tLI ,

RelativeOrientation

WA1-7(3) 8:36-8:54 WA1-7(4) 8:54-9:12

Stereo Matching With Cross-based Region, Hierarchical Belief Propagation and Occlusion

HandlingChao Liang, Liang Wang and Hongyun Liu

College of Electronic Information and Control Engineering,Beijing University of Technology, Beijing, China

• Cost Aggregation with cross-based region

• hierarchical belief propagation

• Occlusion Handling• Experiments and Conclusions

Disparity map of Tsukuba

Research on MWD mud pulse signal extraction and recognition

Bing Tu , Desheng Li, and Enhuai LinCollege of Mechanical Engineering and Applied Electronic Technology Beijing University of

Technology

• Introduction .• Analysis of pulse signal

transmission charactersitics. • Correlation filter.• Recognition of mud pulse signal

based on phase feature. • Conclusion.

WA1-7(5) 9:12-9:30 WA1-7(6) 9:30-9:48

A New Image Restoration Algorithm Based On Window Roaming and RBF Neural Network

Liwei Zhang, Yaping ZhangCollege of Automation, Harbin Engineering University

Harbin, China

• A new image restoration algorithm is put forward based on window roaming and RBF neural network.

• Image restoration model is got by the operating of the window roaming and training of RBF neural network and the establishment of corresponding relation between motion blurred image and clear image, which is concentrated on the motion blurred image.

• Finally, the prepared image is recovered according to the model. The motion blurred image can be recovered well with the new algorithm, and the recovery effect is more advantaged than the classical algorithms such as Wiener filtering and with small computation.

RBF neural network topological structure

A closed-loop design methodology for underwater transducers pulse-shaping

Marco Morgado, Paulo Oliveira, and Carlos SilvestreInstitute for Systems and Robotics, Instituto Superior Técnico

Lisbon, Portugal• novel methodology for signal generation with application to

underwater ranging systems.• closed loop output voltage feedback, optimal control strategy

that modifies the acoustic signals transmitted by the underwater transducers, aiming to improve the detection.

• Preview control term associated with the reference signals available, known a priori.

• Simulation and experimental results.

61


WA2-1: Manufacturing Technology

Session Chairs: Mingdong Shang, Queen's University Belfast Okitoshi Tsunoda, Tokyo Denki University


WA2-1(1) 10:15-10:33 WA2-1(2) 10:33-10:51

The Experimental Test and FEA of a PKM (Exechon) in a Flexible Fixture Application for Aircraft Wing Assembly

Mingdong SHANG and Joe ButterfieldMechanical and Aerospace Engineering, Queen’s University Belfast, UK

The paper covers:• Proposing a Parallel Kinematic Machine

(Exechon) to be used in a flexible fixturefor aircraft wing assembly automation.

• Experimentally testing of an Exechon’sstatic stiffness to understand its stiffnesscharacter and provide validation data forFEA.

• Developing FE models based on solidmodels with full details and beam modelswith spring elements.

The Exechon in Test

Study of Competitiveness andJapanese Production Technology

Okitoshi Tsunoda * and Hiroki Nakano **Faculty of Science and Technology, Tokyo Denki University, Saitama, Japan *

Yamato Laboratory, IBM Japan Ltd., Kyoto, Japan **

• Why the production is so important in Japan?

• Is the production industry growing?

• If so, what is an important matter to grow?

• And what is the required technology?

Innovation in Production

WA2-1(3) 10:51-11:09 WA2-1(4) 11:09-11:27

Research on the mask micro-transparent defect repair assisted with UV laser

Min Wang, Jimin Chen Institute of Laser Engineering, Beijing University of Technology

Beijing, China

• Coat thin Cr-film on the glass under normal conditions by use of the 355nm UV laser.

• Analyze the parameters of the Cr film by experiential methods.

• The result is that the parameters of Cr film is good.

• The conclusion is that this method could be basically used to repair the clear defect on the Cr-mask.

The sample

A new two-phase fluid dispensing technology for the adhesive distribution

Peng Peng, Jianhua Zhang, Jinsong ZhangSchool of Mechatronics Engineering and Automation

Key Laboratory of Advanced Display and System Applications of Ministry of Education Shanghai UniversityShanghai, P.R China

Working principle introduction of the two-phase fluid dispensing.

Design and manufacturing the prototype of the two-phase fluid dispenser.

Experimental investigation of the apparatus and proving the feasibility of the two-phase dispensing theory.

The structure diagram of the two-phase fluid dispenser

WA2-1(5) 11:27-11:45 WA2-1(6) 11:45-12:03

Design and Simulation on Surface Defect Inspection System of Micro Ring Parts

Xiaozhou Li, Yan Li, Huadong Yu, Jinkai Xu, Zhanjiang YuCollege of Mechanical and Electric Engineering,

Changchun University of Science and Technology Changchun, Jilin Province, China

• Design and manufacture equipmentfor inspecting micro parts automatically.

• Established parametric models of the turn-over mechanism and screening mechanism by ADAMS in this paper, then the design variables of the models are studied to find out the optimal design parameters.

• The optimization results show that the part’s diameter is from 8 to 14mm and thickness is from 0.8 to 1.5mm.

Overall structure of the system

Research Agile Virtual Enterprise Established Based on Combinatorial Optimization Model

Tianrui Zhang, Tianbiao Yu and Wanshan WangSchool of Mechanical Engineering and Automation, Northeastern University

Shenyang, China

• Partner selection is the critical section to the success and survival of forming and running the Agile Virtual Enterprise.

• Studied how to select the partners in an AVE could be assisted through the three phase combinatorial optimization model which can not only select good partners, but also receive the best match combination between partners of all processes .

• The study gave an example and its simulation result under MATLAB. Objective Function

Value Distribution

62


WA2-2: Mechanism Analysis I

Session Chairs: Indrazno Siradjuddin, Ulster University Guihua Dong, Xi'an Jiaotong University


WA2-2(1) 10:15-10:33 WA2-2(2) 10:33-10:51

A computationally effecient approach for Jacobian approximation of image based visual

servoing for joint limit avoidanceIndrazno Siradjuddin, T.M. McGinnity, Sonya Coleman and Laxmidhar Behera

Intelligent Systems Research CenterUniversity of Ulster, UK

• Computationally effecient• Avoid joint's limit configurations• Visual servoing for a static and a

moving object

7 DOF POWERCUBE

Model updating for disk-rod-fastening rotor based on DOE

Guihua Dong, Minqing Jing, and Heng LiuSchool of Mechanical Engineering, Xi'an Jiao Tong University

Xi'an, Shannxi Province, China

Research Model

• Combining the design of experiments technology with design parameters updating methodology.

• Modify the material parameters in first step and the interface parameters in the second step.

• Using strings to replace the contact interface in the finite element model and modify the contact stiffness.

WA2-2(3) 10:51-11:09 WA2-2(4) 11:09-11:27

Design and Analysis of FluxConcentrating Permanent Magnet Disc

Synchronous Motor for Direct Driving SystemJintao Liang, Shengdun Zhao, Jia Xie, Yongli Zhao

Department of Mechatronics Engineering., Xi’an Jiaotong UniversityXi’an, China

• Direct driving system is a dominant development direction in the modern electromechanical system.

• A novel PMDSM characterized by flux concentrating with for direct driving system is Presented.

The Flux Concentrating PMDSM

Dynamic Characteristics of Tower Structure Based on Finite Element Analysis

Tianliang Liu, Deguang Shang, Chonggang Ren,and Jingyang NanCollege of Mechanical Engineering and Applied Electronics Technology


• Finite element analysis and dynamic testing results are consistent,which indicated that the finite element analysis model can be used for accurate structural modal analysis.

• Effects of the same damage at different locations on the natural frequency are different.

• Effects of different damage severities on the natural frequency can be divided into three stages. The tower structure

63


WA2-3: Robot Applications

Session Chairs: Akihiro Kaneshige, Toyota National College of Technology Guangzhi Zhao, Kunshan Institute of Industry Research


WA2-3(1) 10:15-10:33 WA2-3(2) 10:33-10:51

Car-like Mobile Robot Oriented Digital Acceleration Control Method Yina Wang, Shuoyu Wang, Renpeng Tan, Yinlai Jiang

Kochi University of Technology, Japan

• Path tracking accuracy of car-like mobile robot is constrained by nonlinear friction, center-of-gravity shifts, and load changes.

• A digital acceleration control algorithm is proposed to address this issues.

• Comparison with a PI controller in simulations shows the feasibility and effectiveness of the proposed control method. Car-like mobile robot

Three-Dimensional Obstacle Avoidance Online Path-Planning Method for Autonomous Mobile

Overhead Crane Shunsuke Nagai, Akihiro Kaneshige, and Satoshi Ueki

Toyota National College of TechnologyToyota, Japan

• This paper presents a method forestablishing a three-dimensionalautonomous mobile overhead cranesystem that takes into accountobstacle recognition and pathplanning online.

• USS is used for obstacle recognition.• The Path-planning method can be

carried out in a short time with aneasy algorithm.

The Apparatus of Overhead Crane

WA2-3(3) 10:51-11:09 WA2-3(4) 11:09-11:27

Trajectory Tracking Control of a 2-degree-of-freedom Gantry Crane Robot with Dynamic

Friction CompensationLan Yu and Yaqing Zheng

College of Mechanical Engineering and Automation, University of HuaqiaoXiamen, China

• In order to achieve more accurate trajectory tracking of 2 DOF gantry crane robot, the controller based on the resolved acceleration control scheme with dynamic friction compensation is used.

• The simulation results have shown that the controller has the good best performance than the controller based on the resolved acceleration control scheme with viscous friction compensation and the controller based on differential flatness.

Mechanism schematics

Design and Realization of a Mobile Robot for Power Transmission Lines Inspection

Guangzhi Zhao, Ludan Wang, Sheng Cheng and Jianwei ZhangLaboratory of Intelligent Robot Engineering,

Kunshan Institute of Industry Research, Jiangsu, China

• Mechanical system including wheels and grippers.

• Control system.• Experiments and conclusion.

The Inspection Robot

WA2-3(5) 11:27-11:45 WA2-3(6) 11:45-12:03

On the Design for AGVS: Modeling, Path Planning and Localization

Qi Sun, Hui Liu, Qiang Yang and Wenjun YanInstitute of Electrical Automation, College of Electrical Engineering, Zhejiang University

• Centralized control architecture was used for the AGV system.

• Toplogical map model and AGV kinematic model was builded.

• An improved Dijkstra algorithm was used for path planing and time windows method was used to solve potential conflict and congestion.

• Monte Carlo Localization Algorithm was used for self-localization.

• Several simulations was carried out by using Player/Stage. The AGVs used in warehouse

A Sound Card-based FHMA Acoustic Communication System for Multiple Underwater Robots

Zixin Zhao and Shuxiang GuoKagawa University, Japan

• An FHMA acoustic communication system for multiple underwater robots based on hardware platform is developed.

• The sound card in the computer with sound box and microphone was used as the energy transduction to accomplish acoustic communication in the air instead of the acoustic transducer and the hydrophone in the ocean for convenient.

Acoustic Communication Platform

• In the simulation and experiments, the signals transmitted from thetransmitting part could be received exactly in the receiving part whichindicated good quality of the acoustic communication system.

64


WA2-4: Control Application III

Session Chairs: Krishan Kumar Sharma, National Institute of Technology Su Dong, China University of Mining and Tecnology Room 11, 10:15-12:03, Wednesday, 10 August 2011

WA2-4(1) 10:15-10:33 WA2-4(2) 10:33-10:51

Performance Evaluation of a Binary Control Technique for Brushless DC

Motor DrivesKrishan K. Sharma, Electrical Engineering Department, N.I.T. Kurukshetra, INDIA

A. Swarup, Electrical Engineering Department, N.I.T. Kurukshetra, INDIA andBhim Singh, Electrical Engineering Department, I.I.T. Delhi, INDIA

• INTRODUCTION• CONTROL PRINCIPLE• SIMULATION RESULTS• ANALYSIS• CONCLUSION

Quaternion-Based Orientation Estimation withStatic Error Reduction

Eun-Ho Seo, Chan-Soo Park, Doik Kim and Jae-Bok SongInteraction and Robotics Research Center, Korea Institute of Science and Technology (KIST),

Republic of Korea.Department of Mechanical Engineering, Korea University, Republic of Korea.

• Motion tracking system using Inertial Measurement Unit(IMU)

• Estimating the orientation represented in quaternion.

• Quaternion-based Kalman filter with the Factored Quaternion Algorithm(FQA)*

• Drift Error Reduction with Quaternion Linear Interpolation

System Process

*Xiaoping Yun, et al.

WA2-4(3) 10:51-11:09 WA2-4(4) 11:09-11:27

DVL Aided Fine Alignment for Marine SINSYueyang Ben, Zhongjun Zhu, Qian Li and Xiao Wu

College of Automation, Harbin Engineering University Harbin, China

• Doppler velocity log is applied to give velocity reference because of its accuracy and independence.

• System error equation is deduced to obtain fine alignment model.

• we carry the method out under several marine conditions, including movement with constant velocity and direction, three-axis sway and acceleration.

Doppler velocity log

Constrained Control Allocation using Cascading Generalized Inverse for Dynamic

Positioning of ShipsXiaocheng Shi, Yushi Wei, Jipeng Ning and Mingyu Fu

Department of Automation, Harbin Engineering UniversityHarbin, China

• A control allocation scheme was proposed to improve the keeping position ability of DP ships.

• The method improved the performance of a single generalized inverse, and solved the actuators saturation problem.

• Applying the method, an explicit solution was obtained.

Control law

Control allocation

DP ship

cτ u,α η,υ

Block diagram illustratingthe control allocation problem

WA2-4(5) 11:27-11:45 WA2-4(6) 11:45-12:03

Vector Control of PWM Rectifier Based on A Novel Virtual Flux Observer

Peng Dai,Su Dong,Xiao Fu and Yang LiChina University of Mining and Technology

Xuzhou, China

Aimed at the precision of flux observer in virtual flux oriented vector control of PWM rectifier, anew virtual flux observer with low-pass filter compensation link wasproposed. The dynamic error caused by low-pass filter is diminished and the new flux observer can effectively restrain the saturation and DC drift while the phase and amplitude errors can be compensated. schematic of compensation algorithm

A Novel Sliding Mode Observer for PMSM Sensorless Vector Control

Liang Qi Tinggang Jia Hongbo ShiDepartment of automatic and control Engineering East China University of

Science and technology ,Shanghai, china

• INTRODUCTION• THE CONVENTIONAL SMO

– PMSM model– The conventional sliding mode observer– The problem of the conventional SMO

• THE NOVEL HIGH ORDER SMO– The second order sliding mode control algorithm – The stability analysis– Simulation

• CONCLUSIONS

The structure of conventional sliding mode observer

The structure of second order sliding mode observer

65


WA2-5: Robot Navigation with Ranging

Session Chairs: Yoshihiro Fuse, Fuji Industrial Technology Center Junhao Xiao, University of Hamburg


WA2-5(1) 10:15-10:33 WA2-5(2) 10:33-10:51

A Fast and Robust Scan Matching AlgorithmBased on ML-NDT and Feature Extraction

Cihan ULAS and Hakan TEMELTASDepartment of Control Engineering Istanbul Technical University

Istanbul, Turkey• 3D Normal Distribution Transform• Multi-Layered 3D Normal Distribution Transform• Feature Extraction for 3D Point Cloud for Outdoor SLAM• A Combination of ML-NDT and Feature Extraction for Robust and Fast

Scan Matching

Indoor Localization using Infrared Global Vision System and LRF for Twin Brushes Floor

Polishing RobotsYoshihiro Fuse, Masaaki Furuya, Michiyoshi Nishimura, Chiaki Yoshimura,

Hiromi Watanabe, Tsutomu Tanzawa, Shinji Kotani and Noriaki KiyohiroYamanashi Pref. Fuji Industrial Technology Center, University of Yamanashi

Yamanashi, Japan• We proposed the localization using the

infrared global vision system and a laser range finder (LRF) without touching the floor for the omnidirectional floor polishing robots, which have two rotary brush polishers.

• From the experimental result that the processing time was 40(ms) and the accuracy was 16(mm), a high-speed and accurate localization was achieved.

WA2-5(3) 10:51-11:09 WA2-5(4) 11:09-11:27

Road Following Based Navigation in Park and Pedestrian street by Detecting Orientation and

Finding IntersectionAtsushi WATANABE, Shigeru BANDO, Kazuhiro SHINADA, Shin'ichi YUTA

Intelligent Robot Laboratory, University of Tsukuba, Japan

• We propose the outdoor autonomous navigation method based on the road following with detecting orientation and finding intersection, which can work on the real world.

• We use two scanning laser range sensors, for obstacle avoidance and finding the edge of the road, and a magnetic field sensor.

• Implementation of the system and the experimental results of the system in park and pedestrian street of Tsukuba city are shown.

Fast Plane Detection for SLAM from Noisy Range Images in Both Structured and

Unstructured EnvironmentsJunhao Xiao†, Jianhua Zhang†, Houxiang Zhang , Jianwei Zhang† and Hans Petter Hildre

• An accelerated region growing algorithmfor unstructured environments is presented.

• A grid-based region growing algorithm forstructured environments is proposed.

• The pixels neighborhood information(when the point clouds are viewed asrange images) is employed in bothalgorithms.

† Department of Computer Science, University of Hamburg

D-22527, Hamburg, Germany.

∗ Department of Technology and Nautical Science, Aalesund University College,

N-6025, Aalesund, Norway.

Plane detection result using grid-based region growing.

WA2-5(5) 11:27-11:45 WA2-5(6) 11:45-12:03

Mobile Robot 3D Map Building Based on Laser Ranging and Stereovision

Songmin Jia,Wei Cui,Xiuzhi Li,Hongmin Shen,Jinbo ShengCollege of Electronic Information & Control Engineering,


• Indoor SLAM is implemented by using Particle Filter.

• Deals with sensor uncertainty through Bayesian rules.

• Spatial integration of laser and stereo data.

• 3D map building based on texture extraction and mapping.

3D environment map

A New Localization Method for Mobile Robots Using Genetic Simulated Annealing Monte Carlo

Localization Xiao Kang, KeJie Li, Wei Zhu

Intelligent Robotic Institute, Beijing Institute of TechnologyBeijing, China

• Introduction• MCL for Mobile Robots

Localization• GSAMCL Algorithm • Implementation of GSAMCL for

Multiple Mobile Robots Localization

• Simulation Results and Analysis Convergence of particles using GSAMCL

66


WA2-6: Industrial Sensing

Session Chairs: Wenyi Zhang, Harbin Engineering University Xinping Ding, Qingdao Technological University


WA2-6(1) 10:15-10:33 WA2-6(2) 10:33-10:51

•Flow rate control is the uppermost concern for trochoid hydraulic pump. Cavitation within the flow field of pump has the most influence on flow rate control reason at approximately 3500 ~ 4000 RPM high speed rotation of pump. •In this paper, based on AMESim® and CATIA®, we will present how to simulate cavitation by analyzing the control factors of trochoid pump; hydraulic pressure change of outlet, flow rate according to rotation speed of inner rotor, leakage through gap between outer rotor and inner rotor, and discharging angle of outlet. •The proposed methodology of cavitation simulation will enables field engineers to have access to the design of trochoid pump more easily and thereby to have more concrete control over the flow rate of pump by realizing its analysis model similar to its actual product model.

On New Methodology of AMESim® & CATIA® V5 - based Cavitation Simulation for Flow Rate Control of Trochoid Hydraulic Pump

Myung Sik Kim, Won Jee Chung, Chang Doo Jung, and Su Seong Park

Dept. of Mechanical Design and Manufacturing EngineeringChangwon National University

Connected N hydraulic circuit modeling of trochoid pump using AMESim®

Analyzing of Voltage-Source Selective Harmonic Elimination Inverter

Wenyi Zhang, Qiang Zhang, Wensheng Chen and Liuzhong ZhangCollege of Automation, Harbin Engineering University, Harbin, Heilongjiang, China

• The selective harmonic elimination technique is investigated to eliminate harmonic brought by PWM inverter .

• Numerical simulation is conducted to obtain values and tracks of the switching angles.

• The variable voltage variable frequency of a voltage-source SHE inverter is studied to lay a foundation for the design of the voltage-source SHE inverter.

• A voltage-source SHE inverter can improve the quality of power supply effectively.

Control circuit of voltage-source SHE inverter

WA2-6(3) 10:51-11:09 WA2-6(4) 11:09-11:27

A High-Performance Adjustable-Speed System Based on Quasi Z-Source Inverter

Xinping DING, Jian LIU, Yan LU, and Hong LIAutomation Engineering College, Qingdao Technological University

Qingdao, China

• Produce lower dc-link voltage, which decreases the differential mode at the motor terminals and EMI.

• Provide ride-through during voltage sags/swells without any extra circuits.

Main circuit configuration of proposed ASD system

Effects of Voltage sags on the Quasi-Z-Source Adjustable-Speed Drives

Bo YU, Xinping DING, Yan LU, Hong LI, and Xia LIAutomation Engineering College, Qingdao technological University

Qingdao, China

• produce any desired output ac voltage, even greater than the line voltage, regardless of the input voltage;

• provide ride-through during voltage sags without any additional circuits;improve power factor and reduce the harmonic current and common-mode voltage.

Quasi-Z-source inverter based ASD system

L1 L2C1

+

+

-

- -

+VPN

510-630Vdc3-P

0-380Vac3-P

380Vac

Diode rectifier

M

=

C2

abc

aC bC

cCVdc

+

-

WA2-6(5) 11:27-11:45 WA2-6(6) 11:45-12:03

Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Yan-Shen Wang1, Lian-Zheng Ge2, Ping-Chun Xie1 and Yu-Xian Gai11. Department of Mechanical Engineering，Harbin Institute of Technology at Weihai，

Weihai, China2. State Key Laboratory of Robotics and SystemSchool of MechatronicsHarbin Institute of Technology，

Harbin, China• Dynamic simulation was carried out in

RecurDyn on the virtual prototype of a specific type of spot welding robot.

• Torques of every joint was acquired by simulation, which facilitated motor selection and robot optimization.

• The spring sustaining the gravity of its links was optimized through simulation analysis of torques in Joint 2.

• Hence, motor suitable for driving the robot can be selected and gravity balancing structures can also be optimized

Assembly drawing of the spot welding robot

Zhibin Song*1 and Shuxiang Guo*2*3

*1Graduate School of Engineering., Kagawa University, Japan*2Dept. of Intelligent Mechanical Systems Eng’g, Kagawa University, Japan

*3Harbin Engineering University, China

• A novel exoskeleton device for upper limb rehabilitation is introduced.

• Implement self-rehabilitation for upper limb where user manipulates haptic device with intact limb and assist motion of impaired limb through exoskeleton device.

Subject perform self-rehabilitation trainingPhantom premium and exoskeleton dev

Implementation of Self-rehabilitation for Uppbased on a Haptic Device and an Exoskeleton

67


WA2-7: Numerical Analysis

Session Chairs: Ali Pyambri Paramani, Sharif University of Technology Zhang Li Jing, Aviation University of Air Force


WA2-7(1) 10:15-10:33 WA2-7(2) 10:33-10:51

Optimum Inverse Kinematic Method for a 12 DOFManipulatorAli Pyambri Paramani

BSc Student Sharif University of Technology ,International Campus ,Iran

• In General , there are two methods to analysethe inverse kinematic of manipulators, one of whichcan be selected with respect to the conditions andthe type of the manipulator. One of the methods isthe closed solution which is based on the analyticalexpressions The other method is the numericalsolution. In the numerical solutions , the numbersare repeated and generally it is much slowerthan the closed solutions. .

• The method presented in this paper is a quick anduseful method which is based on the numericalcalculations and the geometrical conditions. It doesnot need the angle condition, The advantage of thismethod over other similar methods is that if theproblem requires finding some limited configurationsin the robot, all the modes related to the specifiedinterval can be calculated easily and quickly, withoutthe need for long calculations and only by specifyingan interval. The present paper analyzes inversekinematic of Longshank robot with 12 DOF.

•

LongShank Robot12 DOF

Dynamic Analysis of Maglev Conveyor Using an EM-PM Hybrid Suspension

Kijung Kim and Jongboo HanChanghyun Kim, Jongmin Lee and Hyungsuk HanChungnam National University

Daejeon, KOREA

• a dynamic model of the Maglevconveyor for carrying LCD glasscassette was developed to predictand improve levitation stability.

• With the dynamic model includingthe electromagnets and their controlsystems , the dynamic responses arepredicted and analyzed.

• the effects of the levitation controlalgorithm on stability are alsosimulated.

Maglev conveyor system.

WA2-7(3) 10:51-11:09 WA2-7(4) 11:09-11:27

A Simulation and Visulization Platform for Fractionated Spacecraft Attitude Control System

Xueliang Bai and Xiaofeng WuSchool of Aerospace, Mechanical, and Mechatronic Engineering

University of SydneySydney, Australla

• proposed a practical way to implement a real-time space network simulation platform using Matlab, STK and NS2.

• Integrated works of NS2 and STK, and presented a Matlab GUI (Graphic User Interface) as an interface to synchronize Matlab, NS2 and STK, to implement a practical simulation platform for space network simulation and visualization.

Modeling longitudinal aerodynamic and hydrodynamic effects of a flying boat in calm

waterZHU Yinggu, FAN Guoliang and YI Jianqiang

Institute of Automation, Chinese Academy of Sciences, Beijing China

• Introduction• The mathematical model

of the flying boat• The forces and moments

on the flying boat• Simulation• Conclusion

Flying boat

WA2-7(5) 11:27-11:45 WA2-7(6) 11:45-12:03

Study on Error Sensibility of UPU Parallel Manipulator Based on Probability Distribution

Sheng Guo, Naiyue Wang, Yuefa Fang and Xiaoxiao LiSchool of Mechanical, Electronic and Control Engineering,Beijing Jiaotong University,

Beijing, China

• 4DOF 3-UPU parallel mechanism and its kinematics are presented.

• Torsion angle error sources may be caused in the manufacturing of this manipulator are observed.

• Numerical analysis of torsion angle errors of end-effector based on probability is obtained.

• The error sources are estimated according to the sensitivity. One limb of UPU PM

Experimental Study on Synchronizing Spatiotemporal Chaos via Active-Passive

DecompositionLijing Zhang1, Daxin Liu 2 and Wei Guo1

1.Department of Control Engineering,Aviation University of Air Force2. College of Biological and Agricultural Engineering,Jilin University

Changchun, China

• We design a circuit model of open coupled map lattices and implement spatiotemporal chaotic synchronization of this circuit with active-passive method.

• The synchronization conditions are given for any size in theory and demonstrated in the experiment.

Circuit of Spatiotemporal Chaotic System

68


WP1-1: Humanoid & Biped Robot

Session Chairs: Kai-Tai Song, National Chiao Tung University YUTA HOSHINO, Tsinghua University


WP1-1(1) 13:30-13:48 WP1-1(2) 13:48-14:06

Force-Cooperative Guidance Design of an Omni-Directional Walking Assistive Robot

Kai-Tai Song and Sin-Yi JiangDepartment of Electrical Engineering, National Chiao Tung University

Hsinchu, Taiwan

• The proposed control scheme combines a compliant motion controller and an autonomous navigation controller.

• The force-cooperative is achieved by determining proper cooperative weight for the navigation controller.

• The walking assistive robot is compliant with the user’s force and guide the user to the goal position while avoiding unexpected obstacles in the environment. Walking helper robot

Modeling and Simulation of a Jumping Frog RobotN. S. Reddy, Ranjit Ray, S. N. Shome

Robotics & Automation Group, CSIR-CMERIDurgapur, India.

• A quadruped robot that mimics a frog’s jumping locomotion with only conventional servomotors.

• A four-bar spring/linkage mechanism stores energy and releases to jumping by a ratchet-pawl trigger.

• Hindlimbs extend to set the stance before releasing the spring energy and forelimbs absorbs landing shocks.

• This navel design has a flexibility of variable jumping distance and height.

• Concept is supported by simulation .

Jumping Frog Robot

CSIR-CMERI

WP1-1(3) 14:06-14:24 WP1-1(4) 14:24-14:42

A Passive Walking Strategy for a Biped Robot with a Large Mass Torso by a Spring and a Damper

Yuta Hoshino, Chenglong Fu and Ken ChenThe State Key Laboratory of Tribology, Tsighua University, Beijing, China

• A biped robot with a large mass torso cannot walk only by CPG and Feedback controller.

• A proposed strategy is to reduce the step length and swing the torso.

• Use a virtual spring and a virtual damper based on the strategy.

• Prove the proposed controllers have good effects on the biped robot with a large mass torso in the simulation by using MATLAB/Simulink. Passive Biped Robot

BJR: A Bipedal Jumping Robot Using Double-Acting Pneumatic Cylinders and Torsion Springs

Guoyu Zuo, Rongyi Sun, Guan Wang, Kai WangSchool of Electronic Information and Control Engineering, Beijing University of Technology

Beijing, China

• BJR uses double-acting cylinders and torsion springs as the power units. BJR has two 3-DOF serial actuated legs.

• Jumping simulation and physical experiments were performed on BJR.

• Experimental results match well with the simulation ones. BJR can jump more than 50% of its body height.

BJR –Bipedal Jumping Robot

WP1-1(5) 14:42-15:00 WP1-1(6) 15:00-15:18

Biped Walking Planning Using Extended Linear Inverted Pendulum Mode with a Continuous Moving

Xuechao Chen, Qiang Huang, Zhangguo Yu, Wei Xu, Jing Li, and Gan MaSchool of Mechatronical Engineering, Beijing Institute of Technology

Beijing, China

• LIPM was extended to ELIPM which covers the dynamics of both SSP and DSP.

• A novel method to plan a continuous moving ZMP was proposed. It decreased velocity fluctuations and benefited soft landing.

• An analytic expression of the CoM motion was obtained. It could meet on-line requirement.

BHR

Huma

noid

Robo

t

ELIPM

Object Manipulation by Two Humanoid Robots Using MTJ Control

S. Ali A. Moosavian, Alireza Janati, M. Hamid GhazikhaniAdvanced Robotics & Automated Systems Laboratory., K. N. Toosi University of Technology

Tehran, Iran

• Dynamics Modeling.• Stable Gait Planning.• The Controller Design

The Considered Humanoid Robot

69


WP1-2: Mechanism Analysis II

Session Chairs: Jianjun Wang, ABB Inc. Chi HE, China Baicheng Ordnance Test Center


WP1-2(1) 13:30-13:48 WP1-2(2) 13:48-14:06

Vision-guided Robotic Assembly Using Uncalibrated Vision

Biao Zhang, Jianjun Wang, Gregory Rossano and Carlos MartinezABB Corporate Research Center, USA

• Uncalibrated vision-guided assembly system based on camera space manipulation (CSM) method

• One camera 2D assembly applications in the electronics industry.

• Small part tight tolerance assemblies

Dynamic Modeling of Scraper Conveyor Sprocket Transmission System and Simulation

Zhang chunzhi , Meng guoying China University of Mining & Technology

Beijing, China

• General description of scraper conveyor sprocket transmission system dynamic.

• Contact search algorithm of contact pair.

• Kinematics and equation of the dynamic model.

• simulation operation mode and results

• Conclusions.

Dynamic model of scraper conveyor sprocket transmission system

plate chain

vertical chain

transitional troughsprocket

middle troughscraper

WP1-2(3) 14:06-14:24 WP1-2(4) 14:24-14:42

Numerical Simulation of unbalance Vibration for 600MV Supercritical Steam Turbine

Zhang Nana, Liu Yibing, and An HongwenKey Laboratory of Condition Monitoring and Control for Power Plant Equipment

North China Electric Power University, Beijing, China

• Establish a model for the HIP rotor with lumped parameter method.• Calculate the critical speeds and vibration modes with Prohl and

Riccati transfer matrix method.• Discuss the influence of stiffness to the rotor critical speeds.• Simulate the unbalance vibration under different conditions:

different unbalanced places and different rotating speeds.

Design of Hydraulic Power Subsystem in Shock Simulation System for Shipborne Weapons

Dexin Huang, Ju MaBeijing Simulation Center Beijing, China

Chi He, Chaoyuan Cai, Guangling Dong and Qiang LiDepartment of Test Technology, China Baicheng Ordnance Test Center

Baicheng, Jilin Province, China

• The status and difficulty in type approval test of naval gun mounting servo system are introduced.

• A shock simulation testing system for ship-borne weapons based on electro-hydraulic servomotor is put forward.

• Performance of hydraulic power is analyzed by power requirement of simulation system.

• Test result shows the simulation system meets with technical design requirements.

Control block diagram ofshock simulation system

Display Industrial control computer

Electrohydraulic servo controller

Twofold-gang hydraulic motor

Gear boxTorque sensor

Hydraulic power subsystem

Printer

Electrohydraulicservo valve

Electrical motor of weaponservo system in test

WP1-2(5) 14:42-15:00 WP1-2(6) 15:00-15:18

Hydrodynamic Analysis and Optimization for Dish Shaped Underwater Robot

Tian Wang , Xiufen Ye, Lei Wang and Chao ZhangCollege of Automation, Harbin Engineering University

Harbin, Heilongjiang Province, China

• A novel type of underwater robot with closed profile with no fin and propellers

• Dish-Type underwater robot• Using mess to adjusting the attitude• Using vectorial thrust• Hydrodynamic Analysis• Optimization for profile

Dish Type Robot

2-DOF Kinematic XY Stage Design Based on Flexure Element

1Weijun Wang, 1Changsoo Han, and 2Hyeunseok Choi1School of Mechatronics Engineering, Hanyang University, Ansan, South Korea

2Korea Institute of Industrial Technology, Ansan, South Korea

• A planar XY motion stage is designed based on flexure element.

• Mechanism design based on exact constraint method and instant center theory.

• Fully parallel kinematic mechanism and new intermediate stage are designed to eliminate the parasitic error.

• Piezoelectric actuator is used to improve the positioning resolution.

Fully parallel symmetric XY mechanism based on right-circular notch hinge

70


WP1-3: Measurement Technology

Session Chairs: Chan-Soo Park, Korea Institute of Science and Technology Songmin Jia, Beijing University of Technology


WP1-3(1) 13:30-13:48 WP1-3(2) 13:48-14:06

Operation Verification of Hybrid Temperature Recorder Monitoring System

Olarn Wongwirat, Keelati Oonchom, and Benjaporn ArnuttinanonFaculty of Information Technology, King Mongkut’s Institute of Technology Ladkrabang

Bangkok 10520, THAILAND• The hybrid temperature

recorder monitoring system is implemented to improve the monitoring procedure of burn-in chamber calibration process.

• The system is composed of the temperature recording subsystem and the monitoring subsystem interconnected via a wireless network.

• The system can provide the operation accuracy as verified in the paper. Temperature recording subsystem Monitoring subsystem

Basic Characteristics Analysis of Tuning Fork Structured

Piezoelectric Vibration Sensor And Application for Robot Control

Takayuki Matsuno, Yasunori Shima, Tatsuo Motoyoshi, Ken'ichi Koyanagi, Toru Oshima Department of Intelligent Systems Design Engineering,

Toyama Prefectural University,Toyama ,Japan,Toshio Fukuda

Department of Micro-nano systems Engineering, Nagoya University, Nagoya, Japan

• Tuning fork structured piezoelectric vibration sensor is developed.

• We indicate the effectiveness of turning fork structure by basic experiment and analysis with FEM.

• Applications for robotic manipulator are conducted with two vibration modes.

Paper manipulationwith proposed sensor

WP1-3(3) 14:06-14:24 WP1-3(4) 14:24-14:42

Stair Boundary Extraction using the 2D Laser ScannerChan-Soo Park, Eun-Ho Seo, Doik Kim, Bum-Jae You, and Sang-Rok Oh

Korea Institute of Science and Technology (KIST)Seoul, Korea.

• The proposed system enables the accurate detection of obstacle boundaries around a humanoid robot.

• A laser scanner, Hokuyo UBG-04LX-F01, is installed on the head to measure the accurate distance to obstacles.

• The calibration method to decrease the measurement error is also proposed. Stair Boundary Extraction

800 1000 1200 1400 1600 1800-5000500-100

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Measurement and Analysis of the Welding Arc Current Density and Pressure

Distribution based on Split Anode MethodShujun Chen, Fan Jiang, Zhenyang Lu, Dongbo Tao and Yang Yu

College of Mechanical Engineering & Applied Electronics TechnologyBeijing University of Technology Beijing China

• Based on the split anode method, thecombined measurement system of arccurrent and pressure is used tomeasure DC-TIG arc and DC-plasmaarc, the distribution characteristic ofthe arc current density and arcpressure is obtained after analysis ofinitial data smoothly and calculationof circular segmentation method,which can provide basic data to studythe condition of arc and pool.

combined measurement system

WP1-3(5) 14:42-15:00 WP1-3(6) 15:00-15:18

bias voltage correction of HMC1022 AMR sensorYanxia Liu, Xisheng Li and Xiuhui Wang

Department of Measurement & Control., University of Science and Technology BeijingBeijing, China

• Describeing the reasons for generation of bias voltage.

• Hardware construction of 3-axis magnetic compass.

• Correction for bias voltage and calculation of parallel resistance.

• Prove that the correction method is universality.

Circuit of correction byparallel resistance

Research on Measurement Technology of Lubricating Film State Based on Displacement

Sensor of Two-Circle Coaxial FiberPing Zhang, Xiaodong Zhang, and Chengqi Li

School of Mechanical Engineering, Xi’an Jiaotong UniversityXi'an, China

• There are two measurement detectors.

• Two sensors of two-circle coaxial fiber are mounted in 90°.

• The minimum thickness of oil film is achieved by tow-point measurement .

Principle diagram of two point approach for measuring state of lubricating film of slide bearings

71


WP1-4: Control Application IV

Session Chairs: Huosheng Hu, University of Essex Xu Han, Institute fur Dynamik und Schwingungen


WP1-4(1) 13:30-13:48 WP1-4(2) 13:48-14:06

A Novel Bio-Inspired Distributed Coverage Controller for Pollution Monitoring

Nature provides cost efficient and efficient solutions to problems.

Optimal coverage is achieved using a bacteria chemotaxis behaviour and flocking behaviour.

Results are better than the traditional Voronoi partition method.

John O Oyekan, Huosheng Hu and Dongbing GuUniversity of Essex, United Kingdom.

A Review: The Control Strategies of Synchronized Switching Damping Technique

Xu Han and Marcus Neubauer and Jörg WallaschekInstitute of Dynamics and Vibration Research

Hannover, Germany

• SSD(synchronize switching damping) technique

• Energy analysis • Multi-modes damping control

strategies• Review, compare and classify

Voltage processingof SSDI network

WP1-4(3) 14:06-14:24 WP1-4(4) 14:24-14:42

A Hybrid Particle Swarm Algorithm forAssembly Line Balancing Problem of Type 1

Jianping Dou, Jun Li, and Qi LvKey Laboratory of Measurement and Control of Complex Systems of Engineering ,

Southeast University, Nanjing, China• A hybrid particle swarm algorithm

(HPSA) is presented through incorporating the reduced variable neighborhood search (RVNS) into the discrete PSA.

• The comparative study shows the RVNS facilitates the convergence to global optimum.

• The computational comparisons indicate that HPSA is superior to existing PSAs. Update of the particle-

represented permutation

Research on Computer Control Strategy for Optical Electric Tracking System

Miao Li, Huibin GAOChangchun Institute of Optics, Fine Mechanics and Physics ,China

• Introduction• Control Object Model Building• Two closed loop and compound

control strategy• Simulation results indicate that in

compound control method, the maximum tracking error is 0.086°, and the regulator time is 0.04s

• We put forward with specific index which is useful to mechanical working.

High Speed Tracking System

WP1-4(5) 14:42-15:00 WP1-4(6) 15:00-15:18

Improved De-noising Approach of Fiber Optic Gyroscope Based on Lifting Scheme Wavelet

Zhiyong Xie, Tao Zhang, Nong Cheng and Jingyan SongTsinghua National Laboratory for Information Science and Technology

Beijing, China• Improved method combined Lazy

wavelet lifting scheme and ideas of domain relative filters

• A mixed threshold function proposed to enhance accuracy of Fiber Optic Gyroscope signal and reduce calculating burden

• Bias of soft threshold function and the variance of hard threshold function both reduced by the new method.

Coefficients of second level

Coefficients of first levelSample Points

Raw Signal

Domain Relativity of two level coefficients

Research and Implementation on Control Technology of Plane Two-DOF Dual-Truck Parallel Mechanism

Sun Shuwen, Wu Na, Zheng Gang, Wang Xinhua, Xia HuanxiongCollege of Mechanical Engineering & Applied Electronics Technology ,Beijing University of Technology

Beijing, China

Component of Dual-Truck Parallel Mechanism System

Analysis of Mechanism Kinematics

The Design of the Drive and Controller

The Design of Monitor Software

Test Experiment

Conclusion

72


WP1-5: Teleoperation

Session Chairs: Chunquan Xu, The University of Electro-Communications Yuepin Lu, Beijing University of Science and Technology


WP1-5(1) 13:30-13:48 WP1-5(2) 13:48-14:06

The Biped -walking robot teleoperation and remote monitoring featuring 3G mobile phone

Rui Zhong, and Dongying JuDepartment of Electronic Engineering, Saitama Institute of Technology

Saitama, Japan• wireless monitoring biped-walking

robot• When earthquake, control biped-

walking robot free• Next-generation control system• Real-time, portable, efficient

Biped-walking robot

Internet Based Crossover Robot Remote Competition in Asian Countries

C. Xu1, A. Ming1, C. Kanamori1, H. Aoyama1, H. Li2, L. Xu2, X. Li2, T. Benjanarasuth3, S. Nundrakwang3, B. Purahong3, & C.-C. Wong4

1The University of Electro-Communications, Japan; 2The University of Electronic Science & Technology of China, China; 3King Mongkut’s Institute of Technology, Ladkrabang, Thailand;

4Tamkang University, Taiwan

• International coooperativeeducation program aiming to improve students’ skills.

• Crossover robot remote control competition between two universities (as figures).

• Students play key role in organizing and implementing the competition.

Competition Platform

WP1-5(3) 14:06-14:24 WP1-5(4) 14:24-14:42

A New Tele-operating Vascular Interventional Robot for Medical Applications

Honghua Zhao1,2 , Xingguang Duan2, Huatao Yu2 , Xingtao Wang2

1School of Mechanical Engineering, University of Jinan2Intelligent Robotics Institute, Beijing Institute of Technology

• Introduction of VIS • Overview of VIR System.• Active Supporting Manipulator(5 DOF).• Driving Unit(Two motions: Moving

Forward and Rotating).• Control System Design (Hardware

Architecture, Automatic Control and Manual Control, Safety Design).

• Experiments• Discuss and Outlook. Vascular Interventional Robot

Over-the-horizon Teleoperation System for Underground Unmanned LHD

Yuepin Lu, Tianxu Jin, Li Liu, Chao YangSchool of mechanical Engineering, University of Science and Technology Beijing

Beijing, China• A 1:3 scale LHD simulation

prototype has been built. • The remote console was designed

and completed. • The operator controls the pedals,

buttons and handles on the console to operate the LHD, which is convenient and simple for manipulation.

• The effectiveness of the proposed controlling system is shown by experiments.

The simulation prototype for the LHD

WP1-5(5) 14:42-15:00 WP1-5(6) 15:00-15:18

An Improvement of D* lite Algorithm for Planetary Rover Mission Planning

Shaoyang Dong，Hehua Ju and Hongxia Xu College of Electronic Information and Control Engineering, Beijing University of Technology

Beijing, China• A mission planner for planetary

rover based on a new algorithm.• The paths returned by the algorithm

consider the stationary solar charge, the communication with the work station on earth and the complicated environment .

• It is well suited to planning smooth trajectories for the planetary rover.

The planning result of D*lite

Direct Adaptive Neuro Control for Teleoperation Anan Suebsomran

Autonomous and Railway Transportation Research Center, Department of Teacher Training in Mechanical Engineering

King Mongkut’s University of Technology North BangkokBangkok, Thailand

• Teleoperation system• Direct adaptive control • Direct adaptive neuro

control • Disturbance noise

∑ r e

∑

Master manipulator

Slave manipulator

Communication channel

Master/slave teleoperation force-force control structure

Direct adaptive neuro control

73


WP1-6: Industrial Control

Session Chairs: wen-shao BU, Henan University of Science and Technology Li Cheng, Shenyang Institute of Automation, Chinese Academy of Sciences


WP1-6(1) 13:30-13:48 WP1-6(2) 13:48-14:06

Robust Sensorless Control of PMSG with MRAS in Variable Speed Wind Energy Conversion

SystemHsuan-Chi Tseng and Stone Cheng

Department of Mechanical Engineering, National Chiao Tung UniversityHsinchu, Taiwan, ROC

• The proposed method for rotor speed estimation is based on model reference adaptive system (MRAS).

• Real-time stator resistance identification is also considered in the MRAS speed estimator.

• Robust H∞ controller is capable of tracking rotor speed command well even though the moment of inertia of PMSG is changed.

Industrial Applications of Chatter Stability Prediction and Monitoring System for Turning Processes

Kaibo Lu, Minqing Jing, Yongqiang Zhang and Heng LiuSchool of Mechanical Engineering

Xi’an Jiaotong University,Xi’an, China

Chatter stability prediction and characteristics.

Variance & Spectrum.Software implementation.

Hybrid programming.Applications and discussions.

Turning trials in Turn-Mill machine.

Chatter Monitoring Module

WP1-6(3) 14:06-14:24 WP1-6(4) 14:24-14:42

Modeling and Simulation for Arrested Landing of Carrier-based Aircraft

Kaidong Lv, Qidan Zhu , Xinfei Li College of Automation, Harbin Engineering University

Harbin, China

• Mathematical model of a hydraulic arresting gear onaircraft carrier is constructed.

• A simulation model based on the mathematical model is set up.

• It is turned out that: the hydraulic arresting gear can recover landing aircrafts with different weights and at different engaging speeds in the constant distance.

Arrested Landing of aircraft on aircraft carrier

Hardware Implement of Numerical Control System for Bearingless Induction Motor

BU Wenshao, ZHANG Songcan, WAN Shanming, HUANG ShenghuaHenan University of Science and Technology, Luoyang, China

• Numerical control system of bearingless induction motor, which is based on DSP.

• DSP Operation and Controller.• High Speed

PhotoelectricIsolation and Driving Circuit.

• Electric Level Adjusting Before Current Measuring and ADC.

• Measuring of radial displacement and its electric level adjusting.

• keyboard and display circuit.• Experimental results.

integral design of the numerical control hardware system of bearingless

induction motor

WP1-6(5) 14:42-15:00 WP1-6(6) 15:00-15:18

Error Analysis of Precision Grindingfor Screw Rotors

Jing Wei 1, Guanghui Zhang 21 School of Mechanical Engineering, Dalian University of Technology,Dalian, China, 116024

2 The State Key Lab. on Mechanical Transmissions,Chongqing University,Chongqing,China, 400030•The tooth profile errors of screw rotors inducedby manufacturing errors and wears as well asmounting errors of grinding wheel are studied.

•Mathematical models of the profile errors ofscrew rotors are established and the influencecurves of the tooth profile errors affected bymounting errors and the radius error of grindingwheel are proposed.

•Error analysis of precision grinding for screwrotors is proposed. The experiment and errorcompensation for screw rotors are performed.

•It is helpful for improve grinding accuracy ofscrew rotors and laid a good foundation for errorcompensation of precision grinding of screwrotors and other helical surface.

Grinding machining of the screw rotors using CBN wheel

Dynamic Analysis of 5-DOF Parallel Machine Tool with Redundant Actuation

Li Cheng, Yongsheng Zhao, and Hongguang Wang

• The dynamics formulation of thisparallel machine tool is derivedusing Lagrange Equation approach.

• A novel force distribution method isintroduced for redundant actuation.

• Some numerical examples are given and the dynamic simulation are carried out .

5-UPS/PRPU PMT with redundant actuation

State Key Laboratory of Robotics, Shenyang Institute of Automatioin, CAS

Shenyang, China

School of Mechanical Engineering, Yanshan University

Qinhuangdao, China

74


WP1-7: PID Control

Session Chairs: Hongsheng Li, Nanjing Institute of Technology Jian Xu, Harbin Engineering University


WP1-7(1) 13:30-13:48 WP1-7(2) 13:48-14:06

Design of Fractional Order Iterative Learning Control on Frequency DomainHongsheng Li, Jiacai Huang, Di Liu, Jianhua Zhang, and Fulin Teng

School of Automation, Nanjing Institute of TechnologyNanjing, China

• A simple, practical and systematic design method for fractional order D-type Iterative Learning control (FO-ILC )in term of S-domain is proposed.

• A proper FO-ILC learning operator can be tuned practically and the obtained rate of convergence is quite good, because extra fractional order, real parameters α, is involved.

• Simulation results show that the proposed algorithm is practical and effective. Trajectory from trial 1 to 13

with α =0.7

PD Regulated Sliding Mode Control of a Quadruped Robot

S. Ali A. Moosavian, Mahdi Khorram, Ali Zamani, Hamed AbediniAdvanced Robotics & Automated Systems Laboratory., K. N. Toosi University of Technology

Tehran, Iran

• Dynamics Modeling and Constraint Elimination.

• Gait Planning.• The Controller Design• Eliminating Chattering Phenomena

by PDRSMC

The Considered Quadruped Robot

WP1-7(3) 14:06-14:24 WP1-7(4) 14:24-14:42

Comparative Study of PI controller and Fuzzy logic controller for three-phase grid-connected

inverterChao Ma, Dagui Huang

School of Mechatronics engineering,University of Electronic Science and Technology of china

Chengdu, China

• Dqo transformation and SVPWM are introduced for the control of three-phase inverter.

• Both PI controller and fuzzy logic controller are studied to determine a better current controller for three-phase inverter.

• Both simulation and experiment are carried to verify the analysis.

The three-phase Inverter

Study on Missile Rudder Servo System Based on Mixed Fuzzy-PID Control Algorithm

Yingzhe Wu 1, Hui Li 1, Ye Bi 1 and Bo Guo 2

1 University of Electronic Science and Technology of China, China2 Hokkaido University, Japan

• Introduce the structure of electromechanicalrudder and analysis the mathematic modelof electromechanical rudder.

• Design the position loop of missile rudderservo system with Mixed Fuzzy-PIDAlgorithm .

• Design the speed loop of the system withclassical PI Algorithm.

• Certifying the effectiveness of the controlalgorithm applied in missile rudder servosystem with both simulating and testingresults.

Structure of Missile Rudder Servo System

WP1-7(5) 14:42-15:00 WP1-7(6) 15:00-15:18

Simulation and Controlling for Weld Shape Process in P-GMAW Based on Fuzzy Logic

Zhihong Yan. Beijing University of Technology, Beijing, ChinaGuangjun Zhang, Lin Wun. Harbin Institute of Technology, Harbin China

• A sensing and controlling system is established for P-GMAW ofmild steel.

• A fuzzy logic controller is constructed for the weld penetration.• A simulation system is established with neural networks to

facilitate the fuzzy controller designing and verifying.• The close loop experiments suggest the fuzzy controller can

meet the controlling requirements of P-GMAW.

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Page 　33

Research on the UUV’s Heading Control SystemBased on Adaptive Robust PD Control Principle

121.660 121.665 121.670 121.675 121.680 121.685 121.690 121.69538.705

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Actual track Planning track

A

This paper describes an adaptive robust PD controller for UUV heading system. The control law has two important advantages. Firstly, when the initial error is large, nonlinear PD control plays the major role to avoid excessive initial torque output. Secondly, when the initial error is small, adaptive controller plays the major role, and thus ensuring the system maintains good dynamic performance.

Shijie Li1, Jian Xu1,2, Guoqing Xia1, Jie Zhao21. College of Automation, Harbin Engineering University, Harbin, Heilongjiang Province, China2. Robotics Institute, Harbin Institute of Technology, Harbin, Heilongjiang Province, China

75


WP2-1: Human System Interaction & Interface

Session Chairs: Yinlai Jiang, Kochi University of Technology Dominique Duhaut, University Bretagne Sud


WP2-1(1) 15:40-15:58 WP2-1(2) 15:58-16:16

User Directional Intention Recognition of an Omnidirectional Walking Support Walker

• An omnidirectional walking support walker (ODW) is being developed.

• We propose a method to identify a user’s directional intention from user forearm pressure to the armrest of the ODW.

• Distance-type fuzzy reasoning method is adopted to reason the directional intention according to a statistical rule base.

Yinlai Jiang, Shuoyu Wang (Kochi Univ. of Tech, Japan)Kenji Ishida (Kochi Univ., Japan)

Takeshi Ando, Masakatsu G. Fujie (Waseda Univ., Japan)

Directional Intention Recognition

Development of a Guide Robot Interacting with the User using Information Projection - Basic System -

Takuya Sasai, You Takahashi, Mitsunori Kotani, and Akio NakamuraDept. Robotics and Mechatronics, Tokyo Denki University

Tokyo, Japan

• A guide robot with an information projection interface is proposed.

• The robot detects multiple moving persons even if the robot is also moving using an omni-directional camera and a laser range finder.

• The robot provides the user with information by projecting on the floor/wall/ceiling around the user.

• Experiments about user detection and tour-guide are performed.

Concept of the proposed system

Robot

WP2-1(3) 16:16-16:34 WP2-1(4) 16:34-16:52

Emologus : presentation of a linguistically based model for

emotion detection and adaptation to another contextLe Tallec Marc, Duhaut Dominique

University of South BritanyLorient, France

• Interaction between children and robot

• Spoken language understanding system

• Emotion detection• Adaptation to another context

Emi robot in interaction

Preliminary study to evaluate Emi emotional interaction with two young childrenSébastien Saint-Aimé, Brigitte Le Pévédic and Dominique Duhaut

Valoria laboratory, University of Bretagne SudVannes, France

• Emi : expressive companion robot for young children in long hospitalization.

• iGrace : computational emotional model given emotional state of Emi for child’s discourse.

• Use of Emi to evaluate interaction with 2 children using Oz technique.

• Good results in interaction but only 2 children is not enough. Need more users to validate interaction. Emi with 2 children

WP2-1(5) 16:52-17:10 WP2-1(6) 17:10-17:28

Visio-haptic Simulation for Detection of Dental Cavity Profile Ge Yu, Dangxiao Wang and Yuru Zhang

State Key Lab of Virtual Reality Technology and Systems,Beihang University, Beijing, China

• Different haptic feedback feelingabout stiffness, viscosity and frictionbetween the sound and cavity sitescan help the user identifying theshape of the cavity.

• A locking method is proposed toguarantee the stability of boundarydetection. Scenario of cavity diagnosis simulation

• The validity of our method is illustrated by experiments resultsfrom two typical types of cavity profile.

A measurement and control system based on USB bus for prosthetic hand

Zhang Ting1, Jiang Li1, Li Nan1 and Liu Hong1,2

1. State Key Laboratory of Robotics and System, Harbin Institute of Technology Harbin, China2. Institute of Robotics and Mechatronics, German Aerospace Center Munich , Germany

• A five-fingered, multi-sensoryprosthetic hand is presented .

• The measurement and control system of HIT prosthetic hand based on the DSP and USB chip(ATmega32U2) is presented.

• The proposed impedance control approach allows the fingers to behave as virtual springs .

76


WP2-2: Modeling & Analysis

Session Chairs: Jian'an Xu, Harbin Engineering University Zhanxi Wang, Northwestern Polytechnical University Room 4, 15:40-17:28, Wednesday, 10 August 2011

WP2-2(1) 15:40-15:58 WP2-2(2) 15:58-16:16

Analysis of Bionic Hydrofoil Propulsive Performance

Jian’an Xu, Na Yan and Mingjun Zhang Underwater Vehicle Intelligent Control Technology Lab,

Harbin Engineering University,Harbin, China

Coordinate System and Mechanical Hydrofoil Apparatus

• Propose a 2 DOF periodic moving method for the bionic hydrofoil model.

• Conclude the factors and motion parameters that affect the hydrofoil thrust force.

• Analyze the factor changes caused by different profiles of stroke spin angular velocity.

• Predict the effects of different profiles of stroke spin angular velocity to the hydrofoil propulsive performance.

First Principles Calculations in Silicon: Structural and Electronic Properties of

Point DefectMang Niu, Deyao Li, Baicheng Sheng and Xiaohong Shao

College of Science, Beijing University of Chemical TechnologyBeijing, China

Wei Liu and Zhiqiang WangAcademy of Opto-electronics, Chinese Academy of Science

Beijing, China

• INTRODUCTION• CALCULATION METHODS• RESULTS AND DISCUSSION

• CONCLUSION

WP2-2(3) 16:16-16:34 WP2-2(4) 16:34-16:52

Flutter Detection of Composite Plate Using Finite Element and Eigenvector Orientation Method

Zhanxi Wang, Xiansheng Qin, Jing Li, and Xuefeng ZhangNorthwestern Polytechnical Universityar

Xi’an, China• This paper examines the use of

eigenvector orientation method to detect the onset of nonlinear supersonic flutter of composite plate.

• The accuracy of the eigenvector orientation method is demonstrated by using the example of a simply supported composite plate model at supersonic speed.

• It is proved that the eigenvector orientation method can avoid the modes coupling and be easily monitored.

Critical aerodynamic parameter and composite filament angle in various flow directions

0

20

40

60

80

100

120

140

160

180

0 30 60 90 120 150 180

θ = 0°

θ = 30°

θ = 45°

θ = 90°

Theoretical and Experimental research of Caudal-fin-type Piezoelectric-stack Pump with Variable-cross-

section Oscillating VibratorLIN Xiaoguang, HU Xiaoqi , ZHANG Jianhui

Precision Driving Laboratory , Nanjing University of Aeronautics and AstronauticsNanjing, Jiangsu Province , China

• A piezoelectric-stack pump was proposed, which imitate the swing of the caudal-fin of tuna.

• From the momentum conservation, the analytical expression of pump flow rate is obtained.

• Experimental results show that the flow rate can reach 560 ml/min at 1370 Hz .

• The pump overcomes the drawbacks such as large flow fluctuation and low flow rate in the traditional FRD type pumps.

Pumping principle of the tuna and prototype

WP2-2(5) 16:52-17:10 WP2-2(6) 17:10-17:28

Error Analysis of the Strain Experiment under Laser Irradiation through Numerical Simulation

Kai Zhu, Lianchun Long and Ming ChenCollege of Mechanical Engineering and Applied Electronic Technique, Beijing University of

TechnologyBeijing, China

After eliminating the influence of the temperature, the data shows that the strain of the tested point decreases with increase of its distance to the centre of laser beam. After the laminated plate is irradiated for 5 seconds, in the direction of 90° the maximum relative error caused by the temperature in the experiment is 16.9%, and in concentric circle the maximum relative error 18.4% of the strain gauges is in the direction of 90° .

0 1 2 3 4 5-600

-500

-400

-300

-200

-100

0

Stra

in(μ

m/m

)

Time(s)

a23 test a23 revised a24 test a24 revised

Temperature influencecomparison of specimen’s

front face

Modeling and Prediction of Paint Film Deposition Rate for Robotic Spray Painting

Shengrui YU and Ligang CAOSchool of Mechanical and Electronic Engineering, Jingdezhen Ceramic Institute

Jingdezhen, China

• Paint deposition rate model is a key factor in automatic trajectory planning for robotic spray painting.

• A spray painting experiment is carried out to establish the model.

• This paper use two kinds of model methods, Bayesian normalization algorithm of BP neural network and GA, to fit the model respectively.

• Comparison with the experiment data, the result shows the two fitted models have high precision, Thus the modeling method is effective .

Paint Thickness Error Distribution

77


WP2-3: Pattern Recognition

Session Chairs: Yulin Gao, Okayama University Guo peiyuan, Beijing Technology and Business University


WP2-3(1) 15:40-15:58 WP2-3(2) 15:58-16:16 Ipsilateral visual and auditory spatial information

interaction mechanisms in selective attention conditions: Behavioral and ERP study

Yulin Gao1, Qi Li2, Jingjing Yang1, Jinglong Wu1

1 The Graduate School of Natural Science and Technology, Okayama University Okayama, Japan

2 School of Computer Science and Technology, Changchun University of Science and Technology , Chanchun,China

There was integration effect in front area around 100-120ms when visual and auditory stimuli appeared in the right. But there was none in the left.

There are also siginificant differece between left and right visual and auditory stimuli in late integration. It showed difference in left and right audiovisual integration in front area and top head. Furthermore, it indicated that the processing of multi-sensory information was different between left and right brain.

The scalp topographies of [AV-(A+V)] related to the audiovisual interaction

elicited at early

Multiple Cortical Representation Methods for Functional Localization in the Human Brain

Tianyi Yan1, Bin Wang1 , Jinglong Wu1, Bing Yu2, Qiyong Guo2

1.The Graduate School of Natural Science and Technology Okayama University2. Shengjing Hospital of China Medical University Shengjing Hospital

• Using publicly available software packages(BrainVoyager, SPM, AFNI and FreeSurfer), performing multiple cortical representation methods for most of the necessary processing steps in fMRI data analyses.

• In this report, we briefly presented methods related to the most commonly used analysis pipeline.

• The results presenting the most suitable and valuable data processing applications using these of the types of software Retinotopic map results

WP2-3(3) 16:16-16:34 WP2-3(4) 16:34-16:52

Fault Recognition of Large Steam Turbine Based onHigher Order Spectral Features of Vibration Signals

Comparison of Bispectrum

Zhou Yanbing, Liu Yibing, An Hongwen and Yan KeguoKey Laboratory of Condition Monitoring and Control for Power Plant Equipment,

North China Electric Power University , China

• The fault vibration signals of large steam turbine normally are non-linear and non-Gaussian.

• Use bispectral marginal spectrum and 1(1/2) dimensional spectrum to extract fault features.

• According to the Fisher criterion, fault recognition and classification have been made by using the higher order spectral features.

Frequency1 (Hz)

Freq

uenc

y2 (H

z)

stable vibration 2D-Bispectrum

0 50 100 150 2000

50

100

150

200

Frequency1 (Hz)

Freq

uenc

y2 (H

z)

unstable vibration 2D-Bispectrum

0 50 100 150 2000

50

100

150

200

Design of Quartz Accelerometer Signal Acquisition System

Chunfeng Yue, Huadong Yu, and Jinkai XuCollege of Mechanical and Electric Engineering , Changchun University of Science and

Technology Beijing, China• Quartz accelerometer data

acquisition system use I/V plus A/D to sample the current from quartz accelerometers.

• The accuracy of quartz accelerometer data acquisition system in the condition of small current is below ±1×10-5g, which satisfies the INS.

Real experiment system

WP2-3(5) 16:52-17:10

Pattern Recognition to Lamb Freshness Based on Much Data Merging

Guo Peiyuan, Bao manBeijing Technology and Business University

Beijing, China

• In this paper, digital image processing techniques to detect smell and PH value as well ad surface color quality of lamb and other information was used. The article analyses and establishes multiple data fusion model with artificial neural network training. And designs finally corresponds to the lamb freshness standard TVB-N. Rapid and non-destructive testing of lamb freshness was researched. Image acquisition device

78


WP2-4: Vibration Control & Analysis

Session Chairs: Kiyoshi Ioi, Kinki University Jipeng Ning, Harbin Engineering University


WP2-4(1) 15:40-15:58 WP2-4(2) 15:58-16:16

Mechanical and Control Design of Casterfor Low Vibrations and Crashes of Carts

Kiyoshi Ioi, Takashi Kawabuchi, Atsushi Suda and Koji Moriya Kinki University, Osaka, JAPAN

• The caster based on the center of percussion is proposed for the reduction of the impulsive accelerations, and the reduction effect was confirmed by experiments.

• The skyhook control is applied to the cart with the caster using the voice-coil motor, and the performance of the control was verified by experiments.

Overview of experimental caster

Reduction effect of mechanism and control

Research on Transfer Characteristics of Vibration of Shaft and Beam Sonic Crystals

under Concentrated Mass Boundary ConditionHaisheng Shu, Shaogang Liu, Weiyuan Wang, Dan Zhao, Fa Zhang, Enwu Gao

College of Mechanical and Electrical Engineering, Harbin Engineering UniversityHarbin, Heilongjiang, China

Model of shaft or beam SC under concentrated mass boundary condition

•Shaft and beam SCs composed of epoxy and aluminum have been studied together with single material shaft and beam.• The band gaps are calculated theoretically and the vibration transmissibility under free boundary and concentrated mass boundary conditions are obtained and analyzed.

WP2-4(3) 16:16-16:34 WP2-4(4) 16:34-16:52

Control of flexural vibration in a periodic pipe conveying fluid based on a Bragg scattering mechanism coupled with a locally resonant

mechanism

• Based on a Bragg scattering mechanism coupled with a locally resonant mechanism, the pipe wall is designed to be binary compound material structure.

• Using the transfer matrix method, the band structures of infinite periodic pipe is investigated.

The sketch map of the periodic pipe

(a)

(b)

LR oscillator

Bragg pipe cell

• By calculating the frequency response function, the flexural vibration reduction properties for a finite periodic pipe are studied.The damping coefficient of the pipe wall material, the effects of rubber stiffness and mass of the LR oscillator is also considered.

Huijie Shen,Jihong Wen, Dianlong Yu and Xisen WenKey Laboratory of Science and Technology on Integrated Logistics Support,

National University of Defense Technology,Changsha, China

Fault-Tolerant Control of Dynamic Positioning Vessel By Means of A Virtual Thruster

Mingyu Fu, Jipeng Ning and Yushi WeiDepartment of Automation, Harbin Engineering University

Harbin, China• A brief review of the main idea of a

virtual actuator is presented.• A suitable linear state-space model

of DP vessel is derived which consists of motions in 3 DOF.

• A virtual thruster design is finished which combines with virtual actuator and DP vessel model.

• The feasible and effective of this method are demonstrated by a simulation of a DP vessel. Fault-Tolerant Control By Using

A Virtual Thruster

WP2-4(5) 16:52-17:10

A Shadow Elimination Algorithm for Vehicle Detection by Merging Projection Features

and HSV Color SpaceWu Haijun, Xin le and Chen Yanzhou

Centre for Autonomous Technology & Intelligence Control., Beijing University of Technology, Beijing, China

• This paper presents a novel algorithm based onprojector features to eliminate dynamic shadow.• Improves the algorithm of shadow eliminationbased HSV color space by optimizing the Ostualgorithm.• Using merging algorithm integrates these twoalgorithms to further improve the effect of shadowelimination.• Performance of the algorithm is more accuratedescription by using performance parameters of F.

The Current Image

Moving Vehicle In The End

79


WP2-5: Predictive & Learning Control

Session Chairs: Aiguo Ming, The University of Electro-Communications Meng-Shiun Tsai, National Chung-Cheng University Room 12, 15:40-17:28, Wednesday, 10 August 2011

WP2-5(1) 15:40-15:58 WP2-5(2) 15:58-16:16

Motion Planningfor a Dynamically-coupled Hyper-dynamic Manipulator by Reinforcement Learning

Masahiro Wada, Aiguo Ming and Makoto ShimojoThe University of Electro-Communications

Tokyo, Japan

• A method of motion planning for hyper dynamic manipulator using reinforcement learning has been proposed.

• It is verified by the simulation results that skillful motions with satisfying the constraint conditions and boundary conditions have been generated by the method.

Golf swing robot using dynamically-coupled drive

Development of a Novel Iterative Learning Control Algorithm using Empirical ModeDecomposition

TechniqueMeng-Shiun Tsai, Chung-Liang Yen and Hong-Tzong Yau

Department of Mechanical Engineering, National Chung-Cheng University,Taiwan

• A novel algorithm (ILC-EMD) which integrates iterative learning control (ILC) with empirical mode decomposition (EMD) is proposed

• EMD is utilized to decompose the tracking error signal into 11 intrinsic mode model (IMFs)

• The ILC-EMD can filter out the undesired signal and prevent the amplification effect.

• Experimental results on tracking the butterfly NURBS curve validate the effectiveness of the ILC-EMD algorithm.

WP2-5(3) 16:16-16:34 WP2-5(4) 16:34-16:52

A Neuro-Fuzzy Compensator Based Smith Predictive Control for FOPLDT Process

Hao Chen, Zoubir Zouaoui and Zheng Chen Engineering Department, Glyndwr University, Wrexham, UK

• FOPLDT process control: Smith predictor, FL and NN.

• Smith predictor is very sensitive to process modelling errors.

• FLC reduces modelling error individually.

• BPNN is trained and applied as the main controller.

• Proposed control scheme presents good robustness and superior performance in terms of simultaneous process modelling errors.

Twin Rotor System Modeling, De-coupling And Optimal Control

Peng Wen, and Yan LiFaculty of Engineering and Surveying; Faculty of Sciences

University of Southern Queensland, Toowoomba 4350, QLD, Australia

• This paper proposes a new method to model, de-couple and implement an optimal control for a twin rotor system.

• We first model and decouple this twin rotor system into two independent single input single output (SISO) systems, and consider the coupling effects as the changes of system parameters.

• For each of the SISO system, we design an optimal robust controller independently, and then join them together.

• This new method is evaluated and verified in simulation.

WP2-5(5) 16:52-17:10

Design and Simulation of a MRAC Controller for a Human-Scale Tele-Operating System

Nan Xiao and Shuxiang GuoFaculty of Engineering, Kagawa University

n the paper the authors introduced a human-scaletele-operating system for biomedical applications.The core of the system is a 6 DOF parallelmechanism with highly precision. A control modelwas built and the parameters were identified by agenetic algorithm. To improve the performances andeliminate the nonlinear hysteretic restoring force, aMRAC controller was designed. The MRACcontroller was designed based on Lyapunov stabilitytheory. Then numerical experiments were carriedout. The numerical experimental results indicatethat the controller could improve the performancesand the nonlinear hysteretic restoring force was gotcompensated. The micro operating mechanism

80


WP2-6: Fault Diagnosis

Session Chairs: Masatomo Inui, Ibaraki University Guangjun Liu, Ryerson University


WP2-6(1) 15:40-15:58 WP2-6(2) 15:58-16:16

Machine Fault Severity Estimation Based on Adaptive Wavelet Nodes Selection and SVM

M. F. Yaqub, I. Gondal, and J. Kamruzzaman Gippsland School of Information Technology., Monash University

Melbourne, Australia

• A method is proposed which has the tendency to estimate the severity level of the fault.

• Multiple severity levels based estimation model is built to enhance the accuracy of the predictor.

• The prediction model is based on SVM.

Fast Safety Verification of Interior Parts of AutomobilesSatoru Yamazaki, Takahiro Baba, Nobuyuki Umezu and Masatomo Inui

Department of Intelligent Systems Engineering, Ibaraki UniversityHitachi, Japan

• Automatic verification of safety regulations specified on interior parts of automobiles is developed.

• ECE requests that any surface portions of the interior part should have roundness larger than R3.2 where a sphere of diameter 165mm (= size of infant head) can collide.

• Our program verifies the regulation by placing spheres on a CAD model and checking their intersection with the model.

Detected Unsafe Shape Not Satisfying ECE-21

WP2-6(3) 16:16-16:34 WP2-6(4) 16:34-16:52

Study of Quantitative Evaluation by using Fatigue analysis for Assembly work

Shunichi Uno*, Kazuki Kanda** , Okitoshi Tsunoda** , Japan Aviation Electronics Industry, Tokyo, Japan *

Faculty of Science & Technology, Tokyo Denki University, Saitama, Japan **

• To improve design quality, we develop and propose a new assemble-ability method by using fatigue analysis.

• To realize high quality products, the human work without the fatigue in the flexible production is a key for success.

• The assembly work fully depends upon human skills, in general, it is not easy to have good enough training.

• To be easy assembly work, we want to focus on the product design.

Measurement methodfor fatigue

Aircraft Wiring Fault Evaluation Based on Modeling and Parameter Identification

Yinni Cao and Guangjun LiuSystems and Control Lab., Ryerson University

Toronto, Canada

• Wiring problems have been a critical safety issue with aging aircraft.

• Wires of the load circuit are modeled, and deviations of the system parameters may reflect the wiring faults.

• Identifiability of the parameters related to the fault is analyzed. Models of Load Circuit with Distributed

Parameters

WP2-6(5) 16:52-17:10 WP2-6(6) 17:10-17:28

Testing Device for Reliability of Camera IR Cut Switching

Teng He, Zhang Yunzhou, Wu Chengdong, and Wu HaoCollege of Information Science and Engineering, Northeastern University

Shenyang, China

• The current problems of CMOS camera and other image sensors in grabbing image.

• Detecting reliability of IR cut switch device is designed.

• Useful information of testing is shown in the device.

• The testing device has the advantages of high accuracy and easy operation. IR cut switch device

Stochastic Model Predictive Energy Management for Series Hydraulic Hybrid Vehicle

Daiwei Feng1, Dagui Huang1 and Dinggen Li21School of Mechatronics Engineering

University of Electronics Science and Technology of ChinaChengdu, China

2School of Energy and Power EngineeringHuazhong University of Science and Technology

Wuhan, China，Corresponding author.

• Stochastic modeling and prediction of vehicle speed

• Forward-facing model and simulation

• Model predictive energy management for fuel reduction SMPC Architecture

81


WP2-7: Control of Non-smooth Systems

Session Chairs: Xinkai Chen, Shibaura Institute of Technology Ren Jung Chang, National Cheng Kung University


WP2-7(1) 15:40-15:58 WP2-7(2) 15:58-16:16

Adaptive Control for Piezo-Actuated XY-Table

Xinkai Chen and Makoto HattoriDepartment of Electronic Information Systems

Shibaura Institute of Technology• The hysteresis existed in the piezo electric actuator is described by Prandtl- Ishlinskii model.

• The parameters of the XY-table need not to be identified or measured.

• The proposed control law ensures the global stability of the controlled piezo-actuated XY-table.

• The position error can be controlled to be as small as required. Fig. 1 The piezo-actuated

XY-table.

Probe

Vision-based Control of SMA-Actuated Polymer Microgripper with Force Sensing

R. J. Chang and C. C. ShiuDepartment of Mechanical Engineering, National Cheng Kung University

Tainan, Taiwan• SMA-actuated PU microgripper

with force sensing arm and visual-based position/force sensing system.

• Tracking gripper motion by computer vision through extended Regional Edge Statistics algorithm.

• Implementing PI, PI with feedforward, and fuzzy expert PI controller.

• Testing of sensing gripping force in grasping of 38μm metal rod.

Microgripper with Force Sensor

WP2-7(3) 16:16-16:34 WP2-7(4) 16:34-16:52

Flatness Based Control with Adaptive Load Torque Compensation for Position Tracking of

Electro Hydraulic ActuatorsWonhee Kim and Donghoon Shin and Daehee Won

Department of Electrical Engineering, Hanyang University, KoreaChung Choo Chung

Division of Electrical and Biomedical Engineering, Hanyang University, Korea• Flatness based control with adaptive

load torque compensation for positiontracking of electro hydraulic actuators(EHAs) using a near Input-outputlinearizing inner-loop load pressurecontroller and a feedback plusfeedforward outer-loop positioncontroller.

• The desired load pressure design usingdifferential flatness property of theEHA mechanical subsystem.

Schematic of EHA with rotational joint

Block diagram of the controller structure

Networked Fault-Tolerant Control Strategy of Multi-Actuated Control Surface Failure Using

Smart ActuatorsInseok Yang, Donggil Kim, and Dongik Lee

Dependable Embedded Control System Lab., Kyungpook National University,Daegu, R. O. Korea

• The networked fault tolerant control strategy to accommodate actuator failure in the multi-actuated surface with an application to a modern aircraft is presented.

Fig. 1 Proposed architecture for reconfigurable control with control allocation and smart actuators

WP2-7(5) 16:52-17:10 WP2-7(6) 17:10-17:28

Adaptive Neuro-Fuzzy Friction Compensator in Servo hydraulic System

Hutamarn S., Pratumsuwan P., and Po-ngaen W.Educational Mechatronics Research Group , KMUTNB

Bangkok, Thailand

• This research is to develop a control algorithm based on two neuro-fuzzy for friction compensator in a hydraulic servo system.

• This precompensator neuro-fuzzy combined with fuzzy controller will be implemented to enhance the overall performance.

The Nonlinearity Compensation of Piezoresistive Sensor Based on Levenberg-Marquardt Algorithm

Dacheng Xu Zhen LeiCollege of Electronic Information, Suzhou University

Suzhou, China• Nonlinearity of piezoresistive

sensor.• Levenberg-Marquardt algorithm

and some improvement.• The simulation of subsection LM

algorithm combined with column-row multiplication method

• The comparison of memory requirement training with different algorithm.

The comparison of required memory space with different algorithms

82

Index of Authors

- A -

Abe, Akira MA1-5 Abedini, Hamed WP1-7 Agarwal, Vineet TP1-P Ahmed, S. U. WA1-5 Ahmed, Sabir TP1-P Ahn, Hi Chun WA2-6 Ahn, Jin Su WA1-2 Ai, Yanhui TA1-4 Aiyama, Yasumichi MP1-1 Al Khaburi, Jawad MP2-3 Al-Jumaily, Adel MA1-3 Alsubeheen, Hisham MA1-5 An, Hongwen WP1-2 An, Hongwen WP2-3 An, Hongwen TP1-P An, Sung-Tae MP2-5 An, Suyong MP2-5 An, Su-Yong TA1-5 An, Ying TP2-6 Ando, Takeshi WP2-1 Ani, Ozoemena A MP1-2 Aoyagi, Manabu TA1-2 Aoyama, H WP1-5 Aoyama, Hisayuki MP1-6 Arai, Tatsuo MP1-2 Arnuttinanon, Benjaporn WP1-3 Asaka, Kinji TP2-2 Asama, Hajime MA1-6 Asano, Toshio TP2-1 Asano, Toshio MP1-7 Ashiba, Hiroki WA1-2 Ashida, Kiwamu TP2-1 Avila, Adrian MP1-7 Ayaz, Y. WA1-5

- B -

Baba, Takahiro WP2-6 Bahadur, Issam M. TA1-2 Bahuguna, Puneet TP1-P Bai, Xiaoguang MP2-6 Bai, Xiaoguang TA1-7 Bai, Xiaoguang TA1-7 Bai, Xueliang WA2-7 Bai, Yue TP1-P Baiesu, Alina-Simona WA1-4 BANDO, Shigeru WA2-5 Bao, Man MP1-7 Bao, Man WP2-3

Bartenwerfer, M MP2-2 Bartenwerfer, Malte MP2-2 Behera, Laxmidhar WA2-2 Ben, Yueyang TP2-5 Ben, Yueyang WA2-4 Benjanarasuth, T WP1-5 Bhardwaj, Sachin MP2-2 Bi, Xiaojun MP2-4 Bi, Ye WP1-7 Bian, Xinqian TP1-P Boussu, François MP1-3 Bu, Wenshao TA1-4 Bu, Wenshao WP1-6 Butterfield, Joe WA2-1

- C -

Cai, Chaoyuan WP1-2 Cai, Lianbo TP1-P Cai, Wei TA1-4 Cai, Yingbo TP2-6 Cao, Jingyu TP2-7 Cao, Ligang WP2-2 Cao, Lu TA1-3 Cao, Yinni WP2-6 Cha, Hyo-Jeong TP1-P Chai, Tianyou MA1-4 Chai, Weiyan TP2-7 Chai, Xiaojie TA1-5 Chai, Xiaojie TP1-P Chakraborty, G. MA1-6 Chakraborty, Guotam WA1-3 Chan, Kwong Wah TA1-2 Chang, Chih-Ming TA1-4 Chang, R.J WP2-7 Chang, Xiaoming TP1-P Chao, Fan MP2-1 Chen, Chao MA1-2 Chen, Chao TA1-2 Chen, Cuihe TP1-P Chen, Feng TP2-5 Chen, Han TP1-P Chen, Hao WP2-5 Chen, Jianhui TA1-6 Chen, Jimin TA1-1 Chen, Jimin WA2-1 Chen, Junfeng MP1-4 Chen, Ken MP2-4 Chen, Ken WP1-1 Chen, Li WA1-6 Chen, Lifen TP1-P

83

Chen, Liguo MP1-6 Chen, Lijuan MP2-1 Chen, Min TP1-P Chen, Ming WP2-2 Chen, Shujun WP1-3 Chen, Wei MP1-5 Chen, Wensheng WA2-6 Chen, Xiaohuai MP2-1 Chen, Xiaopeng MP1-5 Chen, Xinkai WP2-7 Chen, Xuechao WP1-1 Chen, Xuechao MP1-1 Chen, Yangzhou WP2-4 Chen, Yaqing MA1-4 Chen, Yue MA1-2 Chen, Zheng WP2-5 Cheng, Jianhua WA1-6 Cheng, Li WP1-6 Cheng, Nong WP1-4 Cheng, Sheng WA2-3 Cheng, Stone MA1-4 Cheng, Stone WP1-6 Cheng, Yong MP1-2 Cheng, Yun MP1-3 Cheng, Zhiyong TP1-P Cheraghpour, Farzad TP1-P Chi, Zhongzhe MP2-1 Choi, Hyeunseok WP1-2 Choley, Jean-Yves TP2-4 Chong, James MP2-1 Chong, Seng WA1-3 Chugo, Daisuke TP2-1 Chugo, Daisuke WA1-1 Chung, Chung Choo WP2-7 Chung, Won Jee WA1-2 Chung, Won Jee WA2-6 Coleman, Sonya WA2-2 Crutchley, Dominic J. P. MP1-6 Cui, Jianwen MA1-2 Cui, Lingli TP2-7 Cui, Wei MA1-7 Cui, Wei MP2-7 Cui, Wei WA2-5 Cui, Ze MP1-3

- D -

Daeinabi, Khadijeh TP2-3 Dai, Fuquan WA1-3 Dai, Peng WA2-4 Dai, Xianzhong TP1-P Das, Dipankar TA1-3 Dehghani-Sanij, Abbas A MP2-3 Deng, Yufen MP2-6 Deng, Zili TA1-7 Deng, Zili TA1-7 Deng, Zili TP1-P

Deng, Zongquan MP1-4 Dian, Songyi TA1-3 Diederichs, C MP2-2 Ding, Hongfei MA1-4 Ding, Xinping WA2-6 Ding, Xinping WA2-6 Domae, Yukiyasu TP2-3 Dong, Erbao MP1-2 Dong, Guangling WP1-2 Dong, Guihua WA2-2 Dong, Liyan TP1-P Dong, Shaoyang WP1-5 Dong, Su WA2-4 Dong, Tao MP2-6 Dou, Jianping WP1-4 Dou, Yanhong TP1-P Du, Bing WA1-2 Du, Juan TP1-P Du, Ning MA1-2 Du, Qian MA1-6 Du, Yong MP1-2 DUAN, Hongjun MA1-5 Duan, Jinjun TP1-P Duan, Xing-guang MA1-2 Duan, Xingguang WP1-5 Duhaut, Dominique WP2-1 Duhaut, Dominique WP2-1

- E -

Eichhorn, V MP2-2 Elfehri, Jalloul MP1-3 Erdemir, Erdem MA1-6 Esa, Faizal TP1-P

- F -

Fan, Guoliang MP1-4 Fan, Guoliang WA2-7 Fan, Jinhui MP2-7 Fan, Jinhui WA1-1 Fan, Jinhui MP2-3 Fang, Lei TP2-6 Fang, Xuelin MA1-3 Fang, Yuefa WA2-7 Fang, Zaojun MP2-7 Fatikow, S MP2-2 Fatikow, Sergej MP2-2 Fei, Juntao MA1-4 Fei, Yetai MP2-1 Feng, Daiwei WP2-6 Feng, Guodong TA1-6 Feng, Lei MP2-1 Feng, Lin TP1-P Fu, Chenglong WP1-1 Fu, Hao WA1-6

84

Fu, Mingyu WA1-4 Fu, Mingyu WA2-4 Fu, Mingyu WP2-4 Fu, Mingyu TP1-P Fu, Mingyu TP1-P Fu, Sheng TP1-P Fu, Xiao WA2-4 Fu, Yan MP1-7 Fu, Yili MA1-2 Fujie, Masakatsu MP2-3 Fujie, Masakatsu G. MA1-4 Fujie, Masakatsu G. WP2-1 Fujii, Nobutada TA1-1 Fujimura, Kikuo TA1-5 Fujiwara, Takayuki MA1-7 Fukuda, Toshio WP1-3 Funahashi, Takuma MA1-7 Funaoka, Shota WA1-1 Furuya, Masaaki WA2-5 Fuse, Yoshihiro WA2-5

- G -

Gai, Meng TP2-7 Gai, Yuxian WA2-6 Gan, Zengkang MA1-2 Gao, Baofeng TP1-P Gao, Chunyan WA1-5 Gao, Enwu WP2-4 Gao, Fan MA1-2 Gao, Fengqi TA1-6 Gao, Hongtao TP1-P Gao, Huibin WP1-4 Gao, Liwen WA1-1 Gao, Liwen MP2-3 Gao, Lixin TP2-7 Gao, Longqin TP1-P Gao, Wei TP2-5 Gao, Wei TP1-P Gao, Xinqin TP2-2 Gao, Xueshan WA1-1 Gao, Xueshan WA1-3 Gao, Yongqiang MP1-7 Gao, Yuan TA1-7 Gao, Yulin WP2-3 Ge, Lianzheng WA2-6 Ge, Yunjian MP2-3 Geoff, V Merrett TA1-6 Ghazikhani, M. Hamid WP1-1 Gondal, I. MP2-4 Gondal, I. WP2-6 Gong, Mingde TP2-3 Gong, Xi TA1-4 Gong, Xi TP1-P Gong, Xun TP1-P Green, Peter N MP1-6 Green, Peter N MP1-6

GU, Deying MA1-5 Gu, Dongbing WP1-4 Gu, Jason TP2-4 Guiffard, Benoit TP2-2 Günther, Fred-Holger MA1-1 Guo, Bo WP1-7 Guo, Hongwei MP1-4 Guo, Jian MA1-3 Guo, Jian MA1-2 Guo, Jin TP1-P Guo, Jisheng TP2-7 Guo, Junjie MP2-6 Guo, Junjie TP1-P Guo, Peiyuan MP1-7 Guo, Peiyuan WP2-3 Guo, Qiuquan MA1-3 Guo, Qiyong WP2-3 Guo, Sheng WA2-7 Guo, Shuxiang MA1-3 Guo, Shuxiang TA1-1 Guo, Shuxiang TA1-1 Guo, Shuxiang TP2-2 Guo, Shuxiang WA1-2 Guo, Shuxiang WA2-3 Guo, Shuxiang WP2-5 Guo, Shuxiang WA2-6 Guo, Shuxiang TP1-P Guo, Shuxiang TP1-P Guo, Shuxiang MA1-2 Guo, Shuxiang MA1-4 Guo, Wei WA2-7 Guo, Xuemei TA1-6 Guo, Xuwei MP1-2 Gupta, Prateek TP1-P Guyomar, Daniel TP2-2

- H -

Haario, Heikki TP2-2 Hafiz, Muhamad MA1-1 Hamada, Toshihiro MP1-7 Hamada, Toshihiro TA1-3 Hammond III, Frank L. MP1-1 Han, Changsoo WP1-2 Han, Dong TP2-7 Han, Hyungsuk WA2-7 Han, Jongboo WA2-7 Han, Jung-Min MA1-6 Han, Xu WP1-4 Han, Zengjun MP1-3 Handroos, Heikki TP2-2 Handroos, Heikki WA1-1 Haneyoshi, Toshimasa WA1-6 Hao, Yanling TP1-P Hao, Yanling TP1-P Hao, Yanling TP1-P Hao, Yong WA1-2

85

Hara, Hajime TP2-1 Harada, Akitoshi TP2-1 Haraguchi, Rintaro TP2-3 Hashimoto, Hideki TP2-3 Hashimoto, Hiroshi TP2-1 Hashimoto, Hiroshi WA1-1 Hashizume, Makoto MA1-6 Hata, Seiji MA1-1 Hata, Seiji TA1-3 Hata, Seiji MP1-7 Hata, Seiji TA1-1 Hattori, Makoto WP2-7 Hayashi, Junichiro MP1-7 Hazra, Trinankur TP2-4 He, Chao TA1-1 He, Chi WP1-2 He, Cunfu TP2-4 He, Cunfu WA1-6 He, Guangping TP2-3 He, Li MP2-5 He, Siyuan MP2-1 He, Wenhao MP1-5 He, Zhongzheng TP1-P Heinonen, Ari WA1-1 Hernández, Danilo Cáceres TP2-5 Hildre, Hans Petter WA2-5 Hirai, Shigeoki TA1-3 Hirata, Shinnosuke MP1-6 Hirose, Kazuki MP1-6 Hirose, M. MA1-7 Hirose, Naoki WA1-1 Hofer, Eberhard P. MP1-3 Hojoh, Hirotaka MP1-7 Hojoh, Hirotaka TA1-3 Hojoh, Tatsuya MP1-7 Hong, Jaesung MA1-6 Horie, Y. MA1-7 Hoshino, Yuta WP1-1 Hou, Huijuan TP1-P Hou, Zengguang MA1-2 Hou, ZhiCheng TP1-P Hu, Chengquan MP2-2 Hu, Chuxiong MP2-6 Hu, Chuxiong TP2-4 Hu, Hong TP1-P Hu, Huosheng WP1-4 Hu, Jinchun MP2-6 Hu, Shenghai MP1-2 Hu, Xiaoqi WP2-2 Hu, Ying MP1-3 Hu, Ying TA1-1 Hu, Ying MP1-7 Hu, Zhen MP1-6 Hu, Zhigang TP1-P Huang, Dagui WP1-7 Huang, Dagui TP1-P Huang, Dagui TP1-P Huang, Debao MA1-7 Huang, Dexin WP1-2

Huang, Hai WA1-3 Huang, Haibo TP1-P Huang, Ivan MA1-4 Huang, Jiacai WP1-7 Huang, Jiming MP2-1 Huang, Lei TP1-P Huang, Qiang MP1-5 Huang, Qiang WP1-1 Huang, Qiang MP1-1 Huang, Qiang MA1-2 Huang, Qingjiu TP1-P Huang, Shenghua TA1-4 Huang, Shenghua WP1-6 Huang, Wenbin TA1-6 Huang, Xiguang TP2-3 Huang, Yanlong MA1-5 Huang, Yanlong MP2-7 Huang, Yifeng TP1-P Huang, Yijian MP1-5 Huang, Ziteng TP1-P Hutamarn, S. WP2-7 Hutchinson, Jerry MP2-3

- I -

Imae, Joe MA1-4 Imen, Masoud MA1-5 Inaba, Masayuki MP2-6 Inada, Masayuki TP2-1 Inui, Masatomo WP2-6 Ioi, Kiyoshi WP2-4 Iqbal, K. F. WA1-5 Irie, Yuuka MP1-6 Ishida, Kenji MA1-4 Ishida, Kenji MP2-3 Ishida, Kenji WP2-1 Ishihara, Hidenori WA1-1 Ishihara, Sunao WA1-2 Ishii, Chiharu TP2-1 Isozaki, Naoya TP2-1 Ito, Takanori WA1-1

- J -

Janati, Alireza WP1-1 Jasper, D MP2-2 Jazeh, Hesam Eddin Shoori MP1-5 Jazeh, Hesam Eddin Shoori TP1-P Jeong, Jin Hyeok MA1-6 Ji, Wei TP1-P Jia, Haibo WA1-3 Jia, Songmin MP2-3 Jia, Songmin MA1-7 Jia, Songmin MP2-7 Jia, Songmin TA1-5 Jia, Songmin TP2-7

86

Jia, Songmin WA1-1 Jia, Songmin WA2-5 Jia, Songmin MP2-3 Jia, Tinggang WA2-4 Jia, Zhenyuan TP2-6 Jiang, Fan WP1-3 JIANG, Jing MP2-4 Jiang, Sin-Yi WP1-1 Jiang, Xiaoling MP1-5 Jiang, Yang TA1-3 Jiang, Yinlai MP2-3 Jiang, Yinlai MA1-4 Jiang, Yinlai WA2-3 Jiang, Yinlai WP2-1 Jiao, Bingfeng TA1-2 Jiao, Wei WA1-5 Jin, Tianxu WP1-5 Jing, Minqing WA2-2 Jing, Minqing WP1-6 Jo, Kang-Hyun TP2-5 Joseph, Samleo L. TA1-5 Ju, Dongying WP1-5 Ju, Hehua WP1-5 Ju, Tao MA1-3 Jung, Chang Doo WA1-2 Jung, Chang Doo WA2-6

- K -

Kaihara, Toshiya TA1-1 Kalawsky, Roy WA1-3 Kamruzzaman, J. MP2-4 Kamruzzaman, J. WP2-6 Kanamori, C WP1-5 Kanda, Kazuki WP2-6 Kaneshige, Akihiro WA2-3 Kang, Chenhui TP2-7 Kang, Cunfeng WA1-4 Kang, Jeong-Gwan TA1-5 Kang, Shaobo TP1-P Kang, Xiao WA2-5 Kang, Yo hwan WA1-5 Kawabuchi, Takashi WP2-4 Kawamura, Kazuhiko MA1-6 Kawanishi, Masahiko MA1-3 Kawanishi, Masahiko MA1-2 Khoie, Maryam TP1-P Khorram, Mahdi WP1-7 Kikuchi, Yutaka TA1-3 Kim, Changhyun WA2-7 Kim, Chi yen WA1-5 Kim, Doik WP1-3 Kim, Doik WA2-4 Kim, Donggil WP2-7 Kim, Hyung Chun WA2-6 Kim, Jeong-Jung MP2-5 Kim, Kijung WA2-7

Kim, Myung Sik WA1-2 Kim, Myung Sik WA2-6 Kim, Taeju MP1-4 Kim, Wonhee WP2-7 Kitaaki, Yasuo TP2-3 Kitajima, Katsuhiro TP2-3 Kitajima, Katsuhiro WA1-7 Kiyohiro, Noriaki WA2-5 Kobayashi, Kyo TA1-3 Kobayashi, Nobuaki MP1-3 Kobayashi, Tomoaki MA1-4 Kobayashi, Yoshinori TA1-3 Koide, M. MA1-7 Kojima, Mitsuharu MP2-6 Kometani, Reo WA1-2 Komune, Shizuo MA1-6 Komuro, Kazuma MA1-5 Koncar, Vladan MP1-3 Kondo, Satoshi WA1-7 Kondo, Takahiro MP1-7 Kong, Lingjie TP1-P Korayem, Moharam Habibnejad TP2-3 Koshimizu, Hiroyasu MA1-1 Koshimizu, Hiroyasu MA1-7 Kotani, Mitsunori WP2-1 Kotani, Shinji WA2-5 Kotrotsios, George MA1-1 Kou, Yuxiang TP2-5 Koyanagi, Ken'ichi WP1-3 Krzeminski, Lukasz TP2-2 Kuang, Renbing TA1-5 Kumar, Cheruvu Siva WA1-3 Kumar, C.S. MA1-6 Kumra, Rohit TP1-P Kuno, Yoshinori TA1-3 Kunwar, F. WA1-5 Kurisu, Masamitsu MP1-2 Kurose, Shinji TA1-1 Kwon, Soon Jea WA1-2

- L -

Lam, Tinlun TP1-P Lebrun, Laurent TP2-2 Lee, Dongik WP2-7 Lee, Jongmin WA2-7 Lee, Ju-Jang MP2-5 Lee, Lae-Kyoung MP2-5 Lee, Lae-Kyoung TA1-5 Lee, Mincheol WA1-5 Lee, Mincheol MP2-1 Lee, Seung Hwan MA1-6 Lee, Yun-Seok MP1-5 Lei, Jingye TP1-P Lei, Jun TP1-P Lei, Zhen WP2-7 Li, Bo TP1-P

87

Li, Chaoquan WA1-3 Li, Chengqi WP1-3 Li, Chengqi WA1-6 Li, Chenmei WA1-4 Li, Dayou MP1-6 Li, Debiao TP2-6 Li, Desheng TA1-2 Li, Desheng WA1-7 Li, Desheng TP1-P Li, Deyao WP2-2 Li, Dinggen WP2-6 Li, Fangxing WA1-3 Li, Guanghui MA1-6 Li, Guiyang MA1-3 Li, H WP1-5 Li, Haiyan MP1-7 Li, Hong WA2-6 Li, Hong WA2-6 Li, Hongsheng WP1-7 Li, Hongyi MA1-3 Li, Hongyi MP1-3 Li, Hui WA1-4 Li, Hui WP1-7 Li, Hui MA1-4 Li, Jiang WP2-1 Li, Jing WP1-1 Li, Jing WP2-2 Li, Jing MP1-1 Li, Jun MP1-6 Li, Jun WP1-4 Li, Junsheng TP1-P Li, Kejie WA1-3 Li, Kejie WA2-5 Li, Kun WA1-6 Li, Miao WP1-4 Li, Mingai MP2-3 Li, Mingai MP2-5 Li, Mingai TP2-7 Li, Mingai WA1-5 Li, Mingyue WA1-6 Li, Nan WP2-1 Li, Qi WP2-3 Li, Qi TP1-P Li, Qi TP1-P Li, Qian TP2-5 Li, Qian WA2-4 Li, Qiang WP1-2 Li, Qingling TA1-6 Li, Renju MA1-7 Li, Shigang TA1-5 Li, Shigang WA1-7 Li, Shijie WP1-7 Li, Shuwei MP2-7 Li, SongSong WA1-4 Li, Tingjie MA1-3 Li, Wei TP1-P Li, Weipeng WA1-3 Li, Weiwei MA1-3 Li, X WP1-5

Li, Xia WA2-6 Li, Xiaotiao TP2-2 Li, Xiaoxiao WA2-7 Li, Xiaoyang MP1-3 Li, Xiaozhou WA2-1 Li, Xinfei WP1-6 Li, Xisheng WP1-3 Li, Xiuzhi MA1-7 Li, Xiuzhi MP2-7 Li, Xiuzhi WA1-1 Li, Xiuzhi WA2-5 Li, Xiuzhi MP2-3 Li, Xuesheng TA1-1 Li, Xun TA1-6 Li, Yan TP2-2 Li, Yan WA2-1 LI, Yan WP2-5 Li, Yan TP1-P Li, Yang WA2-4 Li, Yangmin MP2-1 Li, Yangmin MP2-2 Li, Yiquan TP2-6 Li, Yong MP2-6 Li, Yong TA1-7 Li, Yongquan WA1-2 Li, Yuan MA1-6 Li, Yuan TA1-5 Li, Yuntang MP1-6 Li, Zhihui MP2-5 Li, Zhiqiang TP2-7 Liang, Chao WA1-7 Liang, Guodong TP1-P Liang, Jinghui TA1-4 Liang, Jintao WA2-2 Liang, Mengyu TA1-3 Liang, ShuLi TP1-P Liang, Ting TP1-P Liang, Wenyuan MP2-3 Liang, Xu MP1-2 Liang, Yan TA1-3 Liang, Zhengrong TP2-2 Liao, Jianxiong TP1-P Liao, Wei-Hsin TA1-2 Lim, Hoon MA1-6 Lin, Chi-Ying TA1-4 Lin, Enhuai WA1-7 Lin, Hong-Bo MP1-1 Lin, Lin TP2-7 Lin, Ming-Tzong MP1-1 Lin, Xiaoguang WP2-2 Lin, Xichuan TA1-1 Lin, Xichuan MA1-4 Lin, Ying-Lung MP1-1 Liu, Bendong TP1-P Liu, Bendong WA1-6 Liu, Chung-Ching MP1-1 Liu, Da TA1-2 Liu, Daxin WA2-7 Liu, Di WP1-7

88

Liu, Fangfang MP2-1 Liu, Fanming TP1-P Liu, Fei WA1-2 Liu, Guangjun WP2-6 Liu, Guojun TP2-2 Liu, Hao MA1-3 Liu, Hao MP1-3 Liu, Heng WA2-2 Liu, Heng WP1-6 Liu, Hong WP2-1 Liu, Hongchi TP1-P Liu, Hongyun WA1-7 Liu, Hui WA2-3 Liu, Huifang TP2-6 Liu, Jia WA2-6 Liu, Jiancheng MP1-7 Liu, Jianfang TP2-2 Liu, Jinzhong TP1-P Liu, Jun TP1-P Liu, Junhong TP2-2 Liu, Junhong WA1-1 Liu, Kun MP1-4 Liu, Lanjiao MP1-6 Liu, Li WP1-5 Liu, Long TA1-7 Liu, Lu WA1-5 Liu, Min TA1-6 Liu, Peizhi TP2-7 Liu, Rongqiang MP1-4 Liu, Ruixian TP2-4 Liu, Shanshan MP2-7 Liu, Shaogang WP2-4 Liu, Shaoli MP2-4 Liu, Shuang MA1-3 Liu, Tao TA1-3 Liu, Tianliang WA2-2 Liu, Wei MP2-5 Liu, Wei WP2-2 Liu, Wei MP1-7 Liu, Xiang MP2-4 Liu, Xiucheng WA1-6 Liu, Yan TP1-P Liu, Yan TP1-P Liu, Yanfei TP1-P Liu, Yanfei TP1-P Liu, Yanxia WP1-3 Liu, Yibing WP1-2 Liu, Yibing WP2-3 Liu, Yibing TP1-P Liu, Yong TP2-2 Liu, Yong TP2-2 Liu, Yunhui WA1-1 Liu, Zhaomiao MP2-1 Liu, Zhaoyi MA1-4 Liu, Zhenye WA1-4 Liu, Zhenye TP1-P Liu, Zhiyuan MA1-3 Liu, Zhongzhu MP2-6 Long, Lianchun WP2-2

Lu, Bo TA1-2 Lu, Hongwei TP2-6 Lu, Jianglei TA1-6 Lu, Kaibo WP1-6 Lu, Wang TP1-P Lu, Wei MP2-3 Lu, Yan WA2-6 Lu, Yan WA2-6 Lu, Yuepin WP1-5 Lu, Zhenyang WP1-3 Lu, Zhimao MP1-7 Lu, Zongxing TA1-7 Luo, Bo WA1-3 Luo, Jiman TA1-3 Luo, Yang MP2-7 Luo, Yaohua TP1-P Lv, Chenglong TA1-1 Lv, Kaidong WP1-6 Lv, Qi WP1-4 Lv, Shijia TP1-P

- M -

Ma, Chao WP1-7 Ma, Cheng TA1-2 Ma, Chunmin WA1-4 Ma, Cong TP2-5 Ma, Gan WP1-1 Ma, Gan MP1-1 Ma, Hong TP1-P Ma, Jianyong MP2-3 Ma, Jie WA1-4 Ma, Ju WP1-2 Ma, Weiguo TP2-5 Ma, Xin MP1-3 Ma, Xu MA1-3 Ma, Xu MA1-2 Ma, Yufeng TP1-P Ma, Zhenhe TP2-7 Mae, Yasushi MP1-2 Mahmoud, Md. Khalad Abu MA1-3 Malik, U. A. WA1-5 Mansouri, Mohammad MA1-5 Mao, Xiaohui MA1-7 Martinez, Carlos WP1-2 Matsumoto, Nozomu MA1-6 Matsuno, Takayuki WP1-3 Matsuo, Yoshiki MA1-5 McGinnity, T.M. WA2-2 Mei, Yanping TP1-P Mei, Yanping TP1-P Meng, Guoying WP1-2 Mesgari, Hamed TP1-P Mi, Haokun TP1-P Mick, U MP2-2 Mihaescu, Daniel WA1-4 Mills, James K. TA1-2

89

Ming, A WP1-5 Ming, Aiguo WP2-5 Miraftabi, Barbara WA1-1 Mishima, Nozomu TP2-1 Mittal, Vinay TP1-P Miyake, Tohru WA1-1 Mizukawa, Makoto TP2-3 Moore, Philip WA1-3 Moore, William H. TP2-2 Moosavian, S. Ali A. WP1-1 Moosavian, S. Ali A. WP1-7 Moosavian, S. Ali A. TP1-P Moosavian, S. Ali. A. MP2-4 Moosavian, S. Ali. A. TA1-4 Moosavian, S.Ali A. MP1-5 Moosavian, S.Ali A. TP1-P Morgado, Marco WA1-7 Mori, Takemitsu TP2-1 Morita, Kazuo WA1-1 Moriya, Koji WP2-4 Motoyoshi, Tatsuo WP1-3 Mrad, Ridha Ben MP2-1 Mu, Bingguo TA1-4 Mu, Hongwei TP1-P Mukai, Ryota TP2-1

- N -

Nagahama, Kotaro MP2-6 Nagai, Shunsuke WA2-3 Nagasaka, Yoshisada TA1-3 Nagasaka, Yosuke MA1-7 Nagy, Daniel MA1-1 Nagy, Daniel MA1-1 Naka, Masayuki MA1-4 Nakakuki, Takashi TP2-1 Nakamura, Akio WP2-1 Nakanishi, Isao TA1-5 Nakano, Hiroki WA2-1 Nan, Jingyang WA2-2 Nan, Qiuming TP1-P Nandy, S. MA1-6 Nandy, S. TP1-P Nandy, Sambhunath WA1-3 Naruka, Gaurav Singh MP2-2 Neil, M White TA1-6 Nelson, E. Andrea MP2-3 Neubauer, Marcus WP1-4 Ni, Jinping MP2-6 Ni, Jinping TP2-6 Ning, Hui TP1-P Ning, JiPeng WA2-4 Ning, Jipeng WP2-4 Nishikawa, Tomohiro MP2-3 Nishimura, Michiyoshi WA2-5 Nishino, Tomohiro MP2-6 Nishiwaki, Kentaro TA1-3

Niu, Jinzhe TP2-5 Niu, Lin TP1-P Niu, Mang WP2-2 Niu, Yuewei WA1-2 Noda, Akio TP2-3 Noh, Chi beom WA1-5 Nousiainen, Satu WA1-1 Nundrakwang, S WP1-5

- O -

O’Brien, John WA1-3 Oh, Sang-Rok WP1-3 Oh, Seyoung MP2-5 Oh, Se-Young TA1-5 Ohara, Kenichi MP1-2 Oiwa, Taishi TP1-P Oka, Masamichi MA1-6 Okada, Kei MP2-6 Okada, Takuya WA1-2 Okubo, Tsuyoshi TP2-3 Okuda, Haruhisa TP2-3 Oliveira, Paulo TP2-5 Oliveira, Paulo WA1-7 Oonchom, Keelati WP1-3 Oshima, Hideki TA1-5 Oshima, Toru WP1-3 Ou, Zhicai MP2-5 Oyekan, John WP1-4

- P -

Pan, Hongtao WA1-3 Pan, Hongwei MP1-3 Pan, Min MP2-1 Pan, Qinxue MP2-6 Pan, Qinxue TA1-7 Pan, Qinxue TA1-7 Pan, Qinxue WA1-5 Pang, Grantham K.H TA1-6 Pang, Grantham K.H. TA1-6 Pang, Muye WA1-4 Pang, Yan WA1-4 Paramani, Ali Pyambri WA2-7 Paraschiv, Nicolae WA1-4 Park, Chan-Soo WA2-4 Park, Chan-Soo WP1-3 Park, Sangdeok MP1-4 Park, Su Seong WA2-6 Peng, Peng WA2-1 Peng, Yan TP1-P Peurala, Sinikka WA1-1 Pévédic, Brigitte Le WP2-1 Po-ngaen, W. WP2-7 Pratumsuwan, P. WP2-7 Pu, Zhiqiang MP1-4

90

Purahong, B. WP1-5

- Q -

Qi, Baili TP1-P Qi, Liang WA2-4 Qi, Ronghuai TP1-P Qi, Wenjuan TA1-7 Qian, Huihuan TP1-P Qian, Wei WA1-6 Qian, Yi TP2-5 Qian, Zhen MA1-7 Qiao, Dapeng TA1-6 Qiao, Dapeng TA1-6 Qiao, Mingzhong TA1-4 Qin, Xiansheng WP2-2 Qin, Xuebin WA1-7 Qiu, Zhaoguo TP2-4 Qu, Liping TP1-P

- R -

Ran, Chenjian TA1-7 Ran, Chenjian TP1-P Ray, R. TP1-P Ray, Ranjit WP1-1 Reddy, N.S WP1-1 Ren, Chonggang WA2-2 Ren, Hao TP1-P Rong, Hua TP1-P Rong, Weibin MP2-2 Rong, Wenting WA1-6 Rossano, Gregory WP1-2 Rossi, Marko WA1-1

- S -

Saint-Aimé, Sebastien WP2-1 Saito, Masahiro TA1-3 Salahshoor, Karim TP1-P Samavati, Farzad Cheraghpour MP1-5 Samavati, Farzad Cheraghpour TP1-P Sariyildiz, Emre MP1-1 Sasai, Takuya WP2-1 Sato, Kazuki MP1-1 Sato, Susumu MA1-7 Sawada, Hideyuki MA1-1 Sawada, Takayuki MP1-3 Saxena, Vidush TP1-P Sedigh, Ali Khaki TP1-P Sekiguchi, Akinori MA1-5 Seo, Eun-Ho WA2-4 Seo, Eun-Ho WP1-3 Seo, JongTae MP1-5 Serré, Philippe TP2-4

Setoya, Hideo MA1-1 Shaari, Muhammad Farid TP1-P Shan, Zhipeng TA1-7 Shang, Deguang WA2-2 Shang, Mingdong WA2-1 Shao, Chunyan MP2-5 Shao, Qi MA1-3 Shao, Wei TP1-P Shao, Xiaohong WP2-2 Shao, Yanming MP1-3 Sharma, Himanshu Dutt MP2-2 Sharma, Krishan K. WA2-4 Shen, Chien Yu TA1-2 Shen, Feng MP2-1 Shen, Feng TP2-7 Shen, Hongmin WA2-5 Shen, Huijie WP2-4 Shen, Peihui TP1-P Sheng, Baicheng WP2-2 Sheng, Jinbo MA1-7 Sheng, Jinbo MP2-7 Sheng, Jinbo TA1-5 Sheng, Jinbo WA1-1 Sheng, Jinbo WA2-5 Sheng, Jinbo MP2-3 Shi, Hongbo WA2-4 Shi, Liwei TP2-2 Shi, Qingyong TP2-6 Shi, Xiaocheng WA1-4 Shi, Xiaocheng WA2-4 Shi, Xiaocheng TP1-P Shi, YuanZheng TP1-P Shi, Zhenyun TA1-2 Shikha, Jain TP1-P Shima, Yasunori WP1-3 Shimazu, Shota MP2-3 Shimojo, Makoto WP2-5 Shin, Donghoon WP2-7 Shin, Gi Soo WA1-2 SHINADA, Kazuhiro WA2-5 Shiratsuchi, Koji TP2-3 Shiu, C.C WP2-7 Shome, S.N WP1-1 Shome, S.N. MA1-6 Shome, S.N. TP1-P Shome, Sankar Nath WA1-3 Shoorehdeli, Mehdy Aliyari MA1-5 Shu, Haisheng WP2-4 Silvestre, Carlos TP2-5 Silvestre, Carlos WA1-7 Singh, Bhim WA2-4 Singh, Rohit Kumar MP2-2 Sinha, Ravindra Kumar TP1-P Siradjuddin, Indrazno WA2-2 Somani, R. MA1-6 Song, Changhui TA1-4 Song, Changhui TP1-P Song, Haiqiang TP1-P Song, Heping MP2-2

91

Song, Heping TA1-5 Song, JaeBok WA2-4 Song, Jianguo MP1-4 Song, Jingyan WP1-4 Song, Kai-Tai WP1-1 Song, Min MP2-5 Song, Yongtao MP1-1 Song, Yu TA1-6 Song, Zhengxun MP1-6 Song, Zhibin WA2-6 Stolle, C MP2-2 Su, Gang MP1-3 Su, Hao WA1-3 Su, Hu MA1-5 Su, Jianhua MP2-5 Su, Liying TP1-P Su, Luodan MA1-3 Su, Yixiong TP2-7 Su, Zhonghua WA1-2 Su, Zongshuai MP1-4 Suda, Atsushi WP2-4 Suebsomran, Anan WP1-5 Sugisaka, Masanori TP1-P Sun, Dong MA1-3 Sun, Di MP2-5 Sun, Feng TP2-5 Sun, Feng TP1-P Sun, Feng TP1-P Sun, Feng TP1-P Sun, Hexu TP1-P Sun, Huabo MP2-7 Sun, Lining MP2-2 Sun, Lining MP1-6 Sun, Qi WA2-3 Sun, Qiyuan MP1-5 Sun, Rongyi WP1-1 Sun, Shuwen WP1-4 Sun, Xuguang TP2-2 Sun, Yi MA1-6 Sun, Yuan WA1-5 Suzuki, Ryoichi MP1-3 Swarup, A. WA2-4

- T -

Taheri, Farid TP2-4 Takagi, Yuji MP1-7 Takahashi, Shingo MA1-7 Takahashi, Tatsuji MA1-5 Takahashi, Yo WP2-1 Takano, Takehiro TA1-2 Takase, Kunikatsu TP2-1 Takubo, Tomohito MP1-2 Tallec, Marc Le WP2-1 Tamaki, Katsuhiko TA1-3 Tamiya, Takashi MA1-3 Tamiya, Takashi MA1-2

Tamura, Hideki TA1-2 Tamura, Yusuke MA1-6 Tan, Huan MA1-6 Tan, Min MP1-4 Tan, Min MP2-7 Tan, Renjia MP1-3 Tan, Renpeng MP2-3 Tan, Renpeng MA1-4 Tan, Renpeng WA2-3 Tan, Xiangmin MP1-4 Tan, Yazhou TP1-P Tanaka, Koujirou TA1-1 Tang, Hui MP2-2 Tang, Jianjun TP1-P Tang, Lijun TP1-P Tang, Mo MP2-4 Tang, Shiqi TA1-6 Tang, Yangshan TA1-7 Tang, Yangshan TP1-P Tang, Zongyong TA1-4 Tanmay, T. MA1-6 Tano, Shunichi TA1-5 Tanzawa, Tsutomu WA2-5 Tao, Dongbo WP1-3 Tarkka, Ina WA1-1 Tashiro, Hirofumi TP2-3 Temeltaş, Hakan WA1-5 Temeltaş, Hakan WA2-5 Temeltaş, Hakan MP1-1 Teng, Fulin WP1-7 Teng, He WP2-6 Theeravithayangkura, Chayooth MP1-2 Thiruvalluvan, Kaarvannan TP2-2 Tholia, Amit MP2-2 Tiago, Gaspar TP2-5 Tian, YanTao TP1-P Toda, Masaaki TA1-3 Tsai, Meng-Shiun WP2-5 Tseng, Hsuan-Chi WP1-6 Tsukada, T. MA1-7 Tsunoda, Okitoshi WA2-1 Tsunoda, Okitoshi WP2-6 Tu, Bing WA1-7 Tung, Cheng-Wei MP1-1 Tunnell, R MP2-2 Tuoya WA1-7 Turanli, Mert WA1-5 Tutwani, Mayank TP1-P

- U -

Uchida, Masaru MA1-7 Ueki, Satoshi WA2-3 Ulaş, Cihan WA2-5 Umemura, Atsushi WA1-6 Umezu, Nobuyuki WP2-6 Uno, Shunichi WP2-6

92

Uragami, Daisuke MA1-5

- V -

Vaezi, Masoud MP1-5 Vaezi, Masoud TP1-P Vasseur, Christian MP1-3

- W -

Wada, Masahiro WP2-5 Wahab, Md Saidin TP1-P Wallaschek, Jörg WP1-4 Wan, Shanming WP1-6 Wan, Zhijian TP1-P Wan, Zhong TA1-1 Wang, Bin MA1-7 Wang, Bin WP2-3 Wang, Bo WA1-4 Wang, Chengkun TP1-P Wang, Chenglong WA1-4 Wang, Dalong TA1-3 Wang, Dangxiao TP2-6 Wang, Dangxiao WP2-1 Wang, Dongxiao WA1-1 Wang, Fei TP1-P Wang, Fuji TP2-6 Wang, Gang MP2-7 Wang, Gengxiao TP1-P Wang, Guan WP1-1 Wang, Guanglong TA1-6 Wang, Guobin MP2-1 Wang, Guochen TP1-P Wang, Guoli TA1-5 Wang, Guoli TA1-6 Wang, Hao MP2-6 Wang, Hongbo MA1-2 Wang, Hongguang WP1-6 Wang, Hongjian TP1-P Wang, Hui MP2-5 Wang, Jianjun WP1-2 Wang, Jindong MP2-6 Wang, Jing TP1-P Wang, Jingshan TA1-2 Wang, Jiwu TP1-P Wang, Kai MP2-4 Wang, Kai WP1-1 Wang, Kai WA1-5 Wang, Kejun MP2-4 Wang, Lei MP2-7 Wang, Lei WP1-2 Wang, Liang WA1-7 Wang, Lifeng MP2-2 Wang, Liying TA1-7 Wang, Liying TP1-P Wang, Ludan WA2-3

Wang, Min WA2-1 Wang, Naiyue WA2-7 Wang, Pu TP2-4 Wang, Qingfeng TP2-4 Wang, Qiuyan WA1-4 Wang, Qiuying TP2-6 Wang, Shicheng WA1-5 Wang, Shucai TP1-P Wang, Shuoyu MP2-3 Wang, Shuoyu MA1-4 Wang, Shuoyu WP2-1 Wang, Shuoyu WA2-3 Wang, Shusan WA1-3 Wang, Suli TP2-4 Wang, Tian MP2-7 Wang, Tian WP1-2 Wang, Wanshan WA2-1 Wang, Weihong MA1-4 Wang, Weijun WP1-2 Wang, Weiyuan WP2-4 Wang, Xiaoxin TP1-P Wang, Xingtao MA1-2 Wang, Xingtao WP1-5 Wang, Xinhua WP1-4 Wang, Xiuhui WP1-3 Wang, Yangli MP2-5 Wang, Yanshen WA2-6 Wang, Yina WA2-3 Wang, Yong TP1-P Wang, Yuechao MP1-3 Wang, Yuezong TP1-P Wang, Yujia WA1-3 Wang, Yun TP1-P Wang, Zhanxi WP2-2 Wang, Zhaolong TP2-7 Wang, Zhenhua MP1-6 Wang, Zhiqiang WP2-2 Wang, Zhonghua TP1-P Wang, Zuobin MP1-6 Warisawa, Shin-ichi WA1-2 WATANABE, Atsushi WA2-5 Watanabe, Hiromi WA2-5 Watanabe, K. MA1-7 Watanabe, Yuto MP2-3 Watson, Simon A MP1-6 Watson, Simon A MP1-6 Wei, Hengxi TP1-P Wei, Jing WP1-6 Wei, Wei TA1-1 Wei, Xuetong TP2-6 Wei, Yuanlong MP2-1 Wei, Yushi WA2-4 Wei, Yushi WP2-4 Wen, Feng MA1-6 Wen, Feng TA1-5 Wen, Feng TP1-P Wen, Guang TP2-3 Wen, Guang TP1-P Wen, Jihong WP2-4

93

Wen, Liping TP2-4 Wen, Peng WP2-5 Wen, Pin WA1-1 Wen, Shiguang TP1-P Wen, Xisen WP2-4 Weng, Zhankun MP1-6 Won, Daehee WP2-7 Wong, C. -C WP1-5 Wong, Chi-Biu WA1-3 Wong, Rex H. TA1-5 Wongwirat, Olarn WP1-3 Wu, Bin TP2-4 Wu, Bin WA1-6 Wu, Che-Hau MP1-1 Wu, Chengdong WP2-6 Wu, Chengdong TP1-P Wu, Haijun WP2-4 Wu, Hao WP2-6 Wu, Hao TP1-P Wu, Huapeng TP2-2 Wu, Huapeng WA1-1 Wu, Jinglong WP2-3 Wu, Jinglong WP2-3 Wu, Na WP1-4 Wu, Xiao WA2-4 Wu, Xiaofeng WA2-7 Wu, Yingzhe WP1-7 Wun, Lin WP1-7

- X -

Xia, Guoqing WP1-7 Xia, Huanxiong WP1-4 Xia, Lan MP2-7 Xiao, Dingguo WA1-5 Xiao, Han MP1-5 Xiao, Jizhong MA1-6 Xiao, Jizhong TA1-5 Xiao, Juanya TA1-4 Xiao, Junhao WA2-5 Xiao, Kai MP1-4 Xiao, Nan MA1-3 Xiao, Nan WP2-5 Xiao, Nan MA1-2 Xie, Jia WA2-2 Xie, Jiansheng WA1-6 Xie, Pingchun WA2-6 Xie, Wenbo TP1-P Xie, Wenbo TP1-P Xie, Zhiyong WP1-4 Xin, Le WP2-4 Xiong, Bo MP2-7 Xiong, Guangxi MP1-7 Xiong, Jijun TP1-P Xu, Bo TP1-P Xu, C WP1-5 Xu, Chunguang MP2-6 Xu, Chunguang TA1-7 Xu, Chunguang WA1-5

Xu, Dacheng WP2-7 Xu, De MA1-5 Xu, De MP2-7 Xu, Erbao TP2-2 Xu, He MP1-2 Xu, Hongcheng MP1-2 Xu, Hongxia WP1-5 Xu, Jia MP1-6 Xu, Jian WP1-7 Xu, Jian’an WP2-2 Xu, Jing MP2-4 Xu, Jinkai WA2-1 Xu, Jinkai WP2-3 Xu, Jinkai TP2-6 Xu, Kaijun TP1-P Xu, L WP1-5 Xu, Leon TA1-1 Xu, Limei TA1-1 Xu, Min MP1-2 Xu, Min MP1-2 Xu, Mu TP2-6 Xu, Pingping MP1-4 Xu, Qian MP1-5 Xu, Wei MP1-5 Xu, Wei WP1-1 Xu, Wei MP1-1 Xu, Xiaoli WA1-4 Xu, Xiaoli MP1-7 Xu, Yan TP1-P Xu, Yangsheng TP1-P Xu, Ying TP2-6 Xu, Yonggang TP2-7 Xu, Yuanbo MP2-2 Xu, Zhe TP2-4 Xu, Zhengdong MP1-5 Xu, Zhigang TP2-2

- Y -

Yamada, Manabu WA1-3 Yamada, Takayoshi WA1-3 Yamagishi, Y. MA1-7 Yamaguchi, Tatsuya WA1-1 Yamamoto, Hidehiko WA1-3 Yamamoto, Takashi TP2-1 Yamauchi, Yasuhiro WA1-2 Yamazaki, Kimitoshi TP2-1 Yamazaki, Kimitoshi MP2-6 Yamazaki, Satoru WP2-6 Yan, Aijun TP2-4 Yan, Jun WA1-1 Yan, Jun MP2-3 Yan, Keguo WP2-3 Yan, Lei MP2-7 Yan, Na WP2-2 Yan, Qin MP1-2 Yan, Rui TP1-P

94

Yan, Tianyi WP2-3 Yan, Wan MP1-1 Yan, Wenjun WA2-3 Yan, Xin WA1-2 Yan, Zhihong WP1-7 Yanase, Satoshi MA1-7 Yang, Jiahui TP1-P Yang, Caizhi TP1-P Yang, Chao WP1-5 Yang, Ding TP1-P Yang, Hao MP2-6 Yang, Jiahui WA1-6 Yang, Jie MP1-2 Yang, Jie MA1-3 Yang, Jie MP1-2 Yang, Jinfu MP2-5 Yang, Jinfu WA1-5 Yang, Jingjing WP2-3 Yang, Jun MA1-3 Yang, Inseok WP2-7 Yang, Mingshun TP2-2 Yang, Qiang WA2-3 Yang, Qingsheng MA1-3 Yang, Qingsheng TP1-P Yang, Runhuai MP1-2 Yang, Tianwen TP1-P Yang, TingLei TP1-P Yang, Xiangchen TA1-7 Yang, Xue MA1-2 Yang, Yuzheng MA1-4 Yao, Bin TP2-4 Yao, Biqiang TP1-P Yao, Fulai TP1-P Yao, Jun MP1-7 Yao, Yu TP1-P Yaqub, M.F. MP2-4 Yaqub, M.F. WP2-6 Yau, Hong-Tzong WP2-5 Ye, Hongling WA1-1 Ye, Juntao MP2-6 Ye, Lezhi TA1-2 Ye, Mao MA1-7 Ye, Xiufen MP2-7 Ye, Xiufen WP1-2 Ye, Xiufen TP1-P Yen, Chung-Liang WP2-5 Yesildirek, Aydin MA1-5 Yi, Byung-Ju TP1-P Yi, Byung-Ju MP1-4 Yi, Byung-Ju MP1-5 Yi, Byung-Ju MA1-6 Yi, Jianqiang MP1-4 Yi, Jianqiang WA2-7 Yi, Longfang TP2-5 Yin, Shujuan TP1-P Yin, Wenjia TP1-P Yin, Zhouping MP2-7 Ying, Lixia MP1-2 Yokota, Sho TP2-1

Yokota, Sho WA1-1 Yoon, Dae-Keun MP1-5 Yoon, Sung min WA1-5 Yoshida, Shunichi MA1-3 Yoshida, Shunichi MA1-2 Yoshimura, Chiaki WA2-5 Yoshioka, Masataka MP2-3 You, Bum-Jae WP1-3 You, Jiang TP1-P Youssef, Sherin M. TA1-7 Yu, Bing WP2-3 Yu, Bo WA2-6 Yu, Bo WA2-6 Yu, Dianlong WP2-4 Yu, Ge WP2-1 Yu, Huadong WA2-1 Yu, Huadong WP2-3 Yu, Huadong TP2-6 Yu, Huatao WP1-5 Yu, Jiaqi TP2-6 Yu, Junzhi MP1-4 Yu, Lan WA2-3 Yu, Miao MP2-2 Yu, Shengrui WP2-2 Yu, Shichao MP1-3 Yu, Tiantiao WA2-1 Yu, Xiaowen MP2-4 Yu, Yang TP2-6 Yu, Yang WP1-3 Yu, Yong MP2-3 Yu, Yueqing MP1-5 Yu, Yueqing TP1-P Yu, Zhangguo WP1-1 Yu, Zhangguo MP1-1 Yu, Zhanjiang WA2-1 Yuan, Fang MP1-7 Yuan, Jianjun MP1-1 Yuan, Jianwen TA1-1 Yuan, Junjie TP2-3 Yuan, Kui MP1-5 Yuan, Kui MA1-6 Yuan, Kui TA1-5 Yuan, Kui TP1-P Yuan, Lan TA1-4 Yuan, Lin MA1-2 Yue, Chunfeng WP2-3 Yue, Shen TP2-3 Yue, Yong MP1-6 YUTA, Shin’ichi WA2-5 Yuta, Shin'ichi TP2-3

- Z -

Zamani, Ali WP1-7 Zarafshan, Payam MP2-4 Zarafshan, Payam TA1-4 Zha, Hongbin MA1-7

95

Zhai, Guisheng MA1-4 Zhai, Xingquan TP1-P Zhan, Yuling TP1-P Zhang, Biao WP1-2 Zhang, Chao WP1-2 Zhang, Cheng MP1-3 Zhang, Chunxiao TP2-4 Zhang, Chunzhi WP1-2 Zhang, Dan MP2-1 Zhang, Deyin WA1-6 Zhang, Fa WP2-4 Zhang, Feng TP1-P Zhang, Fuhai MA1-2 Zhang, Guanghui WP1-6 Zhang, Guangjun WP1-7 Zhang, Guangming TP1-P Zhang, Hailong TP1-P Zhang, Han MA1-2 Zhang, Hong MP2-5 Zhang, Hongqi TP1-P Zhang, Hongwei WA1-2 Zhang, Hongyan TP2-3 Zhang, Houxiang WA2-5 Zhang, Jianhua WA2-1 Zhang, Jianhua WA2-5 Zhang, Jianhua WP1-7 Zhang, Jianhua MP1-7 Zhang, Jianhui TA1-2 Zhang, Jianhui WP2-2 Zhang, Jianwei MP1-3 Zhang, Jianwei MP1-4 Zhang, Jianwei TA1-1 Zhang, Jianwei WA2-5 Zhang, Jianwei MP1-7 Zhang, Jianwei WA2-3 Zhang, Jianyu TP2-7 Zhang, Jiawei TP2-2 Zhang, Jin MP1-6 Zhang, Jinsheng WA1-5 Zhang, Jinsong WA2-1 Zhang, Jisheng TP1-P Zhang, Jun TA1-6 Zhang, Lijie WA1-2 Zhang, Lijing WA2-7 Zhang, Limin MA1-3 Zhang, Liuzhong WA2-6 Zhang, Liwei WA1-7 Zhang, Liwei MP1-7 Zhang, Min TP2-5 Zhang, Mingjun WP2-2 Zhang, Mingjun WA1-3 Zhang, Nana WP1-2 Zhang, Peng MP1-3 Zhang, Ping WP1-3 Zhang, Ping WA1-6 Zhang, Qiang WA2-6 Zhang, Qianqian TP1-P Zhang, Qinchao MA1-2 Zhang, Shiwu MP1-2

Zhang, Shiwu MP1-2 Zhang, Shizhong MP2-2 Zhang, Shutian TP1-P Zhang, Songcan WP1-6 Zhang, Tao WP1-4 Zhang, Tao TP1-P Zhang, Tianrui WA2-1 Zhang, Ting WP2-1 Zhang, Wei MP1-6 Zhang, Weihan TP1-P Zhang, Weihan WA1-6 Zhang, Weijun MP1-1 Zhang, Wenyi WA2-6 Zhang, Xiaochen MA1-6 Zhang, Xiaodong WP1-3 Zhang, Xiaodong WA1-6 Zhang, Xiaofeng TA1-4 Zhang, Xiaojun MP1-3 Zhang, Xinfu TP1-P Zhang, Xuefeng WP2-2 Zhang, Xuesong MP2-4 Zhang, Yabin TP1-P Zhang, Yaping WA1-7 Zhang, Yi TP1-P Zhang, Yingfa TP1-P Zhang, Yongqiang WP1-6 Zhang, Yunong TA1-4 Zhang, Yunzhou WP2-6 Zhang, Yuru WP2-1 Zhang, ZiMing TP1-P Zhang, Zuoqiong TA1-4 Zhao, Boqiang TP1-P Zhao, Dan WP2-4 Zhao, Depeng TA1-2 Zhao, Dongyan TP1-P Zhao, Gang MP1-2 Zhao, Guangyu MP2-2 Zhao, Guangzhi WA2-3 Zhao, Haojiang MP1-4 Zhao, Honghua MA1-2 Zhao, Honghua WP1-5 Zhao, Jiandong TP1-P Zhao, Jie WP1-7 Zhao, Liang MA1-7 Zhao, Lianyu MP1-5 Zhao, Lin WA1-2 Zhao, Qichao TP1-P Zhao, Shengdun WA2-2 Zhao, Xiaochuan TP2-5 Zhao, Xinhua MP2-1 Zhao, Xinhua MP2-2 Zhao, Xinhua MP1-5 Zhao, Xinjun TP1-P Zhao, Xinyu TA1-7 Zhao, Yongsheng WP1-6 Zhao, Zixin WA2-3 Zhen, Wei TA1-3 Zheng, Gang WP1-4 Zheng, Huicheng TA1-4

96

Zheng, Xiaolong WA1-1 Zheng, Yaqing MP1-5 Zheng, Yaqing WA2-3 Zhong, Bowen MP1-6 Zhong, Rui WP1-5 Zhou, Awei TP1-P Zhou, Bo TP1-P Zhou, Yanbing WP2-3 Zhou, Yu TP2-2 Zhu, Chi MP2-3 Zhu, Danjie MP1-3 Zhu, Hairong TP2-5 Zhu, Hua TA1-2 Zhu, Huiyan MP2-7 Zhu, Jiangmiao TP2-7 Zhu, Jianhong TP2-5 Zhu, Kai WP2-2 Zhu, Peng TA1-4 Zhu, Qidan WP1-6 Zhu, Wei WA2-5 Zhu, Wei TP1-P Zhu, Xiaoqing MP2-4 Zhu, Xinglong TP1-P Zhu, Yinggu WA2-7 Zhu, Yu MP2-6 Zhu, Yu TP2-4 Zhu, Zhongjun WA2-4 Zong, Fucai TP2-6 Zong, Guanghua TP2-6 Zou, Wei MA1-6 Zou, Wei TA1-5 Zouaoui, Zoubir WP2-5 Zulkefly, Mohammad Ezri Indra TP1-P Zuo, Guoyu MP2-4 Zuo, Guoyu WP1-1

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CCaallll ffoorr PPaappeerrss IndexThe 2012 IEEE International Conference on Mechatronics and Automation (ICMA 2012) will take place in Chengdu, the Provincial Capital of Sichuan, China from August 5 to August 8, 2012. Chengdu is a tribute to China's proud history. Nestled in Chengdu, a time-honored city famous for its history, culture and landscapes.

As the host city of ICMA 2012, Chengdu not only provides the attendees with a great venue for this event, but also an unparallel experience in Chinese history and culture. You are cordially invited to join us at IEEE ICMA 2012 in Chengdu to live this unique experience. The objective of ICMA 2012 is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, automation and sensors to disseminate their latest research results and exchange views on the future research directions of these fields.

The topics of interest include, but not limited to the following: - Intelligent mechatronics, robotics, biomimetics, automation, control systems, - Opto-electronic elements and Materials, laser technology and laser processing- Elements, structures, mechanisms, and applications of micro and nano systems - Teleoperation, telerobotics, haptics, and teleoperated semi-autonomous systems-Sensor design, multi-sensor data fusion algorithms and wireless sensor networks- Biomedical and rehabilitation engineering, prosthetics and artificial organs - Control system modeling and simulation techniques and methodologies - AI, intelligent control, neuro-control, fuzzy control and their applications - Industrial automation, process control, manufacturing process and automation

Contributed Papers: All papers must be submitted in PDF format prepared strictly following the IEEE PDF Requirements for Creating PDF Documents for IEEE Xplore. The standard number of pages is 6 and the maximum page limit is 8 pages with extra payment for the two extra pages. See detailed instructions in the conference web site. All papers accepted by IEEE ICMA 2012 will be indexed by EI and included in IEEE Xplore®. Extensions of selected papers will be published in a regular or a special issue of the journals of IJMA and JRM.

Organized Sessions: Proposals with the title, the organizers, and a brief statement of purpose of the session must be submitted to an OS Chair by March 20, 2012. Tutorials & Workshops: Proposals for tutorials and workshops that address related topics must be submitted to one of the Tutorial/Workshop Chairs by May 1, 2012.

Important Dates: March 20, 2012 Full papers and organized session proposals May 1, 2012 Proposals for tutorials and workshops May 15, 2012 Notification of paper and session acceptance June 1, 2012 Submission of final papers in IEEE PDF format

For detailed up-to-date information, please visit the IEEE ICMA conference website at:

http://2012.ieee-icma.org

Council Honorary Chair: Hegao Cai, Harbin Institute of Technology, China

Advisory Council Honorary Chairs: T. J. Tarn, Washington University, USA Toshio Fukuda, Nagoya University, Japan

Advisory Council Chairs: Jiecai Han, Harbin Institute of Technology, China Zhigang Liu, Harbin Engineering University, China Ji Zhao, Jilin University, China Takashi Komeda, Shibaura Institute of Tech., JapanKazuhiro Kosuge, Tohoku University, Japan A.A. Goldenberg, University of Toronto, Canada Paolo Dario, Scuola Superiore Sant'Anna, Italy Masayoshi Tomizuka, UC Berkeley, USA Mario A. Rotea, University of Massachusetts, USA Ju-Jang Lee, KAIST, Korea Ren C. Luo, National Taiwan University, Taiwan Jinsong Wang, UESTC, China Huadong Yu, CUST, China Zhenyang Lu, Beijing Univ. of Technology, China

Founding Council Chair: Shuxiang Guo, Kagawa University, Japan

Founding Council Vice Chairs:Max Q. -H. Meng, Chinese University of Hong Kong Aiguo Ming, U. of Electro-Communications, Japan Hong Zhang, University of Alberta, Canada Dagui Huang, UESTC, China

General Chair: Tatsuo Arai, Osaka University, Japan Shuguo Wang, Harbin Institute of Technology, China

General Co-Chairs: William R. Hamel, University of Tennessee, USA Hajime Asama, University of Tokyo, Japan Il Hon Suh, Hanyuan University, Korea Darwin G. Caldwell, Italian Institute of Tech., Italy Chun-Yi Su, Concordia University, Canada Hiroyuki Kano, Tokyo Denki University, Japan Zongquan Deng, Harbin Institute of Technology, China

Program Chair: Xinkai Chen, Shibaura Institute of Technology, Japan

Program Co-Chairs: Jie Zhao, Harbin Institute of Technology, China Kevin Lynch, Northwestern University, USA Mamoru Mitsuishi, the University of Tokyo, Japan Wan Kyun Chung, POSTEC, Korea Huosheng Hu, University of Essex, U.K Shuzhi Sam Ge, National University of Singapore Mingcong Deng, Tokyo U. of Agriculture and Tech, Japan Qinxue Pan, Beijing Institute of Technology, China

Organizing Committee ChairsShuxiang Guo, Kagawa University, Japan Yili Fu, Harbin Institute of Technology, China

Organizing Committee Co-Chairs Xiaohong Wang, Harbin Institute of Tech., China Aiguo Ming, U. of Electro-Communications, Japan Shulin Tian, UESTC, China

Tutorials/Workshop Chairs: Weishan Chen, Harbin Institute of Technology, China Nak Youn Chong, JAIST, Japan Kazuhisa Ito, Shibaura Institute of Technology, JapanGuangjun Liu, Ryerson University, Canada

Invited/Organized Session Chairs: Kazuhito Yokoi, AIST, Japan Zijiang Yang, Ibaraki University, Japan Hong Liu, Harbin Institute of Technology, China Li Jiang, Harbin Institute of Technology, China Jinjun Shan, York University, Canada

Awards Committee Co-chairsMakoto Kaneko, Osaka University, Japan James K. Mills, Univ. of Toronto, Canada

Publications Chairs: Ruifeng Li, Harbin Institute of Technology, China Satoru Takahashi, Kagawa University, Japan

Publicity Chairs: Tamio Tanikawa, AIST, Japan Ying Feng, Concordia University, CanadaHiroyuki Fujioka, Fukuoka Institute of Tech., Japan Zhijiang Du, Harbin Institute of Technology, China Guisheng Zhai, Shibaura Institute of Tech., Japan

Finance Chairs: Ruiwei Yang, Harbin Institute of Technology, China Takahiro Wada, Kagawa University, Japan

Local Arrangement Chairs: Mantian Li, Yanhe Zhu and Bo Pan, HIT, China

Secretariats: Songyuan Zhang and Shilian Mao, Kagawa U., Japan Rui Zhang, Harbin Institute of Technology, China

CALL FOR PAPERS IJMA is a fully refereed international journal that presents the state-of-the-art research in the area of mechatronics and industrial automation. The intention of IJMA is to provide an international forum to report latest developments from interdisciplinary theoretical studies, computational algorithm development and practical applications. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications.

http://ijma.ieee-icma.org; ISSN (Online): 2045-1067 - ISSN (Print): 2045-1059 Objectives The main objective of IJMA is to establish an excellent channel of communication between experts in academic and research institutions, practitioners and professionals working in the industry, and policy makers.

Readership IJMA provides a forum for information exchange between professionals, academicians and engineers who are working in the area of mechatronics, control engineering, and industrial automation, helping them to disseminate information and to learn from each other’s work.

Contents IJMA publishes original papers, technical reports, case studies, review papers and tutorials. Special Issues devoted to important topics in advanced mechatronic systems, robotics, control engineering and industrial automation will be published from time to time.

Subject Coverage Suitable topics include, but are not limited to:

• Intelligent mechatronics, robotics and biomimetics • Novel and unconventional mechatronic systems and robots • Modelling and control of mechatronics systems and robots • Elements, structures, mechanisms of micro and nano systems • Sensors, wireless sensor networks and multi-sensor data fusion • Biomedical and rehabilitation engineering, prosthetics and artificial organs • AI, neural networks and fuzzy logic in mechatronics and robotics • Industrial automation, process control and networked control systems • Telerobotics, human computer interaction, human-robot interaction

Specific Notes for Authors Submitted papers should not have been previously published nor be currently under consideration for publication elsewhere. (N.B. Conference papers may only be submitted if the paper was not originally copyrighted and if it has been completely re-written) All papers are refereed through a double blind process. A guide for authors, sample copies and other relevant information for submitting papers are available on the Submission of Papers web-page. You may send one copy in the form of an MS Word file attached to an e-mail to: Professor Shuxiang Guo, below

Editors and Members of the Editorial Board

Executive Editor Prof. Huosheng Hu University of Essex School of Computer Science and Electronic Engineering Wivenhoe Park Colchester CO4 3SQ, UK [email protected]

Editor in Chief Prof. Shuxiang Guo Kagawa University Department of Intelligent Mechanical Systems Engineering 2217-20 , Hayashi-cho Takamatsu, 761-0396, JAPAN [email protected]

Editorial Board Members Toshio Fukuda, Nagoya University, JAPAN Martin Adams, Nanyang Technological University, SINGAPORE Gursel Alici, University of Wollongong, AUSTRALIA Hajime Asama, University of Tokyo, JAPAN Darwin G Caldwell, Italian Institute of Technology, ITALY Fabio Celani, Sapienza University of Rome, ITALY Alexander Ferworn, Ryerson University, CANADA Dagui Huang, UESTC, CHINA Jeffrey Johnson, Open University, UK

T.J. Tarn, Washington University in St. Louis, USA William R. Hamel, the University of Tennessee, USA Max Meng, Chinese University of Hong Kong, CHINA James K. Mills, University of Toronto, CANADA Aiguo Ming, University of Electro-Communications, JAPAN Hong Zhang, University of Alberta, CANADA Jianwei Zhang, University of Hamburg, GERMANY Jong-Hwan Kim, KAIST, KOREA Chang Liu, Northwestern University, USA Nazim Mir-Nasiri, Swinburne University of Technology, MALAYSIA

International Journal of

Mechatronicsand Automation

NEW TITLE

v i s i t w w w . i n d e r s c i e n c e . c o m

Scope of the JournalIJMA is a fully refereed international journal that presents the state-of-the-artresearch in the area of mechatronics and industrial automation. The intention ofIJMA is to provide an international forum to report latest developments frominterdisciplinary theoretical studies, computational algorithm development andpractical applications. It particularly welcomes those emerging methodologies andtechniques which bridge theoretical studies and applications and have significantpotential for real-world applications.

ContentsIJMA publishes original papers, technical reports, case studies, review papers andtutorials. Special Issues devoted to important topics in advanced mechatronicsystems, robotics, control engineering and industrial automation will be publishedfrom time to time.

Subject coverage:Suitable topics include, but are not limited to:• Intelligent mechatronics, robotics andbiomimetics• Novel and unconventional mechatronicsystems and robots• Modelling and control of mechatronicssystems and robots• Elements, structures, mechanisms of microand nano systems• Sensors, wireless sensor networks andmulti-sensor data fusion• Biomedical and rehabilitation engineering,prosthetics and artificial organs• AI, neural networks and fuzzy logic inmechatronics and robotics• Industrial automation, process control andnetworked control systems• Telerobotics, human computer interaction,human-robot interaction

www.inderscience.com/ijma

International Journal of

Mechatronicsand Automation

v i s i t w w w . i n d e r s c i e n c e . c o m

Members of the Editorial BoardEditor-in-ChiefProf. Shuxiang GuoKagawa University, Japan

Executive EditorProf. Huosheng HuUniversity of Essex, UK

Editorial Board Prof. Martin AdamsNanyang Technological University Singapore

Prof. Gursel AliciUniversity of WollongongAustralia

Prof. Hajime AsamaUniversity of TokyoJapan

Prof. Darwin G CaldwellItalian Institute of TechnologyItaly

Prof. Fabio CelaniSapienza University of RomeItaly

Prof. Alexander FerwornRyerson UniversityCanada

Prof. Toshio FukudaNagoya UniversityJapan

Prof. William R. HamelThe University of Tennessee,USA

Prof. Dagui HuangUniversity of Electronic Science and Technology of China, China

Prof. Jeffrey JohnsonOpen UniversityUK

Prof. Jong-Hwan KimKAISTKorea, Republic of

Prof. Chang LiuNorthwestern UniversityUSA

Prof. Max MengChinese University of Hong KongHong Kong

Prof. James K. MillsUniversity of TorontoCanada

Prof. Aiguo MingUniversity of Electro-CommunicationsJapan

Prof. Nazim Mir-NasiriSwinburne University of TechnologyMalaysia

Prof. T.J. TarnWashington University in St. LouisUSA

Prof. Hong ZhangUniversity of AlbertaCanada

Prof. Jianwei ZhangUniversity of HamburgGermany

Methods of payment

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What the editors sayabout IJMAThe new IJMA will cover the area of mechatronics andautomation that is currently very important and hottopics. I see that the technology of mechatronics andautomation will play a major role in developing newtechnological products. Hence, I am expecting that thenew journal will be a great hit with every researcher whois working on future innovations. It gives a great pleasureto be a part of the IJMA team.Toshio Fukuda,Nagoya University, Japan

I am honored to be a part of this exciting new journalwhich addresses an important and emerging area ofresearch, and believe that it will be extraordinarilysuccessful. I am confident that IJMA will have asignificant impact in the area of mechatroronics andautomation.T.J. Tarn,Washington University in St. Louis, USA

It is certainly an honor for me to serve as an EditorialBoard member for this important new journal.Mechatronics and automation technologies are central ina wide range of expanding industries across the world.IJMA promises to provide both basic and appliedresearchers a high quality avenue to report their work inthis exciting aspect of modern engineering.William R. Hamel,The University of Tennessee, USA

Mechatronics and industrial automation are at the heartof technological development and it is vital thatresearchers have high quality publications in which theycan rapidly disseminate their results. IJMA will cover avital and underrepresented area of research and I amconfident that it will have a significant impact on thecommunity, quickly becoming a leading journal in thisfield.Darwin G Caldwell,Italian Institute of Technology, Italy

I am honored to be invited to serve as an Editorial Boardmember of this new journal. Under the guidance ofEditors and Editorial Board, this new journal will be animportant forum for the publication of exciting newdevelopments in emerging technological areas.James K. Mills,University of Toronto, Canada

The birth of the new journal is a big event in the excitingfield of Mechatronics and Automation, and I am veryproud to be a part of the strong editorial team that willmaintain high quality and standards of all the paperspublished in it. The IJMA is certainly going to be a vitaland unique source of information on the latest theoreticaland practical achievements of the researchers in thismultidisciplinary and very essential engineering area. Nazim Mir-Nasiri,Swinburne University of Technology, Malaysia

RelevantInderscience TitlesInternational Journal of Advanced Mechatronic

Systems

International Journal of Applied Systemic Studies

International Journal of Automation and Control

International Journal of Bio-Inspired Computation

International Journal of Biomechatronics and Biomedical Robotics

International Journal of Computational Vision and Robotics

International Journal of Computer Applications in Technology

International Journal of Industrial Electronics and Drives

International Journal of Instrumentation Technology

International Journal of Intelligent Systems Technologies and Applications

International Journal of Mechatronics and Manufacturing Systems

International Journal of Modelling, Identification and Control

International Journal of Sensor Networks

International Journal of System Control and Information Processing

International Journal of Systems, Control and Communications

These titles are part of a unique profile on:ELECTRONIC SYSTEMS, CONTROL ANDARTIFICIAL INTELLIGENCE

�

For information about these titles and thesubstantial portfolio of journals developedby Inderscience, please visit the websiteat: www.inderscience.com

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Notes for Authors and Submission of Papers

Submitted papers should not have been previously published or be currently underconsideration for publication elsewhere.

All papers are refereed through a double-blind process. A guide for authors and otherrelevant information for submitting papers are available on the Submission of Paperssection of the Inderscience website: please go to

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For queries concerning the journal, please contact:

Editor-in-ChiefProf. Shuxiang GuoKagawa UniversityDepartment of Intelligent Mechanical Systems Engineering,2217-20 Shinmachi, Hayashi-cho,Takamatsu, 761-0396,JapanE-mail: [email protected]

With a copy to:Editorial Office, E-mail: [email protected]

(Please include in your email the title of the Journal)

ISSN: 2045-1059 (Print), ISSN: 2045-1067 (Online)

CALL FOR PAPERS Journal of Robotics and Mechatronics

Special Issue on “Focused areas and future trends of bio-inspired robots” Vol. 24, No. 4, August 2012, Fuji Technology Press, Japan

Focus: Through this special issue, we are making a broad call for papers related to the work developed and research related to bio-inspired robots, which has attracted a growing interest in recent years in developing autonomous robots that can interact in an unknown environment. Such an innovative scientific approach is based on biological observations of animals for their locomotion, perception, and sensory-motor integration principles.. In other words, robots that work and function by learning from nature. Research has shown that biologically inspired robots will exhibit much greater adaptivity and robustness in performance in unstructured environments than today's conventional robots. This new class of robots will be substantially more compliant and stable than current robots, and will take advantage of new developments in materials, fabrication technologies, sensors and actuators. Applications of bio-inspired robots will include autonomous or semi-autonomous tasks such as reconnaissance and de-mining for small, insect-like robots and human interaction tasks at a larger scale.

In this issue, bio-inspired robots in aquatic, aerial or terrestrial locomotion modes are targeted for their high capabilities such as maneuverability, stability and energetic efficiency. Areas contributed to the fields and their future trends are covered. Actuation and sensing are also of interest since sensory-motor integration of animals, even the simplest ones, presents many interesting sources of knowledge for control and robotics engineers. Contributions addressing technology gaps inhibiting the real-world deployment of bio-robotic systems are also sought. Keywords: Biomimetics, Bio-inspired Robots, Locomotion, Gait

Editor: Dr. K. H. Low, Nanyang Technological University, Singapore

Co-editor: Dr. Shuxiang Guo, Kagawa University, Japan

Guest co-editors: Dr. Xinyan Deng, Purdue University, USA Dr. Ravi Vaidyanathan, University of Bristol, UK Dr. James Tangorra, Drexel University, USA Dr. Hoon Cheol Park, Konkuk University, South Korea Dr. Fumiya Iida, Institute of Robotics and Intelligent Systems ETH, Switzerland

Important Dates: Submission Deadline: October 20, 2011 Notification of Acceptance/Rejection: February 20, 2012 Final Manuscript Submission: March 20, 2012 Publication: August 20, 2012

Submission to: Dr. K. H. Low/[email protected] Dr. Xinyan Deng/[email protected] Dr. Shuxiang Guo/[email protected] (papers contributed from Japan) Online Submission:�http://JRMSI2404.ijma.ieee�icma.org/ Papers should be written in English and be submitted in Microsoft Word or PDF format. The paper must not be submitted and published elsewhere. Details on submission and the journal can be found at the following link: http://www.fujipress.jp/JRM/

icma2011digest

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