ICMA2011 Digest

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
Additional copies may be ordered from:

IEEE Service Center 445 Hoes Lane Piscataway, NJ 08854 U.S.A. IEEE Catalog Number: ISBN: ISSN: IEEE Catalog Number (CD-ROM): ISBN (CD-ROM): CFP11839-PRT 978-1-4244-8151-4 2152-7431 CFP11839-CDR 978-1-4244-8114-9
Copyright and Reprint Permission:

Copyright and Reprint Permission: Abstracting is permitted with credit to the source. Libraries are
permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Operations Center, 445 Hoes Lane, Piscataway, NJ 08854. All rights reserved. Copyright 2011 by the Institute of Electrical and Electronics Engineers.
The papers in this book comprise the proceedings of the meeting mentioned on the cover and title page. They reflect the authors opinions and, in the interest of timely dissemination, are published as presented and without change. Their inclusion in this publication does not necessarily constitute endorsement by the editors or the Institute of Electrical and Electronics Engineers, Inc.
The Institute of Electrical and Electronics Engineers, Inc.
Foreword
On 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 Informationxvii 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 Ailin Zhang Zhigang Liu Ji Zhao Masahiko Ichii Kazuhiro Kosuge A.A. Goldenberg Paolo Dario Masayoshi Tomizuka Mario A. Rotea Guenther Schmidt Ju-Jang Lee Ren C. Luo Jinsong Wang Huadong Yu Advisory Council Chairs Beijing University of Technology, China Harbin Engineering University, China Jilin University, China Kagawa University, Japan Tohoku University, Japan University of Toronto, Canada Scuola Superiore Sant'Anna, Italy UC Berkeley, USA University of Massachusetts, USA Technischen Universitat Munchen, Germany KAIST, Korea National Taiwan University, Taiwan UESTC, China Changchun University of Science and Technology, China
Organizing Committees
Shuxiang Guo Founding Council Chair Kagawa University, Japan Founding Council Co-Chairs Chinese University of Hong Kong, China University of Electro-Communications, Japan University of Alberta, Canada UESTC, China General Chair Kagawa University, Japan
Max Q.H. Meng Aiguo Ming Hong Zhang Dagui Huang
Seiji Hata
-i-
Cunfu He William R.Hamel Fumikazu Oohira Laurent Foulloy Shuji Hashimoto Hyung Suck Cho Huosheng Hu
General Co-Chairs Beijing University of Technology, China The University of Tennessee, USA Kagawa University, Japan University of Savoie, France Waseda University, Japan KAIST, Korea University of Essex, U.K. Program Chair
Hajime Asama
The University of Tokyo, Japan Program Co-Chairs
Desheng Li Jean W. Zu Darwin G. Caldwell Hongbin Zha Philip Bolon Sunao Ishihara Fumitoshi Matsuno Byung-Ju Yi
Beijing University of Technology, China University of Toronto, Canada Italian Institute of Tech., Italy Peking University, China University of Savoie, France The University of Tokyo, Japan Kyoto University, Japan Hanyang University, Korea Organizing Committee Chair
Shuxiang Guo
Kagawa University, Japan Organizing Committee Co-Chairs
Kebin Jia Aiguo Ming
Beijing University of Technology, China University of Electro-Communications, Japan Tutorial/Workshop Chairs
Yueqing Yu Yoshinori Kuno Yoshimi Takeuchi Hideyuki Ishihara Yangquan Chen
Beijing University of Technology, China Saitama University, Japan Osaka University, Japan Kagawa University, Japan Utah State University, USA
- ii -
Shin'ichi Yuta Katsuhiro Kitajima Zhaoyao Shi Hong Z.Tan Kin-Huat Low Jinjun Shan
Invited/Organized Session Chairs University of Tsukuba, Japan Tokyo University of Agriculture and Technology, Japan Beijing University of Technology, China Purdue University, USA Nanyang Technological University, Singapore York University, Canada Awards Committee Chairs Chukyo University, Japan University of Toronto, Canada Beijing University of Technology, China Publications Chairs Beijing University of Technology, China Kagawa University, Japan Publicity Chairs Beijing University of Technology, China Kagawa University, Japan Ryerson University, Canada Beijing University of Technology, China Finance Chairs Beijing University of Technology, China Kagawa University, Japan Local Arrangement Chairs Beijing University of Technology, China Beijing University of Technology, China Conference Secretariats Kagawa University, Japan Beijing University of Technology, China Beijing University of Technology, China
Hiroyasu Koshimizu James K. Mills Songmin Jia
Wei Zhang Satoru Takahashi
Shujun Chen Hideyuki Sawada Guangjun Liu Qin Li
Songling Yang Takahiro Wada
Shiwei Feng Jinwei Fan & Lixia Liu
Liwei Shi Bendong Liu Liying Su & Shuai Huang
Conference Web System Administrator Liwei Shi Kagawa University, Japan
- iii -
Program Committees
Program Chair Hajime Asama The University of Tokyo, Japan Program Co-Chairs Desheng Li Jean W. Zu Darwin G. Caldwell Hongbin Zha Philip Bolon Sunao Ishihara Fumitoshi Matsuno Byung-Ju Yi Beijing University of Technology, China University of Toronto, Canada Italian Institute of Tech., Italy Peking University, China University of Savoie, France The University of Tokyo, Japan Kyoto University, Japan Hanyang University, Korea
International Program Committee

Adachi, Fumiyuki Ando, Kazuaki Arai, Tamio Asada, Minoru Ben-Tzvi, Pinhas BIDAUD, Philippe Cai, Lilong Chan, Min Byung Chen, Guanlong Chen, Ting Chen, Xin Cheng, Allen Choi, Hyouk Ryeol Chong, Nak Young Chui, Dehua Cui, Jianwen Damaren, Chris Deco, Gustavo Dillmann, Ruediger Addie, Ron Ang, Wei Tech Arai, Tatsuo Asama, Hajime Bi, Shusheng Bolon, Philippe Caldwell, Darwin G. Chen, Chun-Ta Chen, I-Ming Chen, Weidong Chen, Xinkai Cheng, Jianhua Choi, Hyuntaik Chou, Wusheng Chung, Juno Dai, Jian Sheng Dario, Paolo Deguang, Shang Ding, Jiexiong Aiyama, Yasumichi Aoyama, Hisayuki Araki, Kiyomichi Baeg, Sang Hyeon Bi, Zhuming Boustany, Nada Cao, Maoyong Chen, Deyun Chen, Ken Chen, Weihai Chen, Yangquan Cheng, Ji-Xin Choi, Junho Chu, Jinkui Chung, Woojin Dai, Xuefeng Davis, Steve Demiris, Yiannis Ding, Xilun Althoefer, Kaspar Arai, Fumihito Arzanpour, Siamak Bai, Ou Bian, Hongyu Brown, Martin Ceccarelli, Marco Chen, Feng Chen, Liguo Chen, Wenhua Chen, Zhangwei Cho, Young-Jo Choi, Youngjin Chugo, Daisuke Chung, Woojin Dailey, Matthew Dechev, Nick Deng, Yulin Do, Hyun Min
- iv -
Dodd, Tony Dong, Hongbin Du, Zhijiang Fan, Jinwei Feng, Weixing Fu, Jiacai Fu, Yili FUJIWARA, Takayuki Furusho, Junji Furuya, Nobuyuki Gao, Lin Ge, Sam Gong, Haixia Gu, Dongbing Guglielmelli, Eugenio Guo, Shuxiang Hamaguchi, Tetsuya Han, Min Harada, Kensuke Hasegawa, Yasuhisa Hashimoto, Shuji He, Cunfu Hirai, Shigeoki Hirose, Akira Hosoda, Kou Hu, Chao Hu, Jwu-Sheng Huang, Ping Huang, Yalou Ichiki, Masatoshi Ikuta, Koji Ishihara, Hidenori Ishii, Kazuo Iwamura, Yoshiaki Jia, Kebin Jiang, Zhen Jo, Yongho
Doh, Nakju Dong, Zaili Duan, Haibin Fang, Yongchun Fiorini, Paolo Fu, Mingyu Fujino, Tadashi Fujiwara, Yoshitaka Furuta, Katsuhisa Gang, Tong Gao, Shesheng Ge, Shuzhi Sam Gong, Yadong Gu, Jason Guo, Maozu Guo, Yi Hamel, William R. Han, Yujie Hariri, Alireza Hashimoto, Hiroshi Hata, Seiji He, Jia HIRATA, Hideyuki Hong, Keum-Shik Hou, Mingshan Hu, Huosheng Hua, Jun Huang, Qiang Huasong, Min Iguchi, Tetsuhiro INOMO, Hitoshi Ishihara, Sunao Ishii, Koji Iwatsuki, Nobuyuki Jia, Songmin Jiao, Shuhong Jr., Marcelo H.Ang
Dohta, Shujiro Du, Pingan Dubay, Rickey Fei, Qin Foulloy, Laurent Fu, Sheng Fujisaki, Kiyotaka Fukuyama, Hidenao Furutani, Eiko Gao, Guohua Gao, Wei Ge, Yunjian Gong, Zhiguo Gu, Xingzhong Guo, Mingliang Habibi, Saeid Han, Hongbin Hane, Kazuhiro Hasegawa, Osamu Hashimoto, Koichi Hattori, Tetsuo He, Jiping Hirata, Koichi Hong, Seung Ho Hou, Shuping HU, Jiquan Huang, Dagui Huang, Qingjiu IBA, Hitoshi Ikehara, Masaaki Ise, Toshifumi Ishii, Akira Ishikawa, Junzo Izuishi, Kunihiko Jia, Zhengyuan Jin, Hongzhang Jung, Kwangmok
Doi, Shun ichi Du, Xiliang Dufosse, Michel Feng, Gary Fu, Bin Fu, Shuigen Fujisawa, Shoichiro Fung, Wai-Keung FURUTANI, Katsushi Gao, Hongtao Gao, Xueshan Gofuku, Akio Graefe, Volker Guan, Yisheng Guo, Peng Haga, Yoichi Han, Jiqing Hao, Gang Hasegawa, Tadahiro Hashimoto, Minoru HAYASHI, Jun-ichiro Hino, Junichi Hirata, Yasuhisa Hori, Toshio Hou, Zhenguang Hu, Jun Huang, Hongzhong Huang, Tian Ichikawa, Akihiko Ikeuchi, Masashi ishiguro, Hiroshi Ishii, Chiharu Ito, Tomotaka Ji, Ping Jiang, Pingyu Jing, Wuxing Jung, Seul
-v-
K.H.Pang, Grantham Kamiya, Yoshitsugu Kang, Taehun Kiguchi, Kazuo Kim, Dong Hwan Kim, Sungshin Kitajima, Katsuhiro Komeda, Takashi Koo, Ja Choon Kotosaka, Shinya Kubota, Takashi Kurisu, Masamitsu Kyriakopou, Kostas J. Laugier, Christian Lee, Songjun Li, Chunwen Li, Hongsheng Li, Jin Li, Qin Li, Xiukun Li, Yuhua Li, Zhiyi Liang, Guolong Lin, Chyi-Yeu Liu, Dikai Liu, Haibo Liu, Jindong Liu, Peter X. Liu, Xiaoping Liu, Yunhui Lou, Yunjiang Lu, Shengfu Ma, Chunguang Magnenat-Thalm, Nadia Masek, Vlastimil Matsuhisa, Hiroshi Matsushige, Kazumi
Kagami, Shingo Kanamori, Chisato Karaki, Masayuki Kim, Byeongho Kim, Jinhyung Kim, Wheekuk Kobayashi, Tetsuo Kometani, Reo Koshimizu, Hiroyasu Kouzani, Abbas Kulkarni, S. M. Kuroki, Nobutaka Lai, Yongjun Lee, Jang Myung Lee, Yikuen Li, Desheng Li, Howard Li, Lei Li, Wenfeng Li, Yan Li, Yun Li, Zhiyong Liang, Yan Lin, Ming-Tzong Liu, Fang Liu, Honghai Liu, Jinguo Liu, Qing Liu, Xin-Jun Liu, Zhen Loureiro, Rui Lu, Tien-Fu Ma, Shugen Mao, Jianqin Mashatan, Vahid Matsunaga, Saburo Maxwell, Andrew
Kagawa, Koji Kaneko, Shunichi Kato, Takahisa Kim, Chang Hwan Kim, Jung Kiong, Tan Kok Kobayashi, Toshihiro Kong, Xiawen Kosuge, Kazuhiro Koyanagi, Mitsumasa Kuno, Yoshinori Kuwakado, Hidenori Lan, Hai Lee, Jihong Li, Bin Li, Gang Li, Jianfeng Li, Li Li, Xiaoshan Li, Yangmin Li, Yunhua Li, Zhongjian Liao, Hongen Liu, Bo Liu, Fanming Liu, Hugh Liu, Liqiang Liu, Rong Liu, Yongguang Long, Guilu Low, Kin-Huat M.Chen, Ben Ma, Xudong Maruyama, Hisataka Mashec, Vlasitimi Matsuno, Fumitoshi Melchiorri, Claudio
Kamata, Minoru Kang, Sung Chul Khajepour, Amir Kim, Doik Kim, Keehoon Kitajima, Hiroyuki Koh, Kyungchul Konyo, Masashi Kotiw, Mike Kubota, Naoyuki Kurazuma, Ryo Kuwano, Hiroki Laschi, Cecilia Lee, Minchul Li, Bing Li, Haisen Li, Jiangang Li, Mantian Li, Xiaoyang Li, Youfu Li, Zhang Lian, Feng-Li Liao, Wei-Hsin Liu, Da Liu, Guangyu Liu, Jiming Liu, Ming Liu, Xiangdong Liu, Yugang Lottin, Jacques Lu, BaoLiang M.Gupta, Madan Mae, Yasushi Masaki, Yamakita Masuda, Tadashi Matsuno, Takayuki Meng, Max Q.H.
- vi -
Meng, Yan Minemura, Kiyoshi Miyauchi, Satoru Moon, Yong Sun Morishige, Koichi Mrad, Ridha Ben Nagatani, Keiji Nakamura, Hikaru Nanayakkara, Thrish Ni, Zhonghua Obara, Minoru Ohtake, Hiroshi Okuma, Masaaki Osumi, Hisashi P.MILLER, DAVID Park, Sangdok Prassler, Erwin Qiao, Gang Radermacher, Klaus Ren, Xiangshi Ru, Changhai Saito, Takashi Sakurai, Yoshio Sawada, Hideyuki Shao, Keyong Sheng, Jie Shi, Jichuan Shimotsu, Masateru Soar, Jeffrey Song, Quanjun Su, Chun-yi Sugita, Naohiko Sun, Dong Sun, Yu Suzuki, Yuji Takahashi, Satoru Takamasu, Kiyoshi
Mills, James K. Ming, Aiguo Mo, Hongwei Mori, Hiroki Morishima, Keisuke Murakami, Toshiyuki Nagato, Keisuke Nakao, Masayuki Nefti-Meziani, Samia Ning, Hui Ogose, Shigeaki Oka, Koichi Okuno, Hiroshi Otake, Mihoko Pan, Yajun Payande, Sharam Qi, Guangyun Qiao, Hong Rao, Wenbi Rhim, Sungsoo Ryu, Jee-Hwan Sakaguchi, Masamichi Salman, Shaaban Ali Sekiyama, Kousuke Shao, Xinjian Sheng, Weihua Shi, Zhen Shin, Dong Ryeol Son, Jaebum Stasse, Olivier Su, Liying Suh, Il Hong Sun, jinwei Sun, Zhaowei Ta, Jeffrey Too Chuan Takahashi, Satoshi Takanobu, Hideaki
Minami, Hirotsugu Mitsuishi, Mamoru Mo, Shuhua Morii, Masakatsu Morita, Noboru MUSCATO, Giovanni Nakajima, Masahiro Nakatani, Akihiro Nelson, Bradley J. Nojima, Toshio Ohara, Kenichi Okada, Eiji Omichi, Takeo Ouezdou, Fathi Ben Park, Jong Hyeon Perez, Ruben Qi, Hairong Qiu, Anqi Ren, Carolyn Roh, Segon Sabatier, Jocelyn Sakai, Shuichi Sampei, Seiichi Semini, Claudio Sharifi, Farrokh Shi, Guangfan Shibata, Takanori SHIRAKI, Wataru Song, Jae-Bok Stein, Cathryne Sugar, Tom Sun, Baoyuan Sun, Kangning Suzuki, Minoru Tadakuma, Kenjiro Takahashi, Tatsuro Takasaki, Masaya
Minato, Kotaro Miyanaga, Yoshikazu Mochiyama, Hiromi Morikawa, Hiroyuki Morita, Yoshifumi NAGATA, Fusaomi Nakamura, Akio Nakauchi, Yasushi Ni, Jinping Oana, Hidehiro Ohsawa, Yasuharu Oki, Eiji Oohira, Fumikazu Ouyang, Puren Park, Jooyoung Pobil, Angel P.del Qi, Naiming Qiu, Hua Ren, Wei Rong, Weibin Sabti, Ali Sakka, Sophie Sandini, Giulio Shan, Jinjun Shen, Yantao Shi, Haizhang Shimojo, Makoto Shoham, Moshe Song, Kai-Tai Su, Chanmin Q. Sugihara, Tomomichi Sun, Daqian Sun, Xiaojun Suzuki, Takahiro Takahashi, Ryoichi Takaiwa, Masahiro Takeda, Takashi
- vii -
Takeda, Yukio Tan, Lihai Tanaka, Takayuki Tanji, Yuichi Tian, Yantao Touge, Tetsuo Tsukamoto, Hiroshi Vai, Ming-I Voos, Holger Wan, Feng Wang, DongMei Wang, Joseph Wang, Michael Yu Wang, Shuxing Wang, Xiaoyun Wang, Yuechao Wang, Zongyi Wen, Bangchun Wu, Gang Wu, Xiaofeng Xi, Zhihong Xie, Lihua Xin, Ming Xu, De Xu, Jianan Xu, Shijie Yakou, Takao Yamamoto, Motoji Yan, Shaoze Yang, Erfu Yang, Jianwu Yang, Wu Yang, Zhaojun Ye, Changlong Yi, Jianqiang Ying, Lixia Yokota, Sho
Takesue, Naoyuki Tan, Min Tang, Mo Tao, Nongjian Tomita, Naohide Tsagarakis, Nikos Tung, Steve Vanderborght, Bram Wada, Masayoshi Wan, Xinhua Wang, Gang Wang, Keqi Wang, Peishan Wang, Tongyu Wang, Xin Wang, Yuezong Wang, Zuobin Wen, Paul Wu, Jinglong Wu, Xiaojun Xiang, Zhengrong Xie, Ming Xiong, Caihua Xu, Dingjie Xu, Lixin Xu, Yaoqun Yamada, Takayoshi Yamamoto, Yoshio Yan, Shengyuan Yang, Fang Yang, Jing Yang, Xiukun Yano, Masafumi Ye, Shujiang Yin, Guofu Ying, Xianghua Yoshida, Shunichi
Takubo, Tomohito Tan, Zhenfan Tang, Yike Tarumi, Hiroyuki Tonet, Oliver Tsai, Ching-Chih Ueno, Satoshi Vernon, Brent Wada, Osami Wang, Baikun Wang, Guoli Wang, Lizhen Wang, Pu Wang, Wen Wang, Xinsong Wang, Zhidong Warisawa, Shin-ichi Wong, Pak-Kin Wu, Lei X.Yang, Simon Xiao, Jizhong Xie, Shane Xu, Bo Xu, Fen Xu, Mengguo Xue, AnKe Yamaguchi, Tomomi Yamashita, Atsushi Yanagihara, Mamoru Yang, Guiliin Yang, Kwangjin Yang, Yong Yao, Yiyu Yi, Byung-Ju Yin, Zhengsheng Ying-His, FUH, You, Bo
Tan, Jindong Tanaka, Mami Tanikawa, Tamio Terada, Hidetsugu Torii, Akihio Tsuji, Toshio Vachkov, Gancho Vlacic, Ljubo Wada, Takahiro Wang, Cheng Wang, Hua Wang, Ludan Wang, Shuchen Wang, Xianghong Wang, Yafeng Wang, Zhuo Watanabe, Mutsumi Wu, Changhua Wu, Shijing Xi, Jeff Xiao, Lan Xie, Shaorong Xu, Chunquan Xu, Honghai Xu, Qingsong Xue, Dingyu Yamamoto, Manabu Yamaura, Hiroshi Yang, Enxia Yang, Hyun Suck Yang, Qingsheng Yang, Yousheng Ye, Cang Yi, Chuanyun Yin, Zhouping Yokokohji, Yasuyoshi Yu, Dejie
- viii -
Yu, Huadong Yu, Shui Yuan, Jianjun Yue, Dong ZENG, Chunnian Zhang, Dianlun Zhang, Jinxiu Zhang, Mingjun Zhang, Xiaoyu Zhang, Yi Zhang, Yonggang Zhang, Zu Guang Zhao, Qing Zhao, Zhijun Zheng, Yuanfang Zhu, Chunbo Zhu, Xiangyang Zu, Jean
Yu, Jie Yu, Xiaoyang Yuan, Juntang Yue, Yong Zha, Hongbin Zhang, Hong Zhang, Lei Zhang, Rubo Zhang, Xinming Zhang, Yimin Zhang, Youmin Zhao, Cangwen Zhao, Xin Zheng, Fei Zhong, Ning Zhu, George Zhu, Xiaorui Zyada, Zakarya
Yu, Junzhi Yu, Yong Yuan, Libo Yun, Chao Zhang, Chengjin Zhang, Jianpei Zhang, Lijun Zhang, Xianmin Zhang, Xuping Zhang, Yong Zhang, Yunong Zhao, Chunhui Zhao, Xinhua Zheng, Guibin Zhou, Xunyu Zhu, Jianguo Zhu, Xilin
Yu, Qiang Yu, Yueqing Yuan, Xiaobu Yuta, Shin ichu Zhang, Dan Zhang, Jianwei Zhang, Lixun Zhang, Xiaolong Zhang, Yanhua Zhang, Yongde Zhang, Zhaohui Zhao, Lin Zhao, Yuxin Zheng, Jinyang Zhu, Chi Zhu, Qidan Zhu, Yu
- ix -
-x-
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
- xi -
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.
- xii -
Hotel Information
x 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
x 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.
- xiii -
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.
- xiv -
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 F C
JAN 25 -4
FEB 30 -1
MAR 43 6
APR 57 14
MAY 68 20
JUN 75 24
JUL 79 26
AUG 77 25
SEP 68 20
OCT 55 13
NOV 41 5
DEC 28 -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
x 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
- xv -
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 travelers 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. x 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
x x x
x x x x
- xvi -
Conference Information
Venue
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. 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.
- xvii -
- xviii -
Chinese Address Cards Beijing Empark Grand Hotel,
69 Tel: (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.
- xix -
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.
- xx -
IEEE ICMA 2011 Conference Plenary Talk 1

Full Research for Sustainable Industry (Tentative)
Hiroyuki Yoshikawa, Ph.D.

Engineer Director-General Center 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
- xxi -
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
- xxii -

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: tarn@wuauto.wustl.edu
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.
- xxiii -
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.
- xxiv -

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: georges.kotrotsios@csem.ch
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
- xxv -
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, Universit 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.
- xxvi -
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
www.2011.ieee-icma.org
- xxvii -
IEEE ICMA 2011 Conference Forum
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: asama@robot.t.u-tokyo.ac.jp
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.
- xxviii -

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 kosuge@m.tohoku.ac.jp
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.
- xxix -

Special Forum Technical Challenge of Robotics for Disaster Applications 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: qhuang@bit.edu.cn
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.
- xxx -

Robotics Challenge for Disaster

Hong Zhang, Professor
Department of Computing Science University of Alberta
Edmonton, Alberta Canada T6G 2E8

E-mail hzhang@ualberta.ca
Abstract:
Robotics research has steadily grown over the past sixty years, leading to successful development of industrial, service, medical, and other types of robots. relief operations. 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 Through this forum, I will review some of the robotics technologies that do exist for The need for technical assistance in 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. 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. Chair. Dr. Zhang is an associate editor of the IEEE Transactions on Systems, Man, and Cybernetics, and holder of a NSERC Industrial Research His current research interests include robotics, robot vision, and image processing.
- xxxi -
- xxxii -
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 17:30 - 18:30 8:30 - 9:00 9:00 - 10:00 10:00 - 10:15 10:15 - 12:03 12:00 - 13:30 13:30 - 15:18 15:18 - 15:40 15:40 - 17:28 8:00 - 9:00 9:00 - 10:00 10:00 - 10:15 10:15 - 12:03 12:00 - 13:00 13:00 - 14:30 14:30 - 14:45 14:45 - 16:33 16:50 - 18:00 18:30 - 21:00 8:00 - 9:48 9:50- 10:15 10:15 - 12:03 12:00 - 13:30 13:30 - 15:18 15:18 - 15:40 15:40 - 17:28 17:30 - 18:30 Registration Desk Open Reception in Beijing Empark Grand Hotel Monday, August 8, 2011 Opening Ceremony Plenary Talk #1 Morning Break Technical Sessions MA1 Lunch Break Technical Sessions MP1 Afternoon Break Technical Sessions MP2 Tuesday, August 9, 2011 Plenary Talk #2 Plenary Talk #3 Morning Break Technical Sessions TA1 Lunch Break Technical Sessions TP1 (Poster Session) Afternoon Break Technical Sessions TP2 IEEE ICMA 2011 Special Forum Award Banquet in Beijing Empark Grand Hotel (Hosted by BJUT) Wednesday, August 10, 2011 Technical Sessions WA1 Morning Break Technical Sessions WA2 Lunch Break Technical Sessions WP1 Afternoon Break Technical Sessions WP2 Farewell Party in Beijing Empark Grand Hotel
- xxxiii -
IEEE ICMA 2011 Technical Program, Sunday, August 7, 2011

2 Room 4 Room 7 Room 11 Room 12 Room 13 3 4 5 6 7 Room 14
Room
Time
Room 1
14:00 - 18:30 17:30 - 18:30
Registration Desk Open Location: the Pre-Function Area of Beijing Empark Grand Hotel Conference Reception Location: International Conference Room, Beijing Empark Grand Hotel
IEEE ICMA 2011 Technical Program, Monday, August 8, 2011

Opening Ceremony
Full Research for Sustainable Industry (Tentative)
Dr. Hiroyuki Yoshikawa, Center for Research and Development Strategy (CDRS) JST, Japan Location: Banquet Hall, Beijing Empark Grand Hotel Location: Banquet Hall, Beijing Empark Grand Hotel
8:30 - 9:00
9:00 - 10:00
Plenary Talk #1
Morning Break
- xxxiv -
MA1-1
Medical & Rehabilitation System Biomedical Mechatronics I Intelligent Control I
MA1-2
MA1-3
MA1-4
MA1-5
Robot Control I
MA1-6
MA1-7
Image Processing I Dynamics & Cooperative Control for Robots
10:15 - 12:03
IMS for Innovation
Lunch Break
MP1-1
Mobile & Walking Robots Biomedical Mechatronics II
MP1-2
MP1-3
MP1-4
Intelligent Control II
MP1-5
Robot Control II
MP1-6
Mechatronic Control Systems
MP1-7
Image Processing II
13:30 - 15:18
Kinematics of Manipulators
Afternoon Break
MP2-1
Nano Mechatronics
MP2-2
MP2-3
Biomedical Control System
MP2-4
Control Theory I
MP2-5
Robotic Vision
MP2-6
Sensing Calibration
MP2-7
Image Processing III
15:40 - 17:28
Mechatronic Device I
IEEE ICMA 2011 Technical Program, Tuesday, August 9, 2011

2 Room 4
Robotics: From Manufacturing to Intelligent Machines Prof. Tzyh Jong Tarn, Washington University, U.S.A
Room Room 7 Room 11 Room 12 Room 13
7 Room 14
Time
Room 1
8:00 - 9:00
Plenary Talk #2
9:00 - 10:00
Plenary Talk #3
Location: International Conference Room, Beijing Empark Grand Hotel CSEM: Vertical integration of R&D in Micro and Nanosystems for optimal application in industrial applications Dr. George Kotrotsios, Business Development CSEM SA, Swiss Center for Electronics and Microtechnology, Switzerland Location: International Conference Room, Beijing Empark Grand Hotel
Morning Break TA1-2

Novel Actuator System I Robots for New Control Theory II Fields I
TA1-1
TA1-3
TA1-4
TA1-5
SLAM
TA1-6
TA1-7
Sensor Networks Signal Processing I
- xxxv -
10:15 - 12:03
Mechatronic Device
Lunch Break TP1-P Poster Session

Location: International Conference Room, Beijing Empark Grand Hotel
13:00 - 14:30
Afternoon Break TP2-2

Novel Actuator System II
TP2-1
TP2-3
Robots for New Fields II
TP2-4
Control Application I
TP2-5
TP2-6
TP2-7
Robot Navigation I Sensor Design I Signal Processing II
14:45 - 16:33
Human Assistive Technologies and Industrial Applications I
16:50 - 18:00
IEEE ICMA 2011 Special Forum Location: International Conference Room, Beijing Empark Grand Hotel
18:30 - 21:00
Award Banquet
Location: Banquet Hall, Beijing Empark Grand Hotel
IEEE ICMA 2011 Technical Program, Wednesday, August 10, 2011

2 Room 4 WA1-2
Mechatronic Systems Analysis & Design of Robotic Systems Control Application II Robot Navigation II
Room Room 7 WA1-3 WA1-4 WA1-5 WA1-6 Room 11 Room 12 Room 13
7 Room 14 WA1-7
Time
Room 1
WA1-1
8:00 - 9:48
Human Associative Technologies and Industrial Applications II
Sensor Design II Signal Processing III
Morning Break WA2-2

Mechanism Analysis I Robot Applications Control Application III
WA2-1
WA2-3
WA2-4
WA2-5
WA2-6
WA2-7
Numerical Analysis
- xxxvi -
10:15 - 12:03
Manufacturing Technology
Robot Navigation Industrial Sensing with Ranging
Lunch Break WP1-2

Mechanism Analysis II Measurement Technology
WP1-1
WP1-3
WP1-4
Control Application IV
WP1-5
Teleoperation
WP1-6
Industrial Control
WP1-7
PID Control
13:30 - 15:18
Humanoid & Biped Robot
Afternoon Break WP2-2

Modeling & Analysis
WP2-1
WP2-3
Pattern Recognition
WP2-4
Vibration Control & Analysis
WP2-5
Predictive & Learning Control
WP2-6
Fault Diagnosis
WP2-7
Control of Nonsmooth Systems
15:40 - 17:28
Human System Interaction & Interface
17:30 - 18:30
Farewell Party
Location: International Conference Room, Beijing Empark Grand Hotel
Floor Map of Conference Rooms

2F, Beijing Empark Grand Hotel
2F: Conference Rooms 1, 4, 7, 11, 12, 13, 14
- xxxvii -
- xxxviii -
Monday August 8, 2011
Morning Sessions
MA1-1 MA1-2 MA1-3 MA1-4 MA1-5 MA1-6 MA1-7 Organized Session: IMS for Innovation Medical & Rehabilitation System Biomedical Mechatronics I Intelligent Control I Robot Control I Dynamics & Cooperative Control for Robots Organized Session: Image Processing I
Monday August 8, 2011

Afternoon Sessions
MP1-1 MP1-2 MP1-3 MP1-4 MP1-5 MP1-6 MP1-7 MP2-1 MP2-2 MP2-3 MP2-4 MP2-5 MP2-6 MP2-7 Kinematics of Manipulators Mobile & Walking Robots Biomedical Mechatronics II Intelligent Control II Robot Control II Mechatronic Control Systems Organized Session: Image Processing II Mechatronic Device Nano Mechatronics Biomedical Control System Control Theory I Robotic Vision Sensing Calibration Image Processing III
IEEE ICMA 2011 Conference Digest
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 Sensations on Touch Screen Using SMA Wires

Muhamad Hafiz and Hideyuki Sawada Faculty of Engineering, Kagawa University Kagawa, Japan
Introduction to IMS International

Fred-Holger Gnther and Daniel Nagy Chairman, International Steering Committee Intelligent Manufacturing Systems
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
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 International

Daniel Nagy Managing Director Intelligent Manufacturing Systems
Future IMS and NanoDevices

George Kotrotsios CSEM SA Neuchtel Switzerland
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
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
to New field -Seiji Hata Kagawa University (Takamatsu, Japan)
On IMS with Human Factor

-- From HUTOP Hiroyasu Koshimizu Chukyo University (Toyota, Japan)
History and Review of the IMS (Intelligent Manufacturing System)

Hideo Setoya Manufacturing Science and Technology Center Tokyo, 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
The history and review of IMS from Japans point of view. How did it take place. What was the achievement of IMS. Why Japan decided to end the IMS.
The IMS Logo
MA1-2: Medical & Rehabilitation System

Session Chairs: Max Q.H. Meng, Chinese University of Hong Kong Fan Gao, UT Southwestern Medical Center at Dallas Room 4, 10:15-12:03, Monday, 8 August 2011
MA1-2(1) 10:15-10:33 MA1-2(2) 10:33-10:51
Motorized Facilitated Ankle Stretching

Fan Gao Prosthetics and Orthotics Program, UT Southwestern Medical Center Dallas, TX, USA
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
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 holdrelax technique on the ankle joint. Experimental setup
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 Stroke
Yili Fu, Qinchao Zhang, Fuhai Zhang, Zengkang Gan The State Key Laboratory of Robotics and System Harbin 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.
Structure Synthesis and Optimization of a Supporting Medical Manipulator for Vascular Interventional Surgery
Xing-tao Wang, Xing-guang Duan, Qiang Huang, Hong-hua Zhao, Yue Chen, and Chao Chen Intelligent Robotics Institute., Beijing Institute of Technology Beijing, China
The HIT-glove
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 Hou College of Mechanical Engineering, Yanshan University Qinhuangdao, China
Design of Intravenous Infusion Monitoring and Alarm system Based on Wireless Communication Technology
Cui Jianwen1 Zhang Han2 1College of Automaton, Harbin Engineering University, Harbin, Heilongjiang, China 2 Department of Oral Anatomy & Physiology, The Stomatology College of Harbin Medical University, Harbin, Heilongjiang, China
The surgery robotic system includes fourpart: a positioning arm, a six-dimensional force sensor, a catheter intervention device and its manipulator. Introduce the control method of the system. Some experiments are conducted to evaluate the accuracy and sensitivity.
The hardware system structure chart of surgery robot
Working Principle of System. Wireless Network Communication Mode. Design of Hardware. Design of Software. Experiments and Conclusion .
Processing circuit
Processing circuit
Processing circuit
Processing circuit
Sensor 1
Sensor 2
Sensor
Overall block diagram of the system
MA1-3: Biomedical Mechatronics I

Session Chairs: Shugen Ma, Ritsumeikan University Jun Yang, University of Western Ontario Room 7, 10:15-12:03, Monday, 8 August 2011
MA1-3(1) 10:15-10:33
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
MA1-3(2) 10:33-10:51
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 5B9 jyang@eng.uwo.ca 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.
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 centrifugal Lab-in-a-tubing platform including a motor, a control board and a CD platform with 3D tubing networks etc.
The developed robotic catheter system
photolithographic microfabrication process including 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) Snake
Md Khaled Abu Mahmoud and Adel Al-Jumaily School of Electrical, Mechanical and Mechatronic Systems, University of Technology Sydney Sydney, Australia
Apply RRT-based Path Planning to Robotic Manipulation of Biological Cells with Optical Tweezer
Tao Ju, Shuang Liu, Jie Yang, and Dong Sun City University of Hong Kong, University of Science and Technology of China, Suzhou, China
Biomedical images are noisy and poorly borders, that making them difficult to segment and analyse. A gradient vector flow (GVF) snake with adaptive filters (winner and median) is proposed for the segmentation of skin cancer images. The proposed GVF snake has experimented and compared with other recommended operators in the literatures which shown accurate results without any deteriorating the actual lesion boundaries.
The Skin Cancer Images
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 Path Planning in Cells manipulation towards the target position.
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 Su Department of Engineering Mechanics, Beijing University of Technology Beijing, China
Wireless Power Transfer System for Capsule Endoscopy Based on Strongly Coupled Magnetic Resonance Theory
Xuelin 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
A nanoindentation experiment is carried out to obtain Youngs modulus, hardness and loaddisplacement 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.
20
15
10
10
Displacement into surface / nm
20
30
40
50
60
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
Load on sample / N
Experiment of RBC
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
An Approach to Simultaneous Realization of Neutral Steer and Sideslip Reduction for Four-Wheeled Electric Vehicles
Guisheng Zhai*, Masayuki Naka**, Tomoaki Kobayashi**, and Joe Imae** *Shibaura Institute of Technology, Japan **Osaka Prefecture University, Japan
MA1-4(2) 10:33-10:51
Real-time Dynamic Power Management of Electrically Assisted Bicycle

Stone Cheng, Ivan Huang Department of Mechanical Engineering National Chiao-Tung University, Hsinchu, Taiwan, R.O.C.
Both neutral steer and sideslip reduction are dealt with for fourwheeled 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
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.
Current, Voltage, Power and Energy density
Discharge test for energy density
MA1-4(3) 10:51-11:09
An improved 3D Modeling of Water-jet propellers for a Spherical Underwater Robot
Zhaoyi Liu1,2, Shuxiang Guo1
1
MA1-4(4) 11:09-11:27
Adaptive Controller for Omni-directional Walker: Improvement of Dynamic Model

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kochi University of Technology, Japan Tianyou Chai, Northeastern University, China Kenji Ishida, Kochi University, Japan Masakatsu G. Fujie Waseda University , Japan
Hui Li2 and Xichuan Lin1

1
Kagawa University, Japan 2 UESTC, China
Kagawa University, Japan 2 UESTC, China
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
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 Yang College of Computer and Information, Hohai University , Changzhou, China
RBF Based Discrete Terminal Sliding Mode Control for Flight Simulator
Yaqing Chen and Weihong Wang School of Automation Science and Electrical Engineering of Beihang Univeristy Beijing, China
This paper presents a robust adaptive sliding mode control strategy of MEMS triaixal gyroscope using RBF neural network. 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 Angular velocity using neural verify the effectiveness of the proposed network adaptive upper bound adaptive RBF sliding mode control scheme.
A n g u la r R a te X
20 10 0 -10 0 10 20 30 40
time(second)
50
60
70
80
90
100
A n g u la r R a te Y
20 10
-10 -20
10
20
30
40
time(second)
50
60
70
80
90
100
A n g u la r R a te Z
20 10
-10
10
20
30
40
time(second)
50
60
70
80
90
100
Three degree-of-freedom (3-DOF) flight simulator Design of discrete terminal sliding mode controller Design of RBFNN sliding mode controller Simulation and conclusion Flight Simulator
MA1-5: Robot Control I

Session Chairs: Kazuhiro Kosuge, Tohoku University Daisuke Uragami, Tokyo University of Technology Room 12, 10:15-12:03, Monday, 8 August 2011
MA1-5(1) 10:15-10:33 MA1-5(2) 10:33-10:51
The Efficacy of Symmetric Cognitive Biases in Robotic Motion Learning

Daisuke Uragami1, Tatsuji Takahashi2, Hisham Alsubeheen1, Akinori Sekiguchi1 and Yoshiki Matsuo1 1Tokyo University of Technology, 2Tokyo Denki University
An Energy Saving Open-Loop Control Technique for Flexible Manipulators

Akira Abe and Kazuma Komuro Department of Systems, Control and Information Engineering, Asahikawa National College of Technology, Asahikawa, Japan
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 Giant-swing robot convergence speed increase and avoidance of in ODE local optimum.
We present an energy-saving, openloop control technique for a flexible Flexible Manipulator 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 Tip Mass AC Servomotor minimum vibration and energy conditions. Simulations and experiments are Experimental Setup performed to demonstrate the effectiveness of the proposed method.
MA1-5(3) 10:51-11:09
MA1-5(4) 11:09-11:27
Tracking Control of Mobile Robot Using ANFIS

Masoud 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, Iran Department of Mechatronics Engineering, K.N.Toosi University of Technology, Tehran, Iran
Anti-Swing Control of Underactuated Overhead Crane System Using Multiple Lyapunov

Aydin Yesildirek Mechatronics Graduate Program, American University of Sharjah Sharjah, UAE
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 & d and its output are V & . In compares with the FUZZY controller, the ANFIS one has more abilities and better performance in tacking sudden turns, successive curves, and slopes.
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 Robotics

Hu Su, De Xu and Yanlong Huang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation, Chinese Academy of Sciences BeijingChina.
Sliding mode adaptive control for flying robot based on recurrent CMAC algorithm
Hongjun DUAN, Deying GU Department of Automation Engineering, Northeastern University at Qinhuangdao Qinhuangdao, 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 Schematic illustration of an MP paper.
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.
zl
y
yr xl
O
Z
x
xr
ol
o
zo
yl
zr
Description of coordinate systems
MA1-6: Dynamics & Cooperative Control for Robots

Session Chairs: Hajime Asama, The University of Tokyo Jizhong Xiao, City University of New York Room 13, 10:15-12:03, Monday, 8 August 2011
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 Potential Field Method-based Extension of the Dynamic Movement Primitive Algorithm for Imitation Learning with Obstacle Avoidance
Huan Tan, Erdem Erdemir, Kazuhiko Kawamura Vanderbilt University Nashville, USA Qian Du Nankai University Tianjin, China
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 Various Traction Forces acting simulation. on Wheeled Mobile Robot (WMR) Developed model may be utilized for controlling of slip for mobile vehicles.
An Extension of Dynamic Movement Primitives:
g impedance(k + 1)
F impedance(k )
o F impedance (k )'
gtemp(k +1)
F impedance (k )
y (k )
Modification of Goal State in DMP Using Potential Field
MA1-6(3) 10:51-11:09
MA1-6(4) 11:09-11:27
Dynamical Task Allocation and Reallocation Based on Body Expansion Behavior for Multi-robot Coordination System
Guanghui Li, Yusuke Tamura, Hajime Asama Department of Precision Engineering, The University of Tokyo Hongo 7-3-1, Bunkyo-ku, Tokyo, Japan
Force Field Search
Radio Source Search Using Force Field Vectors Weighted By Received Signal Strength Gradients
Xiaochen Zhang, Yi Sun and Jizhong Xiao Dept. 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.
15 Frequency 10 5 0
Thesues gradient search
Frequency
10 5 0 8
Chemotaxis
Frequency
6 4 2 0 0 5 10 15 20 25 Cost indicator 30
40
35
Simulation comparison of three methods
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.
Task1 ID, Coordinate
Task2 ID, Coordinate
Taskn
ID, Coordinate
Distances
Distances
Distances
The first time round negotiation
Distances
Distances
Distances
The second time round negotiation
Distances
Distances
Distances
The illustration of initial step
MA1-6(5) 11:27-11:45
MA1-6(6) 11:45-12:03
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
A Distributed Multi-Robot Formation Control Method

Yuan Li, Wei Zou, Feng Wen, and Kui Yuan Institute 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 control
Multi-Robot Formation Control
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
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 RD Labs., inc. Nagakute,JAPAN ** KANTO AUTO WORKS,LTD. Susono,JAPAN
A Method for Noise Suppression in Image Morphing Using Co-occurrence Frequency Image
Yosuke Nagasaka, Takayuki Fujiwara, Takuma Funahashi and Hiroyasu Koshimizu SIST, Chukyo University, Aichi, Japan
The feature points are extracted accurately by using 2-D image information by the light-section method.
TV camera laser slit laser slit light source light source Slit light image Combined Extracted image feature points round hole Round hole image Developed measurement method
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
MA1-7(3) 10:51-11:09
MA1-7(4) 11:09-11:27
Liquid Crystal Lens with Electrically Controllable Focal Length

Mao Ye, Bin Wang, Masaru Uchida, Satoshi Yanase, Shingo Takahashi, and Susumu Sato Akita Industrial Technology Center Akita, Japan
Autonomous Robot Human Detecting and Tracking Based on Stereo Vision

Songmin Jia, Liang Zhao, Xiuzhi Li, Wei Cui College of Electronic Information & Control Engineering Beijing University of Technology Beijing, China
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
A robust human detecting and tracking system is proposed. Hu moment was chosen to detect human because it has the invariant character. Robust human tracking was performed with Extend Kalman Filter (EKF). Our experiments have demonstrated The human detection and tracking that the method of human detecting and tracking is effective.
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 Mao College of Computer Science and Technology, Harbin Engineering University Harbin,China
Real-time Structured Light 3D Scanning for Hand Tracking

Renju Li and Hongbin Zha Key Laboratory of Machine Perception (Ministry of Education), Peking University Beijing, China
Introduction. Space vector difference method. Implementation of the algorithm. Experimental results.
Moving Objects Detection
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.
MP1-1: Kinematics of Manipulators

Session Chairs: Ming-Tzong Lin, National Formosa University Qinxue Pan, Beijing Institute of Technology Room 1, 13:30-15:18, Monday, 8 August 2011
MP1-1(1) 13:30-13:48
Configuring Kinematically Redundant Robotic Manipulators to Increase Effective Task-Specific Motion Resolution
Frank L. Hammond III School of Engineering and Applied Sciences, Harvard University Cambridge, Massachusetts, USA
MP1-1(2) 13:48-14:06
Kinematics Analysis of Manipulation of Environment-Contacting object with Free-Joint-Structure

Yasumichi Aiyama and Kazuki Sato Manipulation System Lab., University of Tsukuba Tsukuba, Japan
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 Redundant manipulator performs resolution for EMR-based robot high-precision weld with lowdesigns and motion plans. precision actuation architecture
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 Tung MDE, National Formosa University, Yunlin, Taiwan, R.O.C. Precision Machinery R&D Center, Taichung 407, Taiwan, R.O.C.
A Comparison Study of Three Screw Theory Based Kinematic Solution Methods for the Industrial Robot Manipulators
Emre SARIYILDIZ and Hakan TEMELTAS Department of Control Engineering Istanbul Technical University Istanbul, Turkey
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 highspeed and high-accuracy finger motion control can be achieved .
Xt
Yt
Y4
X4
Ot Zt
DIP joint
O4
Z 4 Y3
Z3
X3
O3
X2
O2
PIP joint
Y2 Z2
2
X1
MP joint
Yb Zb
Xb Ob
O1
1 Y1
Z1
Kinematic Configuration of a PMC Finger
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-Driven Multi-Joint Robot Manipulator

Jianjun Yuan*, Weijun Zhang, and Wan Yan Research Institute of Robotics, Shanghai Jiao Tong University Shanghai 200240, China
Design and Workspace Analysis of a Light Weight and High Stiffness Arm
Jing Li, Qiang Huang, Zhangguo Yu, Wei Xu, Xuechao Chen and Gan Ma School of Mechatronical Engineering Beijing Institute of Technology, 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
Lightweightproduces reduced inertialinfluenceon humanoid robot Highstiffnessensureshigh precision Adequateworkspace
Physicalrobot arm
10
MP1-2: Mobile & Walking Robots

Session Chairs: Tatsuo Arai, Osaka University Masamitsu Kurisu, Tokyo Denki University Room 4, 13:30-15:18, Monday, 8 August 2011
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
Experimental study and DEM analysis on rigid driving wheels performance for off-road vehicles moving on loose soil
Runhuai 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
A prototype platform of teleoperation system 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
An experimental and numerical investigation was carried out on the performance of a single wheel travelling over various kinds of loose soil, including dry sand, wet sand, and mud. And discrete element method was used to simulate the interaction between wheel and sand.
MP1-2(3) 14:06-14:24
Dynamic Rotational Walking Motion on Inclined-plane with Posture Optimization by Genetic Algorithms
Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
MP1-2(4) 14:24-14:42
Analysis and Modeling of Slip for a Five-Wheeled Mobile Robot (WMR) in an Uneven Terrain
Ozoemena A. Ani1 ,He Xu2 and Gang Zhao3 of Mechanical and Electrical Engineering Harbin Engineering University, 150001 Harbin, P.R. China
1,2,3College
Arai 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.
Increasing application of wheeled mobile robots Problem of wheel slip in traction and motion control of wheeled mobile robots
k S ( ) = 1 ln(1 ( ) / T ) + (1 ) /(sin 1 sin ) r
Inclined-plane motion on 5 and 10 degree planes
Optimal point of slip wrt rotation angle = 32.337929 Further analysis of wheel terrain-interaction e.g.oh,ca,te
0
Fig. 6: Graphs of rotation angle (i) vs. slip (S) and T showing optimal point
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 Yang Department of Engineering Science University of Science and Technology of China Hefei, China
Design and Development of Manual Wheelchair With Obstacle-crossing Capability

Xuwei Guo, Shenghai Hu and Lixia Ying School of Mechanical and Electrical Engineering, Harbin Engineering University Harbin, 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 swinglegged system was studied. The system is foldable, and can complete two phases of crossing motion only by using the same The wheelchair based on swing link. a swing-legged system
11
MP1-3: Biomedical Mechatronics II

Session Chairs: Yong Yu, Kagoshima University Ryoichi Suzuki, Kanazawa Institute of Technology Room 7, 13:30-15:18, Monday, 8 August 2011
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. Hofer Department of Robotics, Kanazawa Institute of Technology Ishikawa 921-8501, JAPAN
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 Peoples 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. Internal Model Control Design A prototype of the powered ankle prosthesis
Architecture of the system
MP1-3(3) 14:06-14:24
MP1-3(4) 14:24-14:42
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
Experimental Investigation of the Small Intestines Viscoelasticity for the Motion of Capsule Robot
Renjia 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
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 Surgery
Peng 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
Novel approach of ulcer prevention based on pressure distribution control algorithm

Jalloul Elfehri, Franois Boussu, Vladan Koncar, Christian Vasseur GEMTEX Research Lab., ENSAIT, Roubaix University of Lille1 France
A novel master-slave robotic system is proposed for minimally intravascular invasive surgery. The robotic system is composed of wire & catheter mechanism(slave), feedback device and master section. The structure mechanism, working principle and control system of the The Master-Slave Robotic System robotic system are also introduced.
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 Room 11, 13:30-15:18, Monday, 8 August 2011
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 Redundancy
Taeju 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
H Control of Active Magnetic Bearings using Closed Loop Identification Model

Chen Junfeng, Liu Kun, XiaoKai Institute of Aerospace and Material Engineering, National University of Defense Technology ,Changsha, China Closed loop identification experiments are done to identify the models at different speeds, and the model uncertainty bound is deduced for controller design. H controller is then synthesized to guarantee (through the specification of loop-shaping weights) closed-loop robustness and performance with the identified uncertainty bound at the designed rotational speed range. Results through numerical simulations show that the robustness against the uncertainty and the nominal performance Experimental hardware of active for output disturbance rejection of the magnetic bearings system controller satisfy the design requirements.
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 Hydraulic Actuated Quadruped Robot algorithm is proposed.
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 InformationControl Engineering , Beijing University of Technology Beijing, China
Advanced Inversion Control for a Hypersonic Vehicle Based on PSO and Arranged Transient Process
Zhiqiang Pu, Xiangmin Tan, Jianqiang Yi, and Guoliang Fan Institute of Automation, Chinese Academy of Sciences, Beijing, China
The nonlinear DYC control model of electric vehicle
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 feedback 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 Fish

Zongshuai Su, Junzhi Yu, Min Tan, and Jianwei Zhang Institute of Automation, Chinese Academy of Sciences Beijing, China
Model Analysis and Active Vibration Control for Space Deployable Truss Type Mast
Haojiang Zhao, Rongqiang Liu, Honghwei Guo, Zongquan Deng Harbin Institute of Technology, Harbin, Heilongjiang Province, 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.
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 actuators 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 Room 12, 13:30-15:18, Monday, 8 August 2011
MP1-5(1) 13:30-13:48 MP1-5(2) 13:48-14:06
Singularity Analysis Of 6DOF Stubli TX40 Robot

Masoud Vaezi, Hesam Eddin Shoori Jazeh, Farzad Cheraghpour Samavati, S.Ali A.Moosavian Department of Mechanical & Electrical Engineering K.N.Toosi University of Technology Tehran, Iran
A High Speed Robot Vision System with GigE Vision Extension

Wenhao He, Kui Yuan, Han Xiao and Zhengdong Xu Institute of Automation, Chinese Academy of Sciences Beijing, China
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.
Stubli Robot
Use FPGA and DSP to boost the computing speed. A GigE vision interface is extended 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-CableDriven Parallel Manipulator Based on Least Square-Support Vector Regression
Xiaoling Jiang, Yijian Huang, Yaqing Zheng College of Mechanical Engineering and Automation in Huaqiao university Xiamen, China
Position Control of a 2DOF Underactuated Planar Flexible Manipulator

Wei Chen, Yueqing Yu, Xinhua Zhao , Lianyu Zhao and QIyuanSun School of Mechanical Engineering, Tianjin University of Technology Tianjin City, China
Pseudo-Curve model simplification Least Square-Support Vector Regression The Sketch map of the URPM4-3R3T
The dynamic equations are given based on the assumed mode method Kinemics and dynamics of the system are analyze. The position control strategies are designed with the switch of the brake at the passive joint. A 2DOF underactuated planar robot experimental setup and its control system is developed. Simulative and experimental results verify the validity of the presented control methods.
The 2DOF Underactuated Flexible Manipulator
MP1-5(5) 14:42-15:00
MP1-5(6) 15:00-15:18
Automatic Tracking of Human-Body Using a 3 DOF Robotic Lamp

Yun-Seok Lee, Dae-Keun Yoon, Jong-Tae Seo, and Byung-Ju Yi Department of Electrical, Electronics, Control, and Instrumentation Engineering Hanyang University Ansan, Korea
Modular Design for Small Humanoid Robots based on Robbus

Qian Xu, Qiang Huang , Xiaopeng Chen and Wei Xu Intelligent Robotics Institute, Beijing Institute of Technology, China
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
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 Room 13, 13:30-15:18, Monday, 8 August 2011
MP1-6(1) 13:30-13:48 MP1-6(2) 13:48-14:06
Micro Gap Measurement by Vibration Mode for Needle-type dispenser

Kazuki Hirose, Yuuka Irie, Shinnosuke Hirata, and Hisayuki Aoyama Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo, Japan
A De-Coupled Vertical Controller for MicroAutonomous Underwater Vehicles (uAUVs)

Simon A. Watson and Peter N. Green School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK
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.
AUVs 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 Results of a AUV Executing a vertical control system . Staircase Movement Sccenario
Needle-type dispenser
MP1-6(3) 14:06-14:24
MP1-6(4) 14:24-14:42
The Design and Technical Challenges of a MicroAutonomous Underwater Vehicle (uAUV)

Simon A. Watson, Dominic J. P. Crutchley and Peter N. Green School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK
Dynamic Analysis and PID Control for a Quadrotor

Jun Li, Yuntang Li College of Mechanical and Electrical Engineering, China Jiliang University Hangzhou, China
AUVs 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 AUV
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
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, Xian Technological University, Xian, China Yong Yue and Dayou Li Institute for Research in Applicable Computing, University of Bedfordshire, Luton, UK
MP1-6(6) 15:00-15:18
The Dynamics Study of the Stick-slip Driving System Based on LuGre Dynamic Friction Model
Bowen Zhong, Lining Sun, Liguo Chen, and Zhenhua Wang Robot Research Institute., Harbin Institute of Technology Harbin, Hilongjiang Province, China
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
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. Room 14, 13:30-15:18, Monday, 8 August 2011
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
A novel method that evaluates the color uniformity grade of electronic displays is presented. The images are filtered by the newly defined visual perceptual filter. The experimental results showed strong relations
Luminance
Red-Green
Blue-Yellow
200 Contrast Sensitiv 150 100 50 0 0. 1 1 10 100 S pati f al requency[cpd] Lum i nance R ed-G reen Bl ue-Yelow l
Color Contrast sensitivity function (CSF).
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 achieved sufficient recognition rate.
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
Towel Mark Recognition System for Washing Cloth Handling System
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 Avila University of the Pacific Stockton, California, USA
Research on Intellectual Detection and Classification of Pork Freshness Based on SOM Neural Network
Guo peiyuan, Fu yan, Yuan Fang, Bao Man Beijing Technology and Business University Beijing, China
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.
CCD photoelectric detection techniques digital image processing techniques the final study of using neural network technology microparameters 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 Li Information and Communication Engineering College, Harbin Engineering University Harbin, China
Finding Objects at Indoor Environment Combined with Depth Information

Yongqiang Gao1, 2, 3, Jianhua Zhang4, Liwei Zhang1,2, Ying Hu1, 2, Jianwei Zhang4 Institutes of Advanced Technology, Chinese Academy of Sciences Chinese University of Hong Kong, Hong Kong, China of Computer Science and Technology, University of South China, Hunan, China 4TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany
2The 1Shenzhen 3School
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.
Generic objectness measure than category-specific Combining depth information cue Detecting and localizing generic objects in the indoor scens Especially for closed objects Selecting bounding box which contains a possible objects
Desired Behavior of Measure
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 Room 1, 15:40-17:28, Monday, 8 August 2011
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 Huang, Yangmin Li , Xinhua Zhao University of Macau, Macao, China Tianjin University of Technology,Tianjin, China
Development of a Micromirror Based Laser Vector Scanning Automotive HUD

Fan Chao, Siyuan He, James Chong, Ridha Ben Mrad and Lei Feng MEMS Research Lab., Ryerson University, Canada
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.
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
A Decoupled Parallel XY Stage
MP2-1(3) 16:16-16:34
MP2-1(4) 16:34-16:52
Influence of the Navier Boundary Wall Slip on Flow Patterns in Micro-scale Cavity
Zhaomiao Liu, Guobin Wang, Feng Shen Department of Engineering Mechanics, Beijing University of Technology Beijing, China
Novel Design of a Three DOFs MEMS-based Precision Manipulator

Min Pan, Zhongzhe Chi and Dan Zhang Robotics 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
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
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 System
Yuanlong Wei, Mincheol Lee Measurement and control Lab., Pusan National University Busan, South Korea
Micro/nano Displacement Measurements Using a Novel Contact Probe-Based FBG Sensing System
Chen Lijuan , Chen Xiaohuai , Fei Yetai, Liu Fangfang Department of Instrument Science and Optoelectronic Engineering, HeFei University of Technology HeFei, China
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.

180o
North Finding Mobile Robot
A high-precision and low-cost Micro /nano displacement measuring system Suspended FBG probe stem and micro-ball tip 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 displacement resolution 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 Room 4, 15:40-17:28, Monday, 8 August 2011
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 System

M. Bartenwerfer, S. Fatikow, R. Tunnell, U. Mick, C. Stolle, C. Diederichs, D. Jasper, and V. Eichhorn Division of Microrobotics and Control Engineering University of Oldenburg, Germany
Automated Alignment, Focussing and Control of Nanomanipulators in Microassembly Workccell

Himanshu Dutt Sharma, Sachin Bhardwaj, Rohit Kumar Singh, Gaurav Singh Naruka, and Amit Tholia
CSIR-Central Electronics Engineering Research Institute(CEERI) Pilani, India
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.
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 Fatikow Division of Microrobotics and Control Engineering University of Oldenburg, Germany
Hysteresis Modeling and Inverse Feedforward Control of an AFM Piezoelectric Scanner Based on Nano Images
Hui Tang, Yangmin Li , Xinhua Zhao University of Macau, Macao, China Tianjin 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.
Nanorobotic setup inside the SEM to transfer silicon nanowires with several m 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.
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 Sun State Key Laboratory of Robotics and System, Harbin Institute of Technology Harbin, China
Design of Hardware and Software for A New Capillary Rheometer

Heping Song, Chengquan Hu, Guangyu Zhao, Lifeng Wang and Yuanbo Xu College of Computer Science and Technology, Jilin University, Changchun, 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 4mm4mm5mm, resolution of A 3D stick-slip nanopositioner 10nm and load capacity up to 70g.
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 performance but 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 Room 7, 15:40-17:28, Monday, 8 August 2011
MP2-3(1) 15:40-15:58 MP2-3(2) 15:58-16:16
Adaptive Controller for Motion Control of a Seated Walking Training Machine

Yuto Watanabe1, Shuoyu Wang1, Renpeng Tan1, Yinlai Jiang1, Kenji Ishida2, and Masakatsu Fujie3 Kochi University of Technology1, Kochi University2, Waseda University3, Japan
Power Assistance for Human Elbow Motion Support Using Minimal EMG Signals with Admittance Control
Chi Zhu, Shota Shimazu, Masataka Yoshioka, and Tomohiro Nishikawa Dept. of Systems Life Engineering, Maebashi Institute of Technology, Gunma, 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
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 Power assist device helps of the proposed approach. the operator to hold up load with EMG signal
MP2-3(3) 16:16-16:34
MP2-3(4) 16:34-16:52
Measurement of Interface Pressure Applied By Medical Compression Bandages
Jawad Al Khaburi, Abbas A. Dheghani-Sanij, E. Andrea Nelson and Jerry Hutchinson University of Leeds, Leeds, UK and ConvaTec Limited
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, Japan 2. Institute of Intelligent Machine, Chinese Academy of Science, China 3. Dept. of Automation, University of Science and Technology of China,
A 3UPS parallel mechanism which is wearable for human hip joints 3DOF 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
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
Motion Control of Intelligent Wheelchair Based on Sitting Postures
Jinhui Fan, Songmin Jia, Xiuzhi Li, Wei Lu, Jinbo Sheng, Liwen Gao, Jun Yan Beijing University of TechnologyBeijing, China
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 system based on EEG of GRAZ
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 Room 11, 15:40-17:28, Monday, 8 August 2011
MP2-4(1) 15:40-15:58 MP2-4(2) 15:58-16:16
Resonant Frequency Band Estimation using Adaptive Wavelet Decomposition Level Selection
M. F. Yaqub, I. Gondal, and J. Kamruzzaman Gippsland School of Information Technology., Monash University Melbourne, Australia
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 Technology Beijing, China
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.
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 Airconditioning Based on the Fuzzy Theory

JIANG Jing , ZHANG Xuesong China University of Mining and Technology Beijing Beijing, China
Self-evolution fuzzy chaotic neural network and its application

Mo Tang, Xiaojun Bi,Kejun Wang Department of Automation. University of Harbin Engineering, Harbin Engineering University Harbin, China
Average sample algorithm Control system software flow Soft-start control sub-program was used in the process of softstart or soft-braking. Anti-Fuzzy of Fuzzy Temperature Controller Simulation parameters of airconditioning system
T( C) 22
20 18 16 14 12 10 0
500
1000 1500
2000 2500 3000 3500
4000 t(m )
Simulation curve
A novel neural network model called selfevolution 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
Fuzzy Tuning Manipulation Control of a Space Robot with Passive Flexible Solar Panels
Payam Zarafshan S. Ali A. Moosavian
Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering, K. N. Toosi Univ. of Technology, Iran The system dynamics is partitioned into two rigid and flexible bodies motion, and a practical model for control implementations on compounded rigid-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.
A control system of a ping-pong robot arm based on fuzzy method

Xiaowen Yu, Jing Xu, Shaoli Liu, and Ken Chen Robotics 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
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 Room 12, 15:40-17:28, Monday, 8 August 2011
MP2-5(1) 15:40-15:58 MP2-5(2) 15:58 -16:16
Object Detection by Parts Using Appearance, Structural and Shape Features
Li He1,2 , Hui Wang2 and Hong Zhang2
1
SDAT: Simultaneous Detection and Tracking of Humans using Particle Swarm Optimization
Sung-Tae An, Jeong-Jung Kim, and Ju-Jang Lee Department of Electrical Engineering, Korea Advanced Institute of Science and Technology Daejeon, 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.
School of Automation, Northwestern Polytechnic University, China 2 Department of Computing Science, University of Alberta, Canada
An HOG based classifier is first used to detect parts (teeth) of an object. Structural constraints among parts are A mining shovel of seven teeth 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. True (top) and false (bottom) parts
MP2-5(3) 16:16-16:34
Place Recognition based on Latent Dirichlet Allocation
Jinfu Yang, Yangli Wang, Mingai Li and Min Song Department of Control Science and Engineering, Beijing University of Technology Beijing, China
MP2-5(4) 16:34-16:52
A Bilinear Model Based Solution to Object Pose Estimation with Monocular Vision for Grasping
Zhicai Ou, Wei Liu, Jianhua Su Institute of Automation, Chinese Academy of Sciences Beijing, 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 with random projection is used to separate the pitch factor and the yaw factor from the object image. A weighted Euclidian distance based factor identification method for robustness improvement of the factor identification. A Three-step bilinear model based solution to object pose estimation for 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 Oh
Intelligent Robotics Lab. Pohang University of Science and Technology Pohang, Korea
Real-time Human Detection Based on Cascade Frame

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.
Li Zhihui, Shao Chunyan, Sun Di Computer Science and Technology College, Harbin Engineering University Harbin, China
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 Method Flowchart
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)
The detection performance of algorithm
Proposed Face Detection and Tracking Result
21
MP2-6: Sensing Calibration

Session Chairs: Yong Yu, Kagoshima University Kotaro Nagahama, The University of Tokyo Room 13, 15:40-17:28, Monday, 8 August 2011
MP2-6(1) 15:40-15:58 MP2-6(2) 15:58 -16:16
End Point Tracking for a Moving Object with Several Attention Regions by Composite Vision System
Kotaro Nagahama, Tomohiro Nishino, Mitsuharu Kojima, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba JSK Robotics Lab., The University of Tokyo, Tokyo, Japan
Least-Square Based Self-calibration of Two-Dimensional Ultra-Precision Stages

Yu Zhu, Chuxiong Hu and Jinchun Hu State Key Laboratory of Tribology, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China.
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
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
The Evaluation of Measurement Uncertainty for Laser Tracker based on Monte Carlo Method
Jindong WANG, Junjie GUO, Hao WANG, Yufen DENG State Key Laboratory for Manufacturing Systems Engineering, Xian Jiaotong University, China
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, Xian, 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 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. The Composition of the system
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 Xu Key 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 it requires 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 doesnt need doing the initial guessing work manually, and can even acquire the estimation result directly. .
A Calibration Process for Tracking Upper Limb Motion with Inertial Sensors
Hao Yang, and Juntao Ye Institute of Automation, Chinese Academy of Scienses Beijing, China
1.5 1 0.5 0 -0.5 -1 0

0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Hardware design. Physical segment kinematic model. Sensor-segment orientation calibration. Tracking of the upper limb motion. Experimental results. The predefined calibration postures
The original and estimated echoes with SNR = 20 dB
22
MP2-7: Image Processing III

Session Chairs: Lei Wang, Harbin Engineering University Huabo Sun, Peking University Room 14, 15:40-17:28, Monday, 8 August 2011
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
Edge-Directed Interpolation based on Canny Detector

Yang Luo, Shanshan Liu and Huiyan Zhu Department of Computer and Technology, University of south China Hengyang, Hunan Province, 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.
5420200
5420150
5420100
5420050
5420000
5419950
5419900
5419850
5419800 494000 494050 494100 494150
Our method result
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 The original image and expanded images solve the problem of edge diffusion.
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 Wang College of Automation Harbin Engineering University Harbin, Heilongjiang 150001, PR China
Structural Similar Patches for Nonlocal-means with Modified Robust M-estimator and Residual Images
Bo Xiong and Zhouping Yin State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan, 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
Study is about the NL-means for removing Gaussian noise Show the connection between the NL-means and the robust Mestimator Propose a modified weight function based on robust M-estimator for NLmeans 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 Fan College of Electronic Information & Control Engineering, Beijing University of Technology Beijing, China
Translational Offset Detection Based on Far-Field Intensity for Grating Tiling

Yanlong Huang, Zaojun Fang, Lan Xia, De Xu ,and Min Tan Institute of Automation, Chinese Academy of Sciences Beijing, China
An effective technique is presented to reconstruct an accurate and reliable 3D surface model from multi-view stereo. Motion analysis approach in which optical flow-scene flow framework is involved is integrated with stereo vision technique. Experimental results exhibit an appealing performance of our reconstruction solution.
Xj
v ej
X
r u ij
' j
u ij
u 'i j
Pi com
P ref
Surface adjustment based on scene flow
The detection of main focal spot: search for the focal spots centre and 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
23
24
Tuesday August 9, 2011
Morning Sessions
TA1-1 TA1-2 TA1-3 TA1-4 TA1-5 TA1-6 TA1-7 Mechatronic Device II Novel Actuator System I Organized Session: Robots for New Fields I Control Theory II SLAM Sensor Networks Signal Processing I
25
Tuesday August 9, 2011
Afternoon Sessions
TP1-P TP2-1 TP2-2 TP2-3 TP2-4 TP2-5 TP2-6 TP2-7 Mechatronics & Automation Organized Session: Human Assistive Technologies and Industrial Applications I Novel Actuator System II Organized Session: Robots for New Fields II Control Application I Robot Navigation I Sensor Design I 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
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 Manufacturing
Shinji Kurose, Toshiya Kaihara, and Nobutada Fujii Department of Computer Science and System Engineering, Kobe University Kobe, 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.
Utilization modes for audio neardistance directional loudspeaker are investigated to examine a novel auditory experience. Two kinds of Emitter array are presented and measured. A prototype based on PZT ceramic transducer array was constructed and tested.
Structure of audio neardistance directional loudspeaker
Re-entrant Flow Shop
TA1-1(3) 10:51-11:09
TA1-1(4) 11:09-11:27
Underwater Experiments of a Water-jetbased Spherical Underwater Robot

Xichuan Lin, Shuxiang Guo, Koujirou Tanaka and Seji Hata Faculty of Engineering, Kagawa University Kagawa, Japan
The Kinematics Analysis For A Five DOF Serialparallel Manipulator With RP-(2-RRU/1-RUU) Structure
Chenglong Lv1,2,Ying Hu1,2, Zhong Wan1,2,Jianwei Zhang3 Institutes of Advanced Technology, Chinese Academy of Sciences 2The Chinese University of Hong Kong, Hong Kong, China 3TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany
1Shenzhen
A spherical underwater robot with water-jet propulsion system is presented. Dynamics modeling of single waterjet 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
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
Modeling of the PDMS Diaphragm Micropump Using EO Actuators
Wei Wei, Shuxiang Guo
1.College of Automation, Harbin Engineering University ,Harbin, Heilongjiang, China 2. College of Automation, Tianjin University of Technology, Tianjin, China 3.Faculty of Engineering, Kagawa University, Takamatsu, Kagawa, Japan
Research of Micro Removing Copper Foil of FCCL Assisted with Laser

Jianwen Yuan, Jimin Chen, Chao He
Institute of Laser Engineering, Beijing University of Technology
Beijing, China
Use FCCL of 18m copper (Cu) foil plated on 70m polyester (PET) film as the experimental material. Remove the Cu without damaging the PET substract selectively. Coat the Cu surface with a layer of acidresisting film and obtain the patterns by laser scanning the coating, then through wet etching to remove the exposred Cu. Good experimental results are displayed in the right picture.
The final sample
A novel micro fluidic system using EO pumps was presented in this paper. Equipped the micro fluidic system with a PDMS diaphragm micro valve and tested the output. A maximum flow rate of 133l/min (using top water as working liquid) was obtained by an input voltage of 30V and an exciting frequency of 1.4Hz. In order to find the characteristic of the micropump, the Bouc-Wen model was used 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 Room 4, 10:15-12:03, Thursday, 9 August 2011
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
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
The approach presented in this paper can be used to model rateindependent and rate-dependent, symmetric and asymmetric hysteresis in piezoelectric actuators. The proposed hysteresis model is
where, U and h are the input and hysteric output state, respectively.
Rate-independent hysteresis loops for an unbiased signal at 2 Hz
A novel rotor-embedded-type multidegree-of-freedom (MDOF) spherical ultrasonic motor (SUSM) is proposed. The MDOF-SUSM consists of a spherical rotor which is embedded in a stator vibrator with a spherical inner surface can rotate around three axes. A prototype motor at the present stage, confirmed the working principle of the proposed design, and the torque performance for rotation about the Zaxis 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 Liao Department of Mechanical and Automation Engineering The Chinese University of Hong Kong, Shatin, Hong Kong, China
ResearchandDevelopmentofExpertSystem forPermanentMagnetRetarderDesign
LezhiYe,DeshengLi,BingfengJiao CollegeofMechanicalEngineeringandAppliedElectronicTechnology BeijingUniversityofTechnology Beijing,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
The basic principle, structure, and function of an expert system for designing permanent magnet retarder (PMR) is described. The system takes into account the preliminary design process. The frame structure and work mode of the platform are introduced by analyzing function modules. The functions of the simulation analysis and virtual assembly module are discussed. The expert system of the technology integration is 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 Micromotor

Jingshan Wang, Hua Zhu, Jianhui Zhang, Chao Chen Precision Driving Lab., Nanjing University of Aeronautics and Astronautics Nanjing, China
Accurate controlled Shape Memory Alloy Actuator for Minimally Invasive Surgery
Zhenyun Shi and Da Liu and Cheng Ma and Depeng Zhao Robotic Laboratory of BeiHang University Beijing, China
A cylindrical ultrasonic micromotor was designed which is 2mm in diameter,15mm in length 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 mnm.
Prototype of CUSM
A rotation Shape Memory Alloy (SMA) actuator was developed Both angle feedback and resistance feedback have been used to the closeloop control. Error has been limited less than 2% in the angle feedback system with Fuzzyturned 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 step response experiment
28
TA1-3: Organized Session: Robots for New Fields I

Session Chairs: Shigeoki Hirai, Chiba Institute of Technology Seiji Hata, Kagawa University Room 7, 10:15-12:03, Thursday, 9 August 2011
TA1-3(1) 10:15-10:33 TA1-3(2) 10:33-10:51
Robots for New Fields

Shigeoki HIRAI Future Robotics Technology Center, Chiba Institute of Technology Chiba, JAPAN
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
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.
To make laundry factory fully automated, two cloth handling systems has been developed. Handling robot for press and folding line picks up a washing cloth from piles of clothes, spread and place it on the line, face side up. Handling system for washing line picks up a dirty cloth, recognizes its kind, and classify the clothe using force sensor.
Cloth Handling Robot System
TA1-3(3) 10:51-11:09
TA1-3(4) 11:09-11:27
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
Autonomous rice field operation project in NARO

Yoshisada Nagasaka, Katsuhiko Tamaki, Kentaro Nishiwaki, Masahiro Saito, Yutaka Kikuchi and Kyo Kobayashi National Agriculture Research Organization Tsukuba, 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
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, China 2.School of Mechanical & Manufacturing Engineering, The University of New South Wales, Sydney, 2052, Australia
A Novel Shrimp Rover-based Mobile Robot for Monitoring Tunnel Power Cables
The bogies and the front fork make the novel robot adapt unstructured environment passively. The balance slide guarantees the balance ability of the robot while travelling along power cables and climbing over obstacles. The special designed six wheels enhance the robots mobility, obstacle climbing ability and The Functional Views of the Robot stability while travelling on cables.
Songyi Dian, Tao Liu, Yan Liang, Mengyu Liang and Wei Zhen School of Electrical Engineering and Information Technology, Sichuan University; Chengdu, China
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 The atlas of the optimum region parameters which satisfy the demands can be identified from the design space.
29
TA1-4: Control Theory II

Session Chairs: T. J. Tarn, Washington University Chi-ying Lin, National Taiwan University of Science and Technology Room 11, 10:15-12:03, Thursday, 9 August 2011
TA1-4(1) 10:15-10:33 TA1-4(2) 10:33-10:51
Adaptive Hybrid Suppression Control of a Wheeled Mobile Robot with Active Flexible Members
Payam Zarafshan S. Ali A. Moosavian
Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering, K. N. Toosi Univ. of Technology, Iran The system dynamics is partitioned into two rigid and flexible bodies motion, and a practical model for control implementations on compounded rigid-flexible multi-body systems is 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.
Vibration Control of Active Structures Using Hybrid PD/Repetitive Control

Chi-Ying Lin and Chih-Ming Chang Department of Mechanical Engineering National Taiwan University of Science and Technology
PD control for broad band M disturbance rejection u Repetitive control for narrow band v disturbance rejection Hybrid control for better vibration C K suppression performance K Modularized design with an add-on C u v u u u property Experiments on a piezoelectric G cantilever beam demonstrate the Vibration Control of Active effectiveness of the method Structures Using Hybrid Control
a
v (t 1)
The considered wheeled mobile robotic system which has Flexible Solar Panels
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 Solving
Yunong Zhang, Bingguo Mu, Huicheng Zheng School of Information Science and Technology Sun Yat-sen University, Guangzhou 510006, China
Induction Compensation Control of Bearingless Induction Motor

BU Wenshao, XIAO Juanya, YUAN Lan, HUANG Shenghua Henan University of Science and Technology, Luoyang, 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.
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.
2m 2*sm = Krc * sin(rc ) cos(rc ) i2t i2st
i*
* cos(rc ) -sin(rc ) i
Solutions of discrete-time ZNN models
Simulation and experiment results indicate the validity of the united control strategy.
Principle Chart of bearingless induction motor control system
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 Fault
Zhu Peng, Zhang Xiao-feng, Qiao Ming-zhong, Cai Wei, Liang Jing-Hui Department of Electric Engineering, the Navy University of Engineering, Wuhan, Hubei Province, China Built the decoupled model of five-phase concentrated fullpitch windings induction motor analyzed the condition for reducing the electrical torque oscillations proposed the rotor fieldoriented tolerant control method
r* r
PI PI
Tem iq1s
' c1 1
Delay-dependent Stability Analysis for Time-delay Systems with Uncertain Parameters

Yanhui 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
k1
Lr1 np M1M1
i1s [T ( )] i1s
e
u1s
1r
1r
id1s
1r
3r
k3
PI
3np
Lr 3 M 3M 3
iq3s
' c3 1
3r
id 3s
[T ( )] i 3s
e
i 3s
Reference u1s SK PWM Voltage Signals Calculaion Equ.(24) u 3s Gernerator (25)
Five-phase H-bridge Inverter
u 3s i1s i 3s r i1s i 3s
Clarke
3r 1r 3r e
i1s i1s
Flux Linkage Observer
ibcde
i 3s i 3s Transformation
Five-phase Induction Motor
r
Speed Encoder
Block diagram of five-phase induction motor with rotor fieldoriented control method for phase a open
Introduction of the paper W K W Problem statement = D P 0 The main results 0 Two Numberical Examples 0 Conclusion of the paper
1 T 1 T 2 T
K1 K2 B P2 0 0 DT P2 0
T
W2
T P2 B
W3 0 0 0 0
0 0 0 0 0 0 0 0 <0 1I 0 2I 0 0 0 0 3I 0 0 0 0 4I PT D 1 0 0 0 0 P2T D 0
30
TA1-5: SLAM
Session Chairs: Su-Yong AN, Pohang University of Science and technology Guoli Wang, Sun Yat-sen University Room 12, 10:15-12:03, Thursday, 9 August 2011
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 Environments
Su-Yong An, Lae-Kyoung Lee, Jeong-Gwan Kang, and Se-Young Oh Intelligent Robotics Lab, Pohang University of Science and Technology Pohang, Korea
An Adaptive Data Association for Robotic SLAM in Search and Rescue Operation
Rex Wong, Jizhong Xiao Robotic Lab of CCNY, City University of New York, New York, USA
Extract the salient vertical edge features with fixed vanishing point. Feature parameters including uncertainty are estimated by RANSAC. Tracking of extracted feature with nonlinear 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
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
Lane Departure Estimation by Side Fisheye Camera
Shigang Li, Hideki Oshima, Isao Nakanishi and Kikuo Fujimura Graduate School of Engineering, Tottori University Japan
TA1-5(4) 11:09-11:27
Target Localization via Correlated Link Inference

Renbing Kuang, Heping Song and Guoli Wang School of Information Science and Technology, Sun Yat-Sen University Guangzhou 510006, China
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
Radio Tomographic Imaging utilizes the received signal strength (RSS) measurements to image the attenuation of targets within a wireless network area. 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
Jinbo Sheng , Shunichi Tano Graduate School of Information Systems University of Electro-Communications Tokyo, Japan
Extended Strong Tracking Filter SLAM Algorithm

Feng Wen, Xiaojie Chai, Yuan Li, Wei Zou and Kui Yuan Institute of Automation, Chinese Academy of Sciences Beijing, China
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.
Songmin Jia, College of Electronic Information & Control Engineering Beijing University of Technology Beijing, China
Start Capture image Map generation by laser range data part Mobile robot Control Motion controller
Yes
Mobile robot localisation part
No
If map exist? Initialization Acquire data Project points to image plan Measure points Update mobile robot pose
No
Map generation by vision data part Map Initialization
Tracking thread
Initialization
Stereo Initialization Transformation of coordinates

Mapping thread
Generate 2D gird map of LRF
Waiting for new keyframe
Yes
If keyframes?
Add new points Optimize map Project points Generate 2D gird map of camera Integration rule
Generate global 2D gird map
End
The flowchart of system
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.
3rd Lap 250 Odometry EMF-STF Actual Path
200 150 100
y (cm)
50
0 -50
-100 -200 -150 -100 -50 0 50 x (cm) 100 150 200 250
EMF-STFSLAM
31
TA1-6: Sensor Networks

Session Chairs: Max Q.H. Meng, Chinese University of Hong Kong Yu Song, Beijing Jiaotong University Room 13, 10:15-12:03, Thursday, 9 August 2011
TA1-6(1) 10:15-10:33
Solutions for Connectivity-based Sensor Network Localization
Department 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 nonconvex) 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.
1 0.9 0.8 average location error 0.7 0.6 0.5 0.4 0.3 0.2 10 SDPCC NPCC
TA1-6(2) 10:33-10:51
Tracking Based on Multiple Instance Learning Particle Filter

Yu Song and Qingling Li School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China
Dapeng Qiao and Grantham K.H. Pang
15
20
25 30 35 number of anchors
40
45
50
Comparison on accuracy between SDPCC and NPCC ( th d)
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 MIL Boosting 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 White School 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
Research of Wireless Sensor Networks for an Intelligent Measurement System Based on ARM
Wenbin Huang, Guanglong Wang, Jianglei Lu, Fengqi Gao, Jianhui Chen Institute of Nanotechnology and Microsystems, College of Mechanical Engineering Shijiazhuang, Hebei province, China
Report on the design of a distributed sampling schemeVSS 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
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.
The system structure
TA1-6(5) 11:27-11:45
GA Based Optimal Placement of PIR Sensor Arrays for Human Localization
Guodong Feng, Min Liu, Xuemei Guo, Jun Zhang, and Guoli Wang School of Information Science and Technology Sun Yat-Sen University Beijing, China
TA1-6(6) 11:45-12:03
An Iteratively Reweighted Least Square Algorithm for RSS-based Sensor Network Localization Dapeng Qiao and Grantham K.H. Pang
Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong
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
rl
rr
rc
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 MDSMAP, 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 Room 14, 10:15-12:03, Thursday, 9 August 2011
TA1-7(1) 10:15-10:33 TA1-7(2) 10:33-10:51
Analysis of Non-Stationary Electrocardiogram Signals Using Iterative Wavelet Decomposition

Sherin M. Youssef Department of Computer Eng., Arab Academy for Science & Technology Alexandria, Egypt
Fast self-tuning weighted measurement fusion Kalman filter for the ARMA signal
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.
Chenjian Ran and Zili Deng Department of Automation, Heilongjiang Harbin, China
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 ECG Signal showing P-QRS-T Wave positive predictivity.
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 of Mechanical Engineering, Beijing Institute of Technology, China, 100081 2China North Industries Group Corporation, Beijing 100821, China 3Inner Mongolia First Machinery (Group) Co.,Ltd., Baotou Inner Mongolia 014032, China panqx@bit.edu.cn
1School
Prediction of side-drilled hole signals in anisotropic cladding component

Xinyu Zhao1, Zongxing Lu1, Qinxue Pan1, Zhipeng Shan2, Xiaoguang Bai 2, Long Liu3 1. Key laboratory of Fundamental Science for Advanced Machining, Beijing Institute of Technology, Beijing 100081, China 2. Inner Mongolia First Machinery (Group) Co.,Ltd., Baotou Inner Mongolia 014032, China 3. Patent Examination Cooperation Center of SIPO, Beijing 100190, China
An efficient ultrasonic measurement model for a vessel component with anisotropic cladding layer is established by combining the multi-Gaussian beam model and the scattering model with the separation of variables method. Beam fields in x-z plane for different grain orientations
The detection of residual stress which existing in metal and nonmetal component is very important. Propose a method to detect the residual stress of the plate. Design a experimental system for detecting the residual stress. Carry out the experiments and evaluate the characteristic of the component.
The Critically Refracted Longitudinal wave
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 Deng Department of Automation, Heilongjiang University Harbin, China
Development of Scenes Drawing System for Urban Road Accidents

Yangshan Tang, Liying Wang College of Automobile and Transportation Engineering, Liaoning University of Technology Jinzhou, Liaoning Province, 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 The comparison between MSE curves and the trace lines optimal weighted fused Wiener filter with known cross-covariance.
3.5 3 2.5 2 1.5 1 0.5 1 20 40 60 80 100 120 140 160
trPs1 trPs 2 trPsCI
trPsCI trPs 0
t
200
180
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.
Figure
Trail CollisionPt Traces Bloodstain Oilstain
Falling Wounded FObject Vehicle
Standard Mark PFrame
Motor OtherR Road NonMotor
Lane IsolationL Harbor
Entrance SIsland PassingA
Curb Pavement IsolationZ
Accident Scene Objects Structure
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,China 2. 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 Fig.1 Evaluation model of Major installations .
Hazard Installations
Hybrid Position, Posture, Force and Moment Control with Impedance Characteristics for Robot Manipulators
Yu 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
A separation method of posture components to solve the problem of the rotation order is proposed. A method of introducing the impedance characteristics into hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Dynamic simulation is performed to verify our Character-erasing Model control method.
TP1-P(3)
TP1-P(4)
Aerial Fish Feeding System

M.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
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
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
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)
Fluid Dynamic Analysis of an ICPF Actuated Fish-like Underwater Microrobot with 3 DOF
Baofeng Gao and Shuxiang Guo Faculty of Engineering, Kagawa University, Japan
We set up the experimental platform to test and measure the material characteristic of ICPF Actuator, and designed the fish-like microrobot consists of ICPF Actuator, AVR control system and wireless remote control system. We developed the fluid dynamic analysis of the 3 DOF movement of fish-like microrobot and we used ANSYS to give the important analysis about the speed and stress, and accordingly prove the efficient structure of the fish fin. Finally, we set up experiments of the microrobot system, to test the possibility of the motion control of the microrobot underwater
TP1-P(6)
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
Simulation results of the stress position of the ICPF actuated fish-like microrobot fin
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 conditions are 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 algorithm

Hui Ning, Hao Wu , Zhongzheng He and Ya-zhou Tan Computer Science and Technology College Harbin Engineering University Harbin, Heilongjiang, China
The Robustness Analysis of Two Motion Control Algorithms for Stubli TX40 Robot in Object Manipulation Task
Hesam Eddin Shoori Jazeh, Masoud Vaezi, Farzad Cheraghpour Samavat, S.Ali A. Moosavian Department of Electrical & Mechanical Engineering K.N.Toosi University of Technology Tehran, Iran
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.
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. Moosavian ARAS Lab., K. N. Toosi Univ. of Technology Tehran, Iran
Modeling of a Constraint Force at RCM point in a Needle Insertion Task

Hyo-Jeong Cha and Byung-Ju Yi School of Electrical Engineering and Computer Science, HanYang University Ansan, Korea
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
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 Constraint force model at RCM point exists. in a needle insertion task
TP1-P(11)
Error Analysis of the Attitude Updating Algorithm for Submarine in the Dynamic environment
Xu Bo, and Sun Feng College of Automation, Harbin Engineering University Harbin , 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.
TP1-P(12)
Stability Control of Quad-Rotor Based on Explicit Model Following with Inverse Model Feedforward Method
Xun Gong, ZhiCheng Hou, Yue Bai and YanTao Tian School of Telecommunication Engineering, Jilin University Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences It is hoped that the quad-rotor can performance different characteristics according to the requirements of different missions. A flight stability augmentation control system based on explicit model following with inverse model feedforward control method is proposed in this paper. In order to calculate an inverse model of the coupled multivariable aircraft system, a feedback linearization loop is also applied to this control system.
1
yb
q
r
p
xb
zb
zg
yg
xg
The scheme of an quad-rotor.
35

TP1-P(13)
Robust Fault Detection of Mobile Robots using an Ellipsoid Bounding Identification Algorithm
Key Laboratory of Measurement and Control of CSE(School of Automation, Southeast University), Ministry of Education
TP1-P(14)
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 Zhang State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University Shenyang, China
Zhou Bo and Dai Xianzhong
Mobile robots with dynamic linear in faultrelated 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
0.2
True value SMI bounds
1 (m)
0.1 0 0 50
-0.1 0.4
100 No. of samples
150
200
2 (m)
0.2 0 0
True value SMI bounds 50 100 No. of samples 150 200
-0.2
Guaranteed parameter estimation
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 Biped Robot with Heterogeneous Legs to realize stable walking of the whole robotic system. Sliding mode control was A hybrid closed-loop system was designed for outer loop of constructed to improve the gait the joints servo system. tracking.
TP1-P(15)
TP1-P(16)
The Design and Implementation of Volume Adaptive Control at Worksite

Qi Li,Yanfei Liu, Yan Liu and Yanping Mei Electroninc Research Lab., The Second Artillery Engineering College Xian, China
Study on the Effective Visual Navigation for an Alife Mobile Robot

Jiwu Wang, Masanori Sugisaka Depart. Of Mechanical and Electrical engineering, Beijing Jiaotong University, China Depart. Of Mechanical and Electrical engineering, Nippon Bunri University, Oita, Japan
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
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 Deng Department of Automation, Heilongjiang Harbin, China
Application Research of Laser Interferometer to Measure Length of Gauge Blocks

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.
Lei Huang, Hong Ma and Yanhong Dou Chang Chun University of Science and Technology Changchun Jilin Province ,China
For 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.
Length Variation Measuring Platform
36

TP1-P(19) TP1-P(20)
Fetal birth simulation teaching system

Zi-Ming Zhang, Wang Lu, Yuan-Zheng Shi, Ting-Lei Yang, Shu-Li Liang College of Electronic Information and Control Engineering, Beijing University of Technology Beijing, China
Fast Vision-based Object Segmentation for Natural Landmark Detection on Indoor Mobile Robot
Xiaojie Chai, Feng Wen, and Kui Yuan Institution of Automation., Chinese Academy of science Beijing, 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 Fetal birth simulation teaching system dangerous situation.
Real-time & Robust object segmentation for 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 Mei Electroninc Research Lab., The Second Artillery Engineering College Xian, China
Autonomous Navigation for an Unmanned Mobile Robot in Urban Areas

Jisheng Zhang Beijing Aerospace Automatic Control Institute Beijing, 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. The structure of the hardware A system of collecting audio signal and audio analysis is designed based on this scheme.
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 Autonomous navigation experiment trajectory linearization control algorithm.
45 40 35 30 25 20 15 10 P3 navigation path GPS location DR location GPS/DR location yn/m P2 P4 5 0 -20 -10 P1 0 xe/m 10 20 30
mobile robot autonomous navigation stop point
TP1-P(23)
TP1-P(24)
Mathematic Modeling and Characteristic Analysis for the Intelligent Compactor

Shen Peihui Fujian Communications Technology College Fuzhou, China
Simultaneous Localization and Mapping Based on Multilevel-EKF

Hongjian Wang, Jing Wang, Liping Qu, Zhenye Liu Department of Automation, Harbin Engineering University, Harbin, China
x f-h According to the mechanical character mf and operational principle of intelligent x f-v compactor, a multi-mode integrated k c model for dynamic system was put F e(t) forward. k x d-h md The coupling characteristic between x d-v r c the horizontal and vertical direction c J x s-h was pointed out. x s-v The fact that the vibratory drum may k k c slide with subgrade in the horizontal direction was thought over and the dynamic responses were investigated. The dynamic model
f-v f-v f-h f-h s-h s-v s-v s-h
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.
80 60 40 20 metres 0 -20 -40 -60 -80 -100 -50 0 50 100
metres
The estimated path of multilevel-EKF-SLAM
37

TP1-P(25) TP1-P(26)
Design and Realization of Acceleration Sensor Static Error Detection System

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.
Xiaoming Chang,Lifen Chen,Hengxi Wei, Jinjun Duan College of Comupter and Software., Taiyuan University of Technology Taiyuan, China
Mean eesidual U cc[mV]
6 5 4 3 2 1 0 1 2 3 4 5 6
The Automated Inspection Planning of Freeform Surfaces for Manufacturing Applications

Awei Zhou, Junjie Guo, and Wei Shao State Key Laboratory for Manufacturing Systems Engineering, Xian Jiaotong University Xian,Shaanxi, China
MMA7260
ADXL203
NO. of measurements
Mean Residual
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 points based on the CAD model of measured surface. Based on this transformation of geometric information, the nominal inspection paths become the output of this process.
Process System
TP1-P(27)
TP1-P(28)
Crack Propagation in Matrix with Inclusions by BEM

Yifeng Huang, Jun Lei and Qingsheng Yang College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology, Beijing, China
Study on Semi-Active Suspension System of Tracked Vehicle Based on Variable Universe Fuzzy Control
Lingjie Kong, Xinjun Zhao, Baili Qi Science and technology on complex land systems simulation laboratory 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.
u ( x, t ) Bu
ni inclusion 1
1 in
2 in
bondery Bex
matrix-B nj crack c
inclusion 2
t ( x, t ) Bt
A solid with a crack and inclusions under dynamic loading
Based on the fluid mechanics theory, an amendment dynamic model of magneto rheological 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 Microaccelerometer
Qianqian Zhang, Ting Liang, Yong Wang, Jianjun Tang, Jun Liu and Jijun Xiong Science and Technology on Electronic Test & Measurement Lab., North University of China Taiyuan , China
Application of Particle Filtering Technique for Sensor Fusion in Mobile Robotics

Shikha Jain, S. Nandy, R. Ray and S. N. Shome CSIR-CMERI, Durgapur, India
The microstructure and GaN-HEMT is described. The piezoresistance coefficients of AlGaN / GaN HEMT under different gate voltages in the structure of microaccelerometer 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
Particle Filtering (PF) Technique has been applied for reliable estimation of the state vector of a mobile robot. Proprioceptive (Odometry) and Exteroceptive (LRF) sensors are used for 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 as demonstrated through simulation.
Plot of Estimated Vs. True Value with PF/EKF based Sensor Fusion
38

TP1-P(31) TP1-P(32)
Automatic Assembly Control System of Bar-type Engine Oil Cooler
Yuling Zhan,Xinglong Zhu,Longqin Gao and Hao Ren School of Mechanical Engineering,University of Yangzhou Yangzhou, China
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.
Introduction. Operational Principle and Constitute of Engine Oil Cooler . Analysis of the Shortest Path . Control System Design .
The Medical Manipulator
The Shortest Path
TP1-P(33)
TP1-P(34)
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
Development of Small Humanoid Robot BJHR-I

Chengkun Wang, Jiandong Zhao, Gengxiao Wang, Boqiang Zhao and Zhonghua Wang Department 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.
INTRODUCTION THE STRUCTURE OF THE SYSTEM THE DESIGN OF THE FORCE BILATERAL HYDRAULIC SERVOCONTROL SYSTEM TELE-OPERATION EXPERIMENT RESULT ANALYSIS CONCLUSIONS BJHR-I
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
Directivity Analysis of Transducer Array of Acoustic Directional Dispersing Device

Tianwen Yang, Dagui Huang, Min Chen and Yun Wang University of Electronic Science and Technology , Chengdu, China
A new algorithm of adaptive kalman filitering in initial alignment of INS is proposed in this paper. Provide the method of choosing optimal forgetting factor and put which into adaptive kalman filitering to improve the accuracy of alignment. Simulation results show that t h e alorithm of simplified sage-husa adaptive filtering w i t h optimal filtering factor improve s t h e accuracy of alignment .
estimation error curve of U
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 Algorithm in Gravity-aided Navigation

Fanming Liu, Yan Li, Yingfa Zhang, Huijuan Hou College of Automation, Harbin Engineering University Harbin, China
In-situ Measuring Material Parameters of a MEMS Thin-film with a Centre-anchored Circular Plate by Non-contact Method
Han Chen1, Hua Rong2, 1. PLA University of Science and Technology, 2.Nanjing Normal University, Nanjing, China
Presentate the virtues and shortages of inertial navigation system. Introduce the principle of gravityaided navigation. Establish the state and observation equations of EKF and UKF. Use the method of Kriging algorithm to make gravity map interpolated. Carry out simulation and experiment to prove the algorithms is feasible. Error can be significantly reduced after filtering.
Navigation Principle and Results
Youngs modulus and stress gradient could be determined simultaneity. The anchor of the circular plate could be considered as rigid. The stress gradient wouldnt affect the measuring the Youngs modulus. The non-contact measuring method wouldnt mar the test structure and with high repetition.
Results Simulated By CoventorWare
TP1-P(39)
TP1-P(40)
Research on Credible Start-up and I/O Access Control of Embedded Linux Based on Trusted Computing
Jin Guo and Bo Li University of Electronic Science and Technology of China, Chengdu, China
Image match algorithm through correlation coefficient computation in micro stereovision

WANG 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 correlation coefficient computation is proposed for stereo matching of color images in micro stereovision. 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
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 Motor Using Longitudinal and Bending Mode

Zhijian Wan*1*2, Hong Hu*1 1.Harbin Institute of Technology Shenzhen Graduate School 2. Shenzhen Polytechnic ShenZhen, China
Research on Intelligent Acoustic Feedback Exploration and Suppression System

Ziteng Huang, Dagui Huang,and Ding Yang School of Mechatronics Engineering, University of Electronic Science and Technology of China Chengdu, China
The 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 resonator without holes. As the result, frequencies The motor and the piezoelectric of the piezoelectric resonator can be resonator with holes optimized by changing the number and size of holes.
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 1Hz The ow 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 Zhang Key Laboratory of Power Electronics and Electric Drive, Institute of Electrical Engineering, Chinese Academy of Sciences Beijing, China
Dynamic Neuro-fuzzy Control Design for Civil Aviation Aircraft in Intelligent Landing System
Kaijun Xu, Guangming Zhang Department of air navigation, school of flight technology Civil aviation flight University of China
This paper presents the aircraft intelligent landing system with dynamic neuro-fuzzy controller that enhances the fault tolerant capabilities of a high performance civil aviation aircraft during the landing phase when subjected to severe winds and failures such as stuck control surfaces. The controller proposed in this paper is comprised of a fuzzy logic controller (FLC) in the feedback configuration and two dynamic neural networks in the forward path. A dynamic control network (DCN) is used to control the intelligent landing system, and a dynamic learning network (DLN) is employed to learn the weighting factor of the fuzzy logic. It is envisaged that the integration of fuzzy logic and neural network based-controller will encompass the merits of both technologies, and thus provide a robust controller for the intelligent landing system.
The VME bus is a widely used industrial bus. Address This paper presents a VME slave module signals drive based on FPGA, which is applied in an circuit industrial control system. Control signals FPGA Comparing with traditional cases drive circuit without FPGA, this module has the ability to be reprogrammed. Data signals drive The experiments demonstrate its two circuit main types of data transfers on the VME The structure of FPGA board bus, single byte cycle, and Block Transfer cycle.
5v/3.3v 5v/2.5v Optical signals drive circuit J2/P2 connector 3.3v/1.2v J1/P1 connector
Optical fiber
Optical fiber transmitter
Block-diagram of the intelligent landing system
receiver
TP1-P(45)
TP1-P(46)
Output Feedback Control for Dynamic Positioning Vessels Using Nonlinear Observer Backstepping
Shi Xiaocheng, Xie Wenbo and Fu Mingyu Department of Automation Harbin Engineering University Harbin Heilongjiang Province, China
The Application Study of Heave Compensation Control Based on Motion Prediction and FuzzyPID for Intelligence Crane
Feng Lin, Zhang Xinfu, Zhai Xingquan, and Huang Haibo Box 7220 Beijing city, 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 observercontroller system is guaranteed by Lyapunov method. Simulation results verify the performance of dynamic control Controller and observer performance system.
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 semiphysical 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 Gao College of Automation, Harbin Engineering University Harbin, China
Stable Adaptive Control of Nonlinear Dynamical Systems

Lin Niu, Junsheng Li, Jingye Lei Engineering College, Honghe University Mengzi, Yunnan, 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 The spherical underwater vehicle proposed, too.
By 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.
Improved Particle Filter Algorithm for INS/GPS Integrated Navigation System

Feng SUN, Lijun TANG Automation College., Harbin Engineering University Harbin, China
This paper conducts an in depth analysis to the magnetic fluxgate sensor output signal from the aspect of its mathematical model, then proposes the second harmonic detecting method. The paper gives the implementation for the fluxgate magnetometer and completes signal detection and processing circuit design of the closed - loop fluxgate sensor.
The diagram of Fluxgate sensor signal processing circuit
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
600 Height (m) 500 400
300 34.35 34.3 34.25 Longitude (deg) 34.2 108.85 108.9 Latitude (deg)
108.95
Flight Trajectory
TP1-P(51)
TP1-P(52)
Optimal Control in Variable-speed Pumping Stations

Yao Fulai , Sun Hexu Institute of Automation, Hebei University of Technology Tianjin, China
An Algorithm of Moving Objects Detection for Indoor Environment based on Lasor and Vison
Liying Su, Shucai Wang and Yueqing Yu Mechatronics Research Lab., Beijing University of Technology Beijing, 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
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 Based Which Algorithm Is Verified
TP1-P(53)
Development of the Remote Monitoring and Warning System for Operation Condition of the Main Drainage Pump in Mine
Sheng Fu, Yabin Zhang and Haiqiang Song Beijing University of Technology Beijing, China
TP1-P(54)
Statistical Analysis of Steam Turbine Faults

Ma Yufeng, Liu Yibing and An Hongwen Key Laboratory of Condition Monitoring and Control for Power Plant Equipment , North China Electric Power University , 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
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 of steam turbine fault types Statistics results are further discussed, which can ensures the safety of the power industry and the stable operation.
Fault Proportion 0.3 0.25 0.2 0.15 0.1 0.05 0
ba la nc e at io n nm en t ra tio ra tio in Ru bb ib r M isa lig af t re V Sh ct u St ru A xi al V Bl ad e Im V ib ib Fa u lt g n n
42

TP1-P(55) TP1-P(56)
Based on AHP comprehensive evaluation of optical strapdown inertial navigation system

Yanling Hao, Hongwei Mu College of Automation, Harbin Engineering University Harbin, China
An anomaly recognition algorithm for DVL

Hao Yanling, Zhang Yi and Sun Feng Department of Automation, Harbin Engineering University Harbin, Heilongjiang, China An anomaly recognition algorithm for the Doppler velocity log (DVL) is proposed in this paper. This approach use two SINS/DVL integration systems with different measurement noise covariance matrices and make each of them estimate the state vector simultaneously. As the two system respond difference to the growth of the DVL measurement noises, the anomaly of the DVL velocity measurement can be recognition though the difference between their heading outcomes. Simulation results show that the anomaly period of DVL can be observed through Conceptual arrangement for double SINS/DVL integration system the heading difference outcome of this double SINS/DVL integration system.
Establishing the index system of warship optical strapdown inertial navigation system. Dividing hierarchy of the system and calculating indexes weights on AHP. Getting value of comprehensive evaluation. Enhancing the quality and level of warship system in our country.
Workflow of AHP
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
The Control System Research of Paving Machine for the modified asphalt coiled material
Weihan Zhang, Bengdong Liu, Desheng Li and Jiahui Yang College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology
Introduction of the paper Problem statement The main results Two Numberical Examples Conclusion of the paper
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 Waves

Shijia Lv, Yaohua Luo, Jiang You and Shaobo College of Automation, Harbin Engineering University Harbin, China
Study on Magnetic Coupling FBG Displacement Sensor

MI Hao-kun,NAN Qiu-ming National engineering Laboratory of Fiber Optic Sensing Technology Wuhan University of Technology, Wuhan , 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, inverterShip Electrical Propulsion System motor-drive system and the propeller.
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 highspeed rotary machines.
The Calibration Experimental Equipment
43

TP1-P(61) TP1-P(62)
A Model and Optimization Method Used for Vehicles Velocity Calculation of Non-central Crash Accident
Non-central collisions are further x2n classified as non-central point C n collision and non-central surface P C2 xn 1 collision. x2 D P n Three coordinate systems used for D x 2 1 P n describing collision are set up with C 1 vehicles impact part position for non- 1 P central collision. A converse analysis model is put Impacts Plot Under forward. Impact point, normal direction and Non-central Point Collision parameters optimizing.
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.LTD 2. College of Automation, Harbin Engineering University, Harbin, China
Yangshan Tang, Liying Wang College of Automobile and Transportation Engineering, Liaoning University of Technology Jinzhou, Liaoning Province, 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
V
T
d
O
H
LC ( t0 + t )
LC ( t0 )
L A ( t0 )
LA ( t0 + t )
Pipelay process
TP1-P(63)
PID Controller Tuning using MultiObjective Optimization based on Fused Genetic-Immune Algorithm and Immune Feedback Mechanism
Maryam 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 multiobjective optimization, is evaluated based on the GeneticImmune algorithm. PID controller is Optimized with a nonlinear proportional Immune controller based on Immune feedback mechanism
44
Session Chairs: Hiroshi Hashimoto, Advanced Institute of Industrial Technology Chiharu Ishii, Hosei University; Sho Yokota, Setsunan University Room 1, 14:45-16:33, Thursday, 9 August 2011
TP2-1(1) 14:45-15:03 TP2-1(2) 15:03-15:21
TP2-1: Organized Session: Human Assistive Technologies and Industrial Applications I
Control of Myoelectric Prosthetic Hand Based on Surface EMG

Chiharu Ishii, Akitoshi Harada, Takashi Nakakuki and Hiroshi Hashimoto Hosei University, Kogakuin University, Advanced Institute of Industrial Technology Tokyo, Japan
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 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.
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
Experiment on The Built Myoelectric Prosthetic Hand
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 Ashida National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan
Camera-based AGV Navigation System for Indoor Environment with Occlusion Condition
1Naoya 1Graduate
A new concept of a modular and downsized manufacturing system called on-demand MEMS factory was introduced. A simple index to evaluate the system efficiency was proposed. The efficiency of the on-demand MEMS factory was basically higher than that of the conventional facility. The research group is trying to apply the concept to the production of semi-conductor devices.
Isozaki, 1Daisuke Chugo, 2Sho Yokota and 3Kunikatsu Takase school of Science and Engineering, Kwansei Gakuin University, Hyogo, Japan 2Setsunan University, Osaka, Japan 3The University of Electro-communications, Tokyo, Japan
On-demand MEMS factory
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.
A new application
Our proposed system.
TP2-1(5) 15:57-16:15
Analysis and Evaluation of Tennis Plays by Computer Vision

Ryota Mukai, Toshio Asano and Hajime Hara Hiroshima Institute of Technology, Japan
100%
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 Player differs noticeably between players.
80% 60% 40% 20% 0%
14.80
12.95 21.05 13.22
16.97
12.18 31.28 12.81 10.19 15.13 24.71 9.96
2.79
21.51
47.11
3.66
45.76 37.76 29.61 16.53
A
v
B
p
C
c d
D
l
Coefficient values for each player.
45
TP2-2: Novel Actuator System II

Session Chairs: Yu Zhou, State University of New York Junhong Liu, Lappeenranta University of Technology Room 4, 14:45-16:33, Thursday, 9 August 2011
TP2-2(1) 14:45-15:03
An Experimental System for Robotic Needle Biopsy of Lung Nodules with Respiratory Motion
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.
TP2-2(2) 15:03-15:21
Study of Leakage Model for Servo Valve

Junhong Liu, Huapeng Wu, Heikki Handroos, Heikki Haario Faculty of Technology, LUT, Lappeenranta, Finland
Yu Zhou, Kaarvannan Thiruvalluvan, Lukasz Krzeminski, William H. Moore, Zhigang Xu, Zhengrong Liang State University of New York at Stony Brook, USA
Computer Image feedback Nodule path
Camera
Motion stage Robot command
Robot Lung nodule phantom Needle gripper
Experimental system for robotic needle placement
Empirical leakage formula of valve Comparison Modeling by statistical analysis approach with noisecorrupted 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
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
A Multi-functional Magnetoelectric Sensor Based on Eddy Current in Cantilevered Piezoelectric Unimorph Bender
Jia-wei Zhang, Benoit Guiffard, Laurent Lebrun and Daniel Guyomar Laboratoire de Gnie Electrique et Ferrolectricit, 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 magnetoelectric response and broad range of magnetic field test.
ME experimental test bench
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
A Novel Butterfly-Inspired Underwater Microrobot with Pectoral Fins
Dept. of Intelligent Mechanical System Engg, Kagawa University, Japan Kansai Research Institute, AIST, Japan 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.
Two Pectoral Fins
Union Operation of PS and Its Engineering Application Method

Xinqin Gao, Yan Li, Mingshun Yang, Yong Liu and Erbao Xu School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology Xi'an, China
Liwei Shi and Shuxiang Guo Kinji Asaka
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. [AA(F)]
A1(F1) A2(F1) A1(F2) A2(F2) A1(F3) A2(F3) A3(F3) A1(F4) A2(F4) A1(F6) A2(F6) A1(F8) A2(F8)
SMA Actuators
Prototype hybrid biomimetic underwater microrobot
46
TP2-3: Organized Session: Robots for New Fields II

Session Chairs: Shigeoki Hirai, Chiba Institute of Technology Shin'ichi Yuta, University of Tsukuba Room 7, 14:45-16:33, Thursday, 9 August 2011
TP2-3(1) 14:45-15:03 TP2-3(2) 15:03-15:21
A robotic assembly system capable of handling flexible cables with connector

Yasuo Kitaaki, Rintaro Haraguchi, Koji Shiratsuchi,Yukiyasu Domae, Haruhisa Okuda and Akio Noda, Mitsubishi Electric Corporation Shunichi Kaneko Hokkaido University Toshio Fukuda Nagoya University Kazuhiko Sumi Aoyama Gakuin University Takayuki Matsuno Toyama Prefectural University
A Method of Simulating the Fusion of Speech and Facial Expression for Individuals Based on the GFFD Method
Shen Yue and Katsuhiro Kitajima Tokyo University of Agriculture and Technology Tokyo, Japan
assembly Kitting
parts supply
3D vision sensing Motion stereo cable/connector recognition algorithm error recovery by vision
Generate an individuals facial expression muscle model. Simulate the fusion of speech and facial expression using our GFFD method. Examples for several sentences
Demonstration system of assembling FA device containing flexible cables with connector
TP2-3(3) 15:21-15:39
An Open Experiment of Mobile Robots Autonomous Navigation at the Pedestrian Streets in the City - Tsukuba Challenge Shinichi Yuta *, Makoto Mizukawa, Hideki Hashimoto, Hirofumi Tashiro, and Tsuyoshi Okubo
* University of Tsukuba, Tsukuba, Japan
TP2-3(4) 15:39-15:57
Dynamics Analysis of the AFM ManipulatorSample Interaction Using Nano-Contact Mechanics Models
Khadijeh Daeinabi and Moharam Habibnejad Korayem Department of Mechatronics Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
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.
Influence of applied load and adhesion force work on nanoindentation 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
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
TP2-3(6) 16:15-16:33
Cleaning Robot for Carbon Anode Block Based on Vision Inspection and Hybrid Force/Position Control
Junjie Yuan, Guangping He and Xiguang Huang College of Mechanical &Electrical Engineering, North China University of Technology Beijing, China
INTRODUCTION A NEW DRIVING METHOD OF HYDRAULIC SERVOSYSTEM BY MEANS OF A FORCE SENSOR EXPERIMENTAL INVESTIGATIONS CONCLUSIONS
Master-Slave Controller
Master
A A
4-DOF Tele-robot
Servo Controller
proportional controller
Regulator
Hydraulic Station
Regulator
Cleaning the mounting holes of carbon anode with fully automatic control system Cleaning inner surface and spiral grooves of mounting holes simultaneously. 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 Room 11, 14:45-16:33, Thursday, 9 August 2011
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 Taheri Electronic & Inf. Eng. College, Henan Univ. of Sci. and Tech. Henan, China Electrical and Comp. Eng., Dalhousie Univ., Halifax, NS Canada B3J 2X4
Multi-Objective Evaluation Based Optimizing Control Method for Shaft Furnace Roasting Process
Yan Ai-jun , Zhang Chun-xiao, Xu Zhe and Wang Pu College of Electronic Information & Control Engineering, Beijing University of Technology Beijing, China
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
Setting level is to calculate the presetting 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
Xf Fault Prediction Model r1 . . . r5 Air-fuel Ratio Adjustment Model v1 Y Xs . . . Case Retrieve Case Reuse
Indices Y Prediction Ye Model
Revision Model
Appraisal Model s1~s3
Case-base
Setting Level
e1(k)
s11 -
PID1
u1(k)
v11
V1
de
s1
- e
Fuzzy Controller
e2(k)
s12 -
PID2
u2(k)
v12
V2
v1 v2
s2
e3(k)
PID3
u3(k)
V3
Shaft Furnace Roasting Process
s3
e4(k)
u4(k)
v3
PID4
V4
Loop Control Level
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 Liping2 Institute of Disaster Prevention Langfang, China
High-Performance Coordinated Motion Control of High-Speed Biaxial Systems For Contouring Tasks With Comparative Experimental Investigations
Chuxiong 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
Introduction An ordinary differential equation (ODE) and arbitrary Lagrangian Eulerian (ALE) Numerical simulation result Conclusions Magnetic Flux Norm and Contours
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 teamwork

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 Piezoelectric truss with four system. Piezo-Beams Use multiphysics compatibility equations to ensure the parameters consistency of overconstrained mechatronic system.
LIU Ruixian, SERR Philippe, CHOLEY Jean-Yves Laboratoire dIngnierie des Systmes Mcaniques et des Matriaux, Institut Suprieur de Mcanique de Paris, Paris, France
48
TP2-5: Robot Navigation I

Session Chairs: Paulo Oliveira, Instituto Superior Tecnico Xiaochuan Zhao, Beijing Institute of Computer Application Room 12, 14:45-16:33, Thursday, 9 August 2011
TP2-5(1) 14:45-15:03 TP2-5(2) 15:03-15:21
Stairway Segmentation Using Gabor Filter and Vanishing Point

Danilo Cceres Hernndez and Kang-Hyun Jo Intelligent Systems Lab., University of Ulsan Ulsan, Korea
A Novel Vehicle Navigation System Based on MSINS

Feng Sun, Qian Li, Yueyang Ben, Wei Gao College of Automation , Harbin Engineering University Harbin, Heilongjiang, China
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
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
An Improved Adaptive Kalman Filtering Algorithm for Advanced Robot Navigation System based on GPS/INS
Beijing Institute of Computer Application, Beijing, China
TP2-5(4) 15:39-15:57
Study on Mobile Robot Navigation Based on

Strategy of Blind Man Finding Way
DaiFeng Chen, Cong Ma, WeiGuo Ma, HaiRong Zhu, Jianhong Zhu, Longfang Yi School of Electrical Engneering, Nantong University Nantong, Jiansui Province, China
Y
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
Investigate the mechanism of blind man finding their way. Strategy of the interactive information navigation . Decomposition of interaction force .
corrected range d
L O
Local adjustment
TP2-5(5) 15:57-16:15
UAV-based Marine Mammals Positioning and Tracking System

Tiago Gaspar, Paulo Oliveira, and Carlos Silvestre Institute for Systems and Robotics, Instituto Superior Tcnico Lisbon, Portugal
New strategy to localize and track marine mammals using Kalman Filters. Use measurements provided by a GPS, an AHRS, and a PTZ camera installed onboard an UAV. Use active contours to segment and isolate marine mammals. Results illustrating experiments where marine mammals are occluded are presented.
49
TP2-6: Sensor Design I

Session Chairs: Dangxiao Wang, Beihang University Qingyong Shi, Changchun University of Science and Technology Room 13, 14:45-16:33, Thursday, 9 August 2011
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
Study on the Design Method of Giant Magnetostrictive Force Sensor

Huifang Liu, Zhenyuan Jia, Fuji Wang, and Fucai Zong Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian, Liaoning Province, China
A high-precision sensing system is designed for meso-scale friction test, which consists of laser, CCD and parallel platespring structures. Principles of micro-friction test and of sensing system are described in detail. Calibration experiments are carried out for sensing devices. The results show that the resolution of sensing system for friction testing can reach 10N.
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. Schematic diagram of test sensing system
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-LightScreen Optical Target
Hong-wei Lu, Jin-ping Ni, Ying An, School of Optoelectronic Engineering, Xi'an Technological University, Xian, China
Flexible Building Blocks: Modularized Design Concept of A Six-Axis Force/Torque Sensor

Dangxiao Wang, Lei Fang, Mu Xu and Jiaqi Yu State Key Lab of Virtual Reality Technology and Systems., Beihang University Beijing, 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
The Four-Light-Screen Optical Target
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 multidimensional F/T sensors ranging from 2-DOFs to 6-DOFs. Modularized design, compact structure and small size. Six-Axis Force/Torque Sensor A tradeoff between cost and performance.
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 Zong Robotics Institute, Beihang University, Beijing, China
Analysis of Star Tracker/Accelerometer Inertial Navigation System in Theory

Yingbo Cai ,Qiuying Wang, Xuetong Wei and Debiao Li Department of Automation, Harbin Engineering University Harbin , 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
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 Room 14, 14:45-16:33, Thursday, 9 August 2011
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
Experiment research on the Metal Magnetic Memory in gear micro crack detection
Chenhui Kang, Lingli Cui, Jianyu Zhang, Lixin Gao, and Yonggang Xu College of Mechanical Engineering and Applied Electronics Technology 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 precision of NIM is about 0.35ns. The results show that the equipment delay error is the major source in the TWSTFT The satellite ground station with the value of 0.12ns.
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 Yixiong Automation Engineering Department, Northeastern University at Qinhuangdao, Time) Qinhuangdao, China
X (a)
200ms
50 0 -50
Code Acquisition Using the Locally Optimum Test Statistics in both Multiplicative and Additive Noises
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.
SHEN Feng, GAI Meng, WANG Zhao-loong, and LI Zhi-qiang Automation School, Harbin Engineering University Harbin, China
2 cos c t
ti Tc
High speed spectral optical coherence tomography system Human skin structure imaging Early stage chicken embryo heart blood flow measurement
60 40
ti
X iI
r (t )
90 0
c (t Tc )
sample at iTc
an efficient test statistic T ()
decision
2 sin ct
ti Tc
ti
X iQ
(b) 100m
(c)
Structure of PN code acquisition systems
Velocity(mm/sec)
20 0
(d)
0.2 0.4 0.6 0.8 1 1.2
-20 0
Chicken embryo heart blood flow
X(mm))
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
Multi-Class Imagery EEG Recognition Based on Adaptive Subject-Based Feature Extraction and SVM-BP Classifier
Mingai Li, Lin Lin and Songmin Jia College of Electronic Information & Control Engineering Beijing University of Technology, Beijing, China
Analysis of The Difficulties in The Target Tracking in Complex Environment Target Tracking Algorithm For the Complex Environment
In BCI, the classification accuracy significantly drops in solving multiclass EEG recognition. The adaptive method of Wavelet Packet Best Basis and OVR-CSP are used to extract EEG feature. A hybrid classification model of SVM-BP is built to classify EEG. Experimental results showed that the proposed approach achieves good performance and has adaptability for different subjects.
The BCI system
51
52
Wednesday August 10, 2011

Morning Sessions
WA1-1 WA1-2 WA1-3 WA1-4 WA1-5 WA1-6 WA1-7 WA2-1 WA2-2 WA2-3 WA2-4 WA2-5 WA2-6 WA2-7 Organized Session: Human Associative Technologies and Industrial Applications II Mechatronic Systems Analysis & Design of Robotic Systems Control Application II Robot Navigation II Sensor Design II Signal Processing III Manufacturing Technology Mechanism Analysis I Robot Applications Control Application III Robot Navigation with Ranging Industrial Sensing Numerical Analysis
53
Wednesday August 10, 2011

Afternoon Sessions
WP1-1 WP1-2 WP1-3 WP1-4 WP1-5 WP1-6 WP1-7 WP2-1 WP2-2 WP2-3 WP2-4 WP2-5 WP2-6 WP2-7 Humanoid & Biped Robot Mechanism Analysis II Measurement Technology Control Application IV Teleoperation Industrial Control PID Control Human System Interaction & Interface Modeling & Analysis Pattern Recognition Vibration Control & Analysis Predictive & Learning Control Fault Diagnosis Control of Nonsmooth Systems
54
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
WA1-1: Organized Session: Human Associative Technologies and Industrial Applications II
A Robotic Extremities Muscle Rehabilitation System for Quadriplegia

Dongxiao Wang, Xueshan Gao and Yunhui Liu Intelligent Robotics Institute, University of Beijing Institute of Technology Beijing, China
Virtual reality based robotic therapy for stroke rehabilitation: an initial study
1Faculty
Wu1, Liu1, Handroos1, Miraftabi1, Heinonen2, Peurala2, Tarkka2, Rossi3, Nousiainen3 of Tech., LUT, 2Dep.of Health Sciences, JYU, 3LPR:n Kuntoutus Oy, LPR, FInland
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 The Muscle Rehabilitation System system.
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 VRbased 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
Development of an Assistive Wheelchair Caster Unit for 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
WA1-1(4) 8:54-9:12
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 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.
Proposed caster unit
This paper presents a new prototype of an intelligent tennis wheelchair with four omnidirectional wheels installed on the bottom. The centre of gravity can be computed by calculating the values of four pressure sensors under the wheelchair seat, thus the orientation and velocity of wheelchair can be controlled by using human body Intelligent Tennis Wheelchair motion. A lot of simulations results verified the effectiveness of proposed control method.
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 WEN College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
Proposal of Anthropomorphic Hand with Passive Warped Fingertip

H. Ishihara, N. Hirose and S. Funaoka Kagawa University, Japan T. Miyake and K. Morita Miraikikai Inc., Japan
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. The turntable dynamic equations of hydrostatic slide system with different chambers are formulated. Analysis of dynamics properties of Hydrostatic Slide Turntable System the hydrostatic slide turntable is investigated by numerical simulation.
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
55
WA1-2: Mechatronic Systems

Session Chairs: Changdoo Jung, Changwon National University Sunao Ishihara, The University of Tokyo Room 4, 8:00-9:48, Wednesday, 10 August 2011
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
Stressed Nanomechanical Resonator Fabrication Utilizing Stiction Phenomena

Hiroki Ashiba, Reo Kometani, Shin-ichi Warisawa and Sunao Ishihara Department of Mechanical Engineering, The University of Tokyo Tokyo, Japan
Basic Design Using TRIZ
Dynamic Simulation
Optimal Design
Safety Evaluation
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, Zhonghua College of Automation, Harbin Engineering University, Harbin, China
Design and Optimization of Overall Structure for a Landing AUV

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.
Fei Liu, Hongwei Zhang and Bing Du School of Mechanical Engineering, Tianjin University, Tianjin, China
GPS/Satellite antenna/wireless communication ADCP Circuit cabin USBL Battery cabin
A novel sliding mode observer x (t ) (SMO)is designed for momentum biased ( x t) 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
d
e(t )
beaco n
Conduit-type propeller
0.025 x 10 0.02 Yaw Attitude Rate Error/(o)s -1 4 2 0.015 0 0.01 -2 -4 500 0 1000 1500 2000 2500 3000
-3
CTD Releasing Weights Obstacle Avoidance Sonar Supporting legs Water ballast tanks
Whole circle Rotation rudder
Luenberger Observer Adaptive SMO
0.005
The Overall Structure of the Landing AUV
-0.005
-0.01
500
1000
1500
2000
2500 t/s
3000
3500
4000
4500
5000
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 Niu Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yan shan University, Qin , Huang dao , China
Design of a Wireless Hybrid In-Pipe Microrobot with 3 DOFs

Takuya Okada, Shuxiang Guo, and Yasuhiro Yamauchi Dept. of Intelligent Mechanical Systems Engg, Kagawa University Kagawa, Japan
Presentation of spherical 2z DOF parallel manipulator B B with actuation redundancy. A y O Establishing coordinates. x A B Dynamic analysis of the A manipulator. Optimization method. Mechanical model of spherical 2-DOF parallel manipulator Numerical calculating example and conclusion. with actuation redundancy
2
3
2
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 The hybrid wireless microrobot multi DOFs locomotion of the microrobot. with 3DOFs
56
WA1-3: Analysis & Design of Robotic Systems

Session Chairs: Seng Chong, De Montfort University Takayoshi Yamada, Gifu University Room 7, 8:00-9:48, Wednesday, 10 August 2011
WA1-3(1) 8:00-8:18
Model Driven System Engineering for Vehicle System utilizing Model Driven Architecture approach and Hardware-in-the-Loop Simulation
Seng Chong, Chi-Biu Wong, Haibo Jia, Hongtao Pan and Philip Moore Mechatronics Research Centre Department of Engineering De Montfort University Leicester, UK Roy Kalawsky and John OBrien Research School of Systems Engineering Systems Engineering Innovation Centre Loughborough University Leicestershire, UK
WA1-3(2) 8:18-8:36
Stability Analysis of A Single Object Grasped by A Multifingered Hand with Angular Joints in 2D
Takayoshi YAMADA1, Manabu YAMADA2, and Hidehiko YAMAMOTO1 1 Department of Human and Information Systems, Gifu University, Japan.
2 Department of Mechanical Engineering, Nagoya Institute of Technology, Japan
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 design
Hardware-In-The-Loop Simulation using xPC by MATLAB
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.
fk
A single object grasped by a multifingered hand with angular joints
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 manipulator
Bo Luo, Weipeng Li, Hai Huang School of Astronautics, Beihang University Beijing, China Experiments of active vibration control for flexible beam are studied, with a Stewart platform manipulator (SPM) employed as an active equipment at the bottom of the beam. The dynamic modal of the rigid-flexible coupling system composed of the upper platform of the SPM and the flexible beam is deduced. Based on the dSPACE real-time simulation system, the control test system for the beam is built, on which the auto disturbances rejection control (ADRC) experiments are carried out. The experimental results verify the effectiveness of the control conducted by SPM.
A Modular Approach to Detailed Dynamic Formulation and Control of Wheeled Mobile Robot
1Sambhunath
Nandy, 1Sankar Nath Shome, 2Goutam Chakraborty and 2Cheruvu Siva Kumar 1CSIR-CMERI, Durgapur, India & 2IIT, Kharagpur, India
R ig h t L ef t
Y (m)
System of Stewart-beam
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 Tracking performance (eightsmooth & non-smooth trajectories. shaped) with motor voltages. Developed model may be utilized for high velocity maneuvering applications.
80 70 60 50 40 30 20 10 0
16 14 12 10
Motor Voltages
-1 0
10
20
30
40
50
C.P. : (10m, 12m), R=3m
T im e ( s )
Start Point: (10.8m, 9m, 1 )
8 6 4 2
C.P. : (10m, 6m), R=3m
10 X
(m) 11
12
13
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 Vehicle
Yujia Wang, Mingjun Zhang and Hao Su College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
Development of a Dual-mode Mobile Robot System for Practical Applications

Chaoquan Li, Fuquan Dai, Fangxing Li, Shusan Wang, Xueshan Gao and Kejie Li Intelligent Robot Institute of Beijing Institute of Technology, Beijing, China
Modular Design Method for Underwater Vehicle.

A. Functional Requirements Analysis B. Functional Decomposition C. Function Module Partition and Decoupling
Module Interface Development for Underwater Vehicle.

A. Mechanical Interface Design B. Electrical Interface Design
Reconfiguration of Modular Underwater Vehicle.
Modular designing of a coaxial two-wheeled self-balance robot platform. Two operating modes for multiple practical applications both as a patrol robot and a personal transporter. Fast switching working modes. Good performance and ability to adapt to the tilted surface.
The Modular Underwater Vehicle
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 Room 11, 8:00-9:48, Wednesday, 10 August 2011
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 Daniel Control Engineering, Applied Informatics and Computers Department, Petroleum Gas University of Ploiesti Ploiesti, Romania
Air Cushion Vehicle Track-Keeping Based on AGA Auto Disturbance Rejection Control
Xiaocheng Shi, Zhenye Liu, Mingyu Fu, Chenglong Wang Department of Automation,Harbin Engineering University, Harbin ,China
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.
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. IMC of a Distillation Process
Air cushion vehicle
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 Technology Beijing University of Technology NO.100 Pingleyuan, Caoyang District, Beijing, 100124, China
PCA-AR based Fault Prognosis for Turbine Machine

Qiuyan Wang, Jie Ma and Xiaoli Xu Key Laboratory of Modern Measurement & Control., Beijing Information Science and Technology University Beijing, China
EtherCAT real-time Ethernet technology that proposed by Beckhoff Company, is now widely used in industrial automation and motion control fields. In this paper, slave module design based on EtherCAT fieldbus is carried out from the view of the theoretical study and product application as well.
EtherCAT Slave Module
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 of SPE 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 System
Muye 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 used to increase the turning velocity by reduced junction angle, so that the whole caving velocity gets increased. To prevent the velocity of short axis motor overshooting, according to the natural characteristic of step motor, a look-ahead feedrate planning method is used to restrict the frequency hopping rate by index decelerating to get Simulation of Speed Control Method the short axis motor smooth running
58
WA1-5: Robot Navigation II

Session Chairs: Hakan Temeltas, Istanbul Technical University Mincheol Lee, Pusan National University Room 12, 8:00-9:48, Wednesday, 10 August 2011
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 Temeltas Institute of Science and Technology, Istanbul Technical University Istanbul, Turkey
A Study of Cluster Robots Line formatted Navigation Using Potential Field Method
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.
Yo hwan Kang, Min cheol Lee, Chi yen Kim, Sung min Yoon and Chi beom Noh Measurement & Control Lab., Pusan National University Pusan, Korea
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
WA1-5(3) 8:36-8:54
WA1-5(4) 8:54-9:12
Research on Object Recognition Using Bag of Word Model for Mobile Robot Navigation
Jin-fu Yang, Kai Wang, Ming-ai Li and Lu Liu College of Electronic Information & Control Engineering, Beijing University of Technology Beijing, China
Sparsed Potential-PCNN for Real Time Path Planning and Indoor Navigation Scheme for Mobile Robots
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.
S. 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
This paper introduced an object recognition method based on the bag of word model. The image patches are sampled using SIFT algorithm, and outliers are removed by RANSAC. The resulting descriptors are represented as a word based on the codebook. The KNN algorithm is used to classify images.
Object Recognition
WA1-5(5) 9:12-9:30
Research on Real-time Route Planning for Unmanned Aircraft in Geomagnetic Matching Guidance
Yuan Sun, Jinsheng Zhang, Shicheng Wang, and Wei Jiao Precise 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 Real-time Route Planning a new route in time.
WA1-5(6) 9:30-9:48
Ultrasonic Transducers Frequency Response Study with Equivalent Circuit and Finite Element Method
Chunyan 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.
0.9
relative amplitude
0.8
0.7
0.6
0.5 KLM model curve FEM curve 4 4.2 4.4 4.6 4.8 5 f-Hz 5.2 5.4 5.6 5.8 x 10 6
5
0.4
The FEM and the KLM model result
59
WA1-6: Sensor Design II

Session Chairs: Atsushi Umemura, Tokyo Denki University Zhang De-Yin, Civil Aviation Flight University of China Room 13, 8:00-9:48, Wednesday, 10 August 2011
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 Haneyoshi Tokyo Denki University Saitama, Japan
Megahertz-range Magnetostrictive Sensor for Exciting Longitudinal Guided Waves in Steel Rods/Strands
He Cunfu, Liu Xiucheng, Wu Bin and Fu Hao NDT&E Lab., Beijing University of Technology Beijing, China
In 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
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 The FPMC-based MsS after being wrapped into multiple layers.
Strand (a) Flexible printed meander coil Rod Flexible(b) printed meander coil
WA1-6(3) 8:36-8:54
WA1-6(4) 8:54-9:12
Dielectric Property of Ion Beam Enhanced Deposited Lithium Tantalate Thin Film Infrared Detector
De-Yin Zhang, Wei Qian Civil Aviation Flight University of China,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 4.7610-8A/cm2 when LT detector subjected to tested electrical field of 400kV/cm. Breakdown electrical field of LT thin film detector is 680kV/cm. Kun Li, Jian-Sheng Xie Changzhou University, China
Study on the compensation technology for the intensity modulated fiber optic displacement sensor of two-circle coaxial
Chengqi Li, Xiaodong Zhang and Ping Zhang School of Mechanical Engineering, Xian Jiaotong University Xian China
There are three groups optical fibre in the displacement sensor. The inner fibre is used to transmit the light, and the out two groups are used to receiving light. The Diameter is only 2mm. The distribution of the detector for the sensor
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 Li Automation College, Harbin Engineering University , Harbin, Heilongjiang Province , China Since its initial application in geophysics, wavelet transforms is widely used in the signal processing. By processing the output signals of FOG and analysing signal spectrum, we can see that the signal less than 2 Hz are useful low frequency signals, 10~50Hz range is distributed of high levels of noise. Design real-time algorithm, it is including the selection of wavelet, decomposition scale and the width of a sliding window. SNR and RMSE is introduced to determine the wavelet scale and the sliding window width. The algorithm is applied in the physical FOG system , and it is practically.
The Research of an Energy Recovery Retarder with SRM Structure

Liu Bendong 1, Zhang Weihan1 and Yang Jiahui 2 1 Beijing University of Technology, 2 Beijing Vocational College of Agriculture. Beijing, China
Fig 4 De-nosing result of X-axis Ship rocking signals
A energy recovery retarder is ECU Detector introduced in this paper in order to overcome the shortcoming of the traditional retarder. Engine Gear Battery The special single-phase Box switched reluctance motor is selected as the energy recovery Main Circuit retarder because of the launch of conditions. This solution has advantages The energy recovery retarder such as large braking torque, simple structure , durable.
Retarder
60
WA1-7: Signal Processing III

Session Chairs: Satoshi Kondo, Tokyo University of Agriculture and Technology Liwei Zhang, Harbin Engineering University Room 14, 8:00-9:48, Wednesday, 10 August 2011
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 KITAJIMA Tokyo University of Agriculture and Technology Tokyo, Japan
Fast Tracking of Feature Points in Full-View Image

Xuebin Qin and Shigang Li Graduate School of Engineering, Tottori University, 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 individuals one with the GFFD deformation method. Evaluate the accuracy of the restored model.
Extract operation points
3D positions of operation points GFFD Generic model Restored model
A tracking method of feature points is proposed in a Full-view image. The similarity of local region of feature points is measured by the normalized image patch of the local region 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 The Range for Feature matching speedily using a look-up table.
t
t +1
XR
XR
I R ,t
YR
Relative Orientation
pt +1
YR
XL
XL
I L ,t
pt
YL
YL
mt
mt + 1
ZS
XS
OS
YS
WA1-7(3) 8:36-8:54
WA1-7(4) 8:54-9:12
Research on MWD mud pulse signal extraction and recognition
Bing Tu , Desheng Li, and Enhuai Lin
College of Mechanical Engineering and Applied Electronic Technology Beijing University of Technology
Stereo Matching With Cross-based Region, Hierarchical Belief Propagation and Occlusion Handling
Chao 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
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
A New Image Restoration Algorithm Based On Window Roaming and RBF Neural Network
Liwei Zhang, Yaping Zhang College 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.
WA1-7(6) 9:30-9:48
A closed-loop design methodology for underwater transducers pulse-shaping

Marco Morgado, Paulo Oliveira, and Carlos Silvestre Institute for Systems and Robotics, Instituto Superior Tcnico 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.
RBF neural network topological structure
61
WA2-1: Manufacturing Technology

Session Chairs: Mingdong Shang, Queen's University Belfast Okitoshi Tsunoda, Tokyo Denki University Room 1, 10:15-12:03, Wednesday, 10 August 2011
WA2-1(1) 10:15-10:33
The Experimental Test and FEA of a PKM (Exechon) in a Flexible Fixture Application for Aircraft Wing Assembly
Mingdong SHANG and Joe Butterfield Mechanical and Aerospace Engineering, Queens University Belfast, UK
WA2-1(2) 10:33-10:51
Study of Competitiveness and Japanese Production Technology

Okitoshi Tsunoda * and Hiroki Nakano ** Faculty of Science and Technology, Tokyo Denki University, Saitama, Japan * Yamato Laboratory, IBM Japan Ltd., Kyoto, Japan **
The paper covers: Proposing a Parallel Kinematic Machine (Exechon) to be used in a flexible fixture for aircraft wing assembly automation. Experimentally testing of an Exechons static stiffness to understand its stiffness character and provide validation data for FEA. Developing FE models based on solid models with full details and beam models with spring elements.
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? The Exechon in Test 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
A new two-phase fluid dispensing technology for the adhesive distribution

Peng Peng, Jianhua Zhang, Jinsong Zhang School of Mechatronics Engineering and Automation Key Laboratory of Advanced Display and System Applications of Ministry of Education Shanghai University Shanghai, P.R 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.
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 The structure diagram of the twofeasibility of the two-phase phase fluid dispenser dispensing theory.
The sample
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 Yu College of Mechanical and Electric Engineering, Changchun University of Science and Technology Changchun, Jilin Province, China
Research Agile Virtual Enterprise Established Based on Combinatorial Optimization Model

Tianrui Zhang, Tianbiao Yu and Wanshan Wang School of Mechanical Engineering and Automation, Northeastern University Shenyang, China
Design and manufacture equipment for 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 parts diameter is from 8 to 14mm and thickness is from 0.8 to 1.5mm.
Overall structure of the system
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 Room 4, 10:15-12:03, Wednesday, 10 August 2011
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 avoidance
Indrazno Siradjuddin, T.M. McGinnity, Sonya Coleman and Laxmidhar Behera Intelligent Systems Research Center University of Ulster, UK
Model updating for disk-rod-fastening rotor based on DOE

Guihua Dong, Minqing Jing, and Heng Liu School of Mechanical Engineering, Xi'an Jiao Tong University Xi'an, Shannxi Province, China
Computationally effecient Avoid joint's limit configurations Visual servoing for a static and a moving object 7 DOF POWERCUBE
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. Research Model
WA2-2(3) 10:51-11:09
WA2-2(4) 11:09-11:27
Design and Analysis of Flux Concentrating Permanent Magnet Disc Synchronous Motor for Direct Driving System
Jintao Liang, Shengdun Zhao, Jia Xie, Yongli Zhao Department of Mechatronics Engineering., Xian Jiaotong University Xian, China
Dynamic Characteristics of Tower Structure Based on Finite Element Analysis

Tianliang Liu, Deguang Shang, Chonggang Ren,and Jingyang Nan College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing, 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
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 The tower structure stages.
63
WA2-3: Robot Applications

Session Chairs: Akihiro Kaneshige, Toyota National College of Technology Guangzhi Zhao, Kunshan Institute of Industry Research Room 7, 10:15-12:03, Wednesday, 10 August 2011
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
Three-Dimensional Obstacle Avoidance Online Path-Planning Method for Autonomous Mobile Overhead Crane
Shunsuke Nagai, Akihiro Kaneshige, and Satoshi Ueki Toyota National College of Technology Toyota, 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
This paper presents a method for establishing a three-dimensional autonomous mobile overhead crane system that takes into account obstacle recognition and path planning online. USS is used for obstacle recognition. The Path-planning method can be carried out in a short time with an The Apparatus of Overhead Crane easy algorithm.
WA2-3(3) 10:51-11:09
WA2-3(4) 11:09-11:27
Trajectory Tracking Control of a 2-degree-offreedom Gantry Crane Robot with Dynamic Friction Compensation
Lan Yu and Yaqing Zheng College of Mechanical Engineering and Automation, University of Huaqiao Xiamen, China
Design and Realization of a Mobile Robot for Power Transmission Lines Inspection
Guangzhi Zhao, Ludan Wang, Sheng Cheng and Jianwei Zhang Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Jiangsu, 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.
Mechanical system including wheels and grippers. Control system. Experiments and conclusion.
Mechanism schematics
The Inspection Robot
WA2-3(5) 11:27-11:45
WA2-3(6) 11:45-12:03
A Sound Card-based FHMA Acoustic Communication System for Multiple Underwater Robots
Zixin Zhao and Shuxiang Guo Kagawa University, Japan
On the Design for AGVS: Modeling, Path Planning and Localization

Qi Sun, Hui Liu, Qiang Yang and Wenjun Yan Institute 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 selflocalization. Several simulations was carried out by using Player/Stage.
The AGVs used in warehouse
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 Acoustic Communication Platform ocean for convenient. In the simulation and experiments, the signals transmitted from the transmitting part could be received exactly in the receiving part which indicated 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 Drives

Krishan K. Sharma, Electrical Engineering Department, N.I.T. Kurukshetra, INDIA A. Swarup, Electrical Engineering Department, N.I.T. Kurukshetra, INDIA and Bhim Singh, Electrical Engineering Department, I.I.T. Delhi, INDIA
Quaternion-Based Orientation Estimation with Static Error Reduction

Eun-Ho Seo, Chan-Soo Park, Doik Kim and Jae-Bok Song Interaction and Robotics Research Center, Korea Institute of Science and Technology (KIST), Republic of Korea. Department of Mechanical Engineering, Korea University, Republic of Korea.
INTRODUCTION CONTROL PRINCIPLE SIMULATION RESULTS ANALYSIS CONCLUSION
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 SINS

Yueyang Ben, Zhongjun Zhu, Qian Li and Xiao Wu College of Automation, Harbin Engineering University Harbin, China
Constrained Control Allocation using Cascading Generalized Inverse for Dynamic Positioning of Ships
Xiaocheng Shi, Yushi Wei, Jipeng Ning and Mingyu Fu Department 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
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
c Control u,
allocation
DP ship
Block diagram illustrating the 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 Li China University of Mining and Technology Xuzhou, China
A Novel Sliding Mode Observer for PMSM Sensorless Vector Control

Liang Qi Tinggang Jia Hongbo Shi Department of automatic and control Engineering East China University of Science and technology ,Shanghai, china
Aimed at the precision of flux observer in virtual flux oriented vector control of PWM rectifier, a new virtual flux observer with lowpass filter compensation link was proposed. 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
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
The structure of conventional sliding mode observer
CONCLUSIONS
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 Room 12, 10:15-12:03, Wednesday, 10 August 2011
WA2-5(1) 10:15-10:33 WA2-5(2) 10:33-10:51
A Fast and Robust Scan Matching Algorithm Based on ML-NDT and Feature Extraction
Cihan ULAS and Hakan TEMELTAS Department 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 Robots
Yoshihiro Fuse, Masaaki Furuya, Michiyoshi Nishimura, Chiaki Yoshimura, Hiromi Watanabe, Tsutomu Tanzawa, Shinji Kotani and Noriaki Kiyohiro Yamanashi 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 Intersection
Atsushi WATANABE, Shigeru BANDO, Kazuhiro SHINADA, Shin'ichi YUTA Intelligent Robot Laboratory, University of Tsukuba, Japan
Fast Plane Detection for SLAM from Noisy Range Images in Both Structured and Unstructured Environments
Junhao Xiao, Jianhua Zhang, Houxiang Zhang , Jianwei Zhang and Hans Petter Hildre
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.
Department of Computer Science, University of Hamburg D-22527, Hamburg, Germany.
Department of Technology and Nautical Science, Aalesund University College, N-6025, Aalesund, Norway.
An accelerated region growing algorithm for unstructured environments is presented. A grid-based region growing algorithm for structured environments is proposed. The pixels neighborhood information (when the point clouds are viewed as range images) is employed in both algorithms.
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 Sheng College of Electronic Information & Control Engineering, Beijing University of Technology Beijing, China
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 Technology Beijing, China
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
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 Room 13, 10:15-12:03, Wednesday, 10 August 2011
WA2-6(1) 10:15-10:33
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
WA2-6(2) 10:33-10:51
Analyzing of Voltage-Source Selective Harmonic Elimination Inverter

Wenyi Zhang, Qiang Zhang, Wensheng Chen and Liuzhong Zhang College of Automation, Harbin Engineering University, Harbin, Heilongjiang, China
Dept. of Mechanical Design and Manufacturing Engineering Changwon National University

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.
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.
Connected N hydraulic circuit modeling of trochoid pump using AMESim
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 LI Automation Engineering College, Qingdao Technological University Qingdao, China
Effects of Voltage sags on the Quasi-Z-Source Adjustable-Speed Drives

Bo YU, Xinping DING, Yan LU, Hong LI, and Xia LI Automation Engineering College, Qingdao technological University Qingdao, China
Diode rectifier
+ L1
Vdc
C2
+
L2
a b c
3-P 380Vac
Ca Cc
Cb
+
C1
+
VPN
M 3-P 0-380Vac
510-630Vdc
Main circuit configuration of proposed ASD system 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.
Quasi-Z-source inverter based ASD system
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.
WA2-6(5) 11:27-11:45
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 Gai1 1. Department of Mechanical EngineeringHarbin Institute of Technology at Weihai Weihai, China 2. State Key Laboratory of Robotics and SystemSchool of MechatronicsHarbin Institute of Technology Harbin, China
WA2-6(6) 11:45-12:03
Implementation of Self-rehabilitation for Upp based on a Haptic Device and an Exoskeleton
Zhibin Song*1 and Shuxiang Guo*2*3 School of Engineering., Kagawa University, Japan *2Dept. of Intelligent Mechanical Systems Engg, Kagawa University, Japan *3Harbin Engineering University, China
*1Graduate
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
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 training Phantom premium and exoskeleton dev
67
WA2-7: Numerical Analysis

Session Chairs: Ali Pyambri Paramani, Sharif University of Technology Zhang Li Jing, Aviation University of Air Force Room 14, 10:15-12:03, Wednesday, 10 August 2011
WA2-7(1) 10:15-10:33 WA2-7(2) 10:33-10:51
Optimum Inverse Kinematic Method for a 12 DOF Manipulator

Ali Pyambri Paramani BSc Student Sharif University of Technology ,International Campus ,Iran
In General , there are two methods to analyse the inverse kinematic of manipulators, one of which can be selected with respect to the conditions and the type of the manipulator. One of the methods is the closed solution which is based on the analytical expressions The other method is the numerical solution. In the numerical solutions , the numbers are repeated and generally it is much slower than the closed solutions. . The method presented in this paper is a quick and useful method which is based on the numerical calculations and the geometrical conditions. It does not need the angle condition, The advantage of this method over other similar methods is that if the problem requires finding some limited configurations in the robot, all the modes related to the specified interval can be calculated easily and quickly, without the need for long calculations and only by specifying an interval. The present paper analyzes inverse kinematic of Longshank robot with 12 DOF.
Dynamic Analysis of Maglev Conveyor Using an EM-PM Hybrid Suspension

Kijung Kim and Jongboo HanChanghyun Kim, Jongmin Lee and Hyungsuk Han Chungnam National University Daejeon, KOREA
LongShank Robot 12 DOF
a dynamic model of the Maglev conveyor for carrying LCD glass cassette was developed to predict and improve levitation stability. With the dynamic model including the electromagnets and their control systems , the dynamic responses are predicted and analyzed. the effects of the levitation control algorithm on stability are also simulated.
Maglev conveyor system.
WA2-7(3) 10:51-11:09
A Simulation and Visulization Platform for Fractionated Spacecraft Attitude Control System
Xueliang Bai and Xiaofeng Wu School of Aerospace, Mechanical, and Mechatronic Engineering University of Sydney Sydney, Australla
WA2-7(4) 11:09-11:27
Modeling longitudinal aerodynamic and hydrodynamic effects of a flying boat in calm water
ZHU Yinggu, FAN Guoliang and YI Jianqiang Institute of Automation, Chinese Academy of Sciences, Beijing China
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.
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 Li School of Mechanical, Electronic and Control Engineering,Beijing Jiaotong University, Beijing, China
Experimental Study on Synchronizing Spatiotemporal Chaos via Active-Passive Decomposition

Lijing Zhang1, Daxin Liu 2 and Wei Guo1 1.Department of Control Engineering,Aviation University of Air Force 2. College of Biological and Agricultural Engineering,Jilin University Changchun, 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
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 Room 1, 13:30-15:18, Wednesday, 10 August 2011
WP1-1(1) 13:30-13:48 WP1-1(2) 13:48-14:06
Force-Cooperative Guidance Design of an OmniDirectional Walking Assistive Robot

Kai-Tai Song and Sin-Yi Jiang Department of Electrical Engineering, National Chiao Tung University Hsinchu, Taiwan
Modeling and Simulation of a Jumping Frog Robot

N. S. Reddy, Ranjit Ray, S. N. Shome Robotics & Automation Group, CSIR-CMERI Durgapur, India.
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 users force and guide the user to the goal position while avoiding unexpected obstacles in the environment. Walking helper robot
A quadruped robot that mimics a frogs 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
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 Chen The State Key Laboratory of Tribology, Tsighua University, Beijing, China
WP1-1(4) 14:24-14:42
BJR: A Bipedal Jumping Robot Using DoubleActing Pneumatic Cylinders and Torsion Springs
Guoyu Zuo, Rongyi Sun, Guan Wang, Kai Wang School of Electronic Information and Control Engineering, Beijing University of Technology 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.
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 BJR Bipedal Jumping Robot the simulation ones. BJR can jump more than 50% of its body height. Passive Biped Robot
WP1-1(5) 14:42-15:00
Biped Walking Planning Using Extended Linear Inverted Pendulum Mode with a Continuous Moving
BHR Humanoid Robot
Xuechao Chen, Qiang Huang, Zhangguo Yu, Wei Xu, Jing Li, and Gan Ma School of Mechatronical Engineering, Beijing Institute of Technology Beijing, China
WP1-1(6) 15:00-15:18
Object Manipulation by Two Humanoid Robots Using MTJ Control

S. Ali A. Moosavian, Alireza Janati, M. Hamid Ghazikhani Advanced Robotics & Automated Systems Laboratory., K. N. Toosi University of Technology Tehran, Iran
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.
Dynamics Modeling. Stable Gait Planning. The Controller Design
The Considered Humanoid Robot

ELIPM
69
WP1-2: Mechanism Analysis II

Session Chairs: Jianjun Wang, ABB Inc. Chi HE, China Baicheng Ordnance Test Center Room 4, 13:30-15:18, Wednesday, 10 August 2011
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 Martinez ABB Corporate Research Center, USA
Dynamic Modeling of Scraper Conveyor Sprocket Transmission System and Simulation

Zhang chunzhi , Meng guoying China University of Mining & Technology Beijing, China scraper middle trough General description of scraper conveyor sprocket transmission vertical chain system dynamic. Contact search algorithm of contact pair. transitional trough sprocket plate chain Kinematics and equation of the dynamic model. Dynamic model of scraper conveyor simulation operation mode and sprocket transmission system results Conclusions.
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
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 Hongwen Key Laboratory of Condition Monitoring and Control for Power Plant Equipment North China Electric Power University, Beijing, China
Design of Hydraulic Power Subsystem in Shock Simulation System for Shipborne Weapons
Dexin Huang, Ju Ma Beijing Simulation Center Beijing, China Chi He, Chaoyuan Cai, Guangling Dong and Qiang Li Department of Test Technology, China Baicheng Ordnance Test Center Baicheng, Jilin Province, 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.
The status and difficulty in type approval test of naval gun mounting servo system are introduced. A shock simulation testing system for shipborne 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 Control block diagram of meets with technical design requirements. shock simulation system
Display Industrial control computer Electrohydraulic servo controller Hydraulic power subsystem Electrohydraulic servo valve Twofold-gang hydraulic motor Gear box Torque sensor Electrical motor of weapon servo system in test
Printer
WP1-2(5) 14:42-15:00
Hydrodynamic Analysis and Optimization for Dish Shaped Underwater Robot
Tian Wang , Xiufen Ye, Lei Wang and Chao Zhang College of Automation, Harbin Engineering University Harbin, Heilongjiang Province, China
WP1-2(6) 15:00-15:18
2-DOF Kinematic XY Stage Design Based on Flexure Element

1School 1Weijun Wang, 1Changsoo Han, and 2Hyeunseok Choi of Mechatronics Engineering, Hanyang University, Ansan, South Korea 2Korea Institute of Industrial Technology, Ansan, South Korea
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
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 rightcircular notch hinge
70
WP1-3: Measurement Technology

Session Chairs: Chan-Soo Park, Korea Institute of Science and Technology Songmin Jia, Beijing University of Technology Room 7, 13:30-15:18, Wednesday, 10 August 2011
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 Arnuttinanon Faculty of Information Technology, King Mongkuts Institute of Technology Ladkrabang Bangkok 10520, THAILAND
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
The hybrid temperature recorder monitoring system is implemented to improve the monitoring procedure of burnin 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
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 manipulation with proposed sensor
WP1-3(3) 14:06-14:24
Stair Boundary Extraction using the 2D Laser Scanner
Chan-Soo Park, Eun-Ho Seo, Doik Kim, Bum-Jae You, and Sang-Rok Oh Korea Institute of Science and Technology (KIST) Seoul, Korea.
WP1-3(4) 14:24-14:42
Measurement and Analysis of the Welding Arc Current Density and Pressure Distribution based on Split Anode Method
Shujun Chen, Fan Jiang, Zhenyang Lu, Dongbo Tao and Yang Yu College of Mechanical Engineering & Applied Electronics Technology Beijing University of Technology Beijing China
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.
900 800 700 600 500 400 300 200 100 0 -100 500 0 -500 800 1000 1200 1400 1600 1800
800
600 400
200
0 500 0 -500 800 1000 1200 1400 1800
1600
Stair Boundary Extraction
Based on the split anode method, the combined measurement system of arc current and pressure is used to measure DC-TIG arc and DC-plasma arc, the distribution characteristic of the arc current density and arc pressure is obtained after analysis of initial data smoothly and calculation of circular segmentation method, which can provide basic data to study the 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 sensor

Yanxia Liu, Xisheng Li and Xiuhui Wang Department of Measurement & Control., University of Science and Technology Beijing Beijing, China
Research on Measurement Technology of Lubricating Film State Based on Displacement Sensor of Two-Circle Coaxial Fiber
Ping Zhang, Xiaodong Zhang, and Chengqi Li School of Mechanical Engineering, Xian Jiaotong University Xi'an, 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 by parallel resistance
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 Room 11, 13:30-15:18, Wednesday, 10 August 2011
WP1-4(1) 13:30-13:48
A Novel Bio-Inspired Distributed Coverage Controller for Pollution Monitoring
John O Oyekan, Huosheng Hu and Dongbing Gu
University of Essex, United Kingdom.
WP1-4(2) 13:48-14:06
A Review: The Control Strategies of Synchronized Switching Damping Technique

Xu Han and Marcus Neubauer and Jrg Wallaschek Institute of Dynamics and Vibration Research Hannover, Germany
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.
SSD(synchronize switching damping) technique Energy analysis Multi-modes damping control strategies Review, compare and classify Voltage processing of SSDI network
WP1-4(3) 14:06-14:24
WP1-4(4) 14:24-14:42
A Hybrid Particle Swarm Algorithm for Assembly Line Balancing Problem of Type 1
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.
Jianping Dou, Jun Li, and Qi Lv Key Laboratory of Measurement and Control of Complex Systems of Engineering , Southeast University, Nanjing, China
Research on Computer Control Strategy for Optical Electric Tracking System

Miao Li, Huibin GAO Changchun Institute of Optics, Fine Mechanics and Physics ,China
Update of the particlerepresented permutation
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 High Speed Tracking System working.
WP1-4(5) 14:42-15:00
WP1-4(6) 15:00-15:18
Research and Implementation on Control Technology of Plane Two-DOF Dual-Truck Parallel Mechanism
Sun Shuwen, Wu Na, Zheng Gang, Wang Xinhua, Xia Huanxiong College of Mechanical Engineering & Applied Electronics Technology ,Beijing University of Technology Beijing, China
Improved De-noising Approach of Fiber Optic Gyroscope Based on Lifting Scheme Wavelet
Zhiyong Xie, Tao Zhang, Nong Cheng and Jingyan Song Tsinghua 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.
Raw Signal
Component of Dual-Truck Parallel Mechanism System Analysis of Mechanism Kinematics The Design of the Drive and Controller
Sample Points Coefficients of first level
Coefficients of second level
The Design of Monitor Software Test Experiment Conclusion
Domain Relativity of two level coefficients
72
WP1-5: Teleoperation
Session Chairs: Chunquan Xu, The University of Electro-Communications Yuepin Lu, Beijing University of Science and Technology Room 12, 13:30-15:18, Wednesday, 10 August 2011
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 Ju Department of Electronic Engineering, Saitama Institute of Technology Saitama, Japan
1The
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 University of Electro-Communications, Japan; 2The University of Electronic Science & Technology of China, China; 3King Mongkuts Institute of Technology, Ladkrabang, Thailand; 4Tamkang University, Taiwan
wireless monitoring biped-walking robot When earthquake, control bipedwalking robot free Next-generation control system Real-time, portable, efficient
Biped-walking robot
International coooperative education 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 Jinan 2Intelligent Robotics Institute, Beijing Institute of Technology
Over-the-horizon Teleoperation System for Underground Unmanned LHD

Yuepin Lu, Tianxu Jin, Li Liu, Chao Yang School of mechanical Engineering, University of Science and Technology Beijing Beijing, China
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 Vascular Interventional Robot Discuss and Outlook.
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 The simulation prototype manipulation. for the LHD The effectiveness of the proposed controlling system is shown by experiments.
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 DongHehua Ju and Hongxia Xu College of Electronic Information and Control Engineering, Beijing University of Technology Beijing, China
Direct Adaptive Neuro Control for Teleoperation

Anan Suebsomran Autonomous and Railway Transportation Research Center, Department of Teacher Training in Mechanical Engineering King Mongkuts University of Technology North Bangkok Bangkok, Thailand
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
Master manipulator
Communication channel
Slave manipulator
Teleoperation system Direct adaptive control Direct adaptive neuro control Disturbance noise
Master/slave teleoperation forceforce 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 Room 13, 13:30-15:18, Wednesday, 10 August 2011
WP1-6(1) 13:30-13:48 WP1-6(2) 13:48-14:06
Industrial Applications of Chatter Stability Prediction and Monitoring System for Turning Processes
Kaibo Lu, Minqing Jing, Yongqiang Zhang and Heng Liu School of Mechanical Engineering Xian Jiaotong University,Xian, China
Robust Sensorless Control of PMSG with MRAS in Variable Speed Wind Energy Conversion System
Hsuan-Chi Tseng and Stone Cheng Department of Mechanical Engineering, National Chiao Tung University Hsinchu, 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.
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
Hardware Implement of Numerical Control System for Bearingless Induction Motor

BU Wenshao, ZHANG Songcan, WAN Shanming, HUANG Shenghua Henan University of Science and Technology, Luoyang, China
Mathematical model of a hydraulic arresting gear on aircraft 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
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 Grinding for Screw Rotors

1 School of Mechanical Engineering, Dalian University of Technology,Dalian, China, 116024 2 The State Key Lab. on Mechanical Transmissions,Chongqing University,Chongqing,China, 400030
Jing Wei 1, Guanghui Zhang 2
Dynamic Analysis of 5-DOF Parallel Machine Tool with Redundant Actuation

Li Cheng, Yongsheng Zhao, and Hongguang Wang State Key Laboratory of Robotics, School of Mechanical Engineering, Shenyang Institute of Automatioin, CAS Yanshan University Shenyang, China Qinhuangdao, China
The tooth profile errors of screw rotors induced by manufacturing errors and wears as well as mounting errors of grinding wheel are studied. Mathematical models of the profile errors of screw rotors are established and the influence curves of the tooth profile errors affected by mounting errors and the radius error of grinding wheel are proposed. Error analysis of precision grinding for screw rotors is proposed. The experiment and error compensation for screw rotors are performed. It is helpful for improve grinding accuracy of screw rotors and laid a good foundation for error compensation of precision grinding of screw rotors and other helical surface.
Grinding machining of the screw rotors using CBN wheel
The dynamics formulation of this parallel machine tool is derived using Lagrange Equation approach. A novel force distribution method is introduced for redundant actuation. Some numerical examples are given and the dynamic simulation are carried out .
5-UPS/PRPU PMT with redundant actuation
74
WP1-7: PID Control

Session Chairs: Hongsheng Li, Nanjing Institute of Technology Jian Xu, Harbin Engineering University Room 14, 13:30-15:18, Wednesday, 10 August 2011
WP1-7(1) 13:30-13:48 WP1-7(2) 13:48-14:06
Design of Fractional Order Iterative Learning Control on Frequency Domain

Hongsheng Li, Jiacai Huang, Di Liu, Jianhua Zhang, and Fulin Teng School of Automation, Nanjing Institute of Technology Nanjing, China
PD Regulated Sliding Mode Control of a Quadruped Robot

S. Ali A. Moosavian, Mahdi Khorram, Ali Zamani, Hamed Abedini Advanced Robotics & Automated Systems Laboratory., K. N. Toosi University of Technology Tehran, Iran
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 , is involved. Simulation results show that the proposed algorithm is practical and effective. Trajectory from trial 1 to 13 with =0.7
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
Study on Missile Rudder Servo System Based on Mixed Fuzzy-PID Control Algorithm
1 University
Comparative Study of PI controller and Fuzzy logic controller for three-phase grid-connected inverter
Chao Ma, Dagui Huang School of Mechatronics engineering, University of Electronic Science and Technology of china Chengdu, China
Yingzhe Wu 1, Hui Li 1, Ye Bi 1 and Bo Guo 2 of Electronic Science and Technology of China, China 2 Hokkaido University, Japan
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 threephase inverter. Both simulation and experiment are carried to verify the analysis.
The three-phase Inverter
Introduce the structure of electromechanical rudder and analysis the mathematic model of electromechanical rudder. Design the position loop of missile rudder servo system with Mixed Fuzzy-PID Algorithm . Design the speed loop of the system with classical PI Algorithm. Certifying the effectiveness of the control algorithm applied in missile rudder servo system with both simulating and testing results.
Structure of Missile Rudder Servo System
WP1-7(5) 14:42-15:00
Simulation and Controlling for Weld Shape Process in P-GMAW Based on Fuzzy Logic
Zhihong Yan. Beijing University of Technology, Beijing, China Guangjun Zhang, Lin Wun. Harbin Institute of Technology, Harbin China
WP1-7(6) 15:00-15:18
Research on the UUVs Heading Control System Based on Adaptive Robust PD Control Principle
Shijie Li1, Jian Xu1,2, Guoqing Xia1, Jie Zhao2 1. College of Automation, Harbin Engineering University, Harbin, Heilongjiang Province, China 2. Robotics Institute, Harbin Institute of Technology, Harbin, Heilongjiang Province, China
Latitude(deg)
A sensing and controlling system is established for P-GMAW of mild 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.
W bg d ce dt e Fuzzy I controller
+ +
-1
P- GMAW
Wb
W bp
CIWBNNM
I Wt Hm
Sensing system
Weld pool image
Neural network model based fuzzy controlling system
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.
38.715
Actual track Planning track F E
38.710
D A
B
38.705 121.660 121.665 121.670 121.675 121.680 121.685 121.690 121.695
Longitude(deg)
Page 33
75
WP2-1: Human System Interaction & Interface

Session Chairs: Yinlai Jiang, Kochi University of Technology Dominique Duhaut, University Bretagne Sud Room 1, 15:40-17:28, Wednesday, 10 August 2011
WP2-1(1) 15:40-15:58
User Directional Intention Recognition of an Omnidirectional Walking Support Walker
Yinlai Jiang, Shuoyu Wang (Kochi Univ. of Tech, Japan) Kenji Ishida (Kochi Univ., Japan) Takeshi Ando, Masakatsu G. Fujie (Waseda Univ., Japan) An omnidirectional walking support walker (ODW) is being developed. We propose a method to identify a users 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.
WP2-1(2) 15:58-16:16
Development of a Guide Robot Interacting with the User using Information Projection - Basic System Takuya Sasai, You Takahashi, Mitsunori Kotani, and Akio Nakamura Dept. Robotics and Mechatronics, Tokyo Denki University Tokyo, Japan
Directional Intention Recognition
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
Preliminary study to evaluate Emi emotional interaction with two young children
Sbastien Saint-Aim, Brigitte Le Pvdic and Dominique Duhaut Valoria laboratory, University of Bretagne Sud Vannes, France
Emologus : presentation of a linguistically based model for emotion detection and adaptation to another context
Le Tallec Marc, Duhaut Dominique University of South Britany Lorient, France
Interaction between children and robot Spoken language understanding system Emotion detection Adaptation to another context
Emi robot in interaction
Emi : expressive companion robot for young children in long hospitalization. iGrace : computational emotional model given emotional state of Emi for childs 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
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, China 2. Institute of Robotics and Mechatronics, German Aerospace Center Munich , Germany
Different haptic feedback feeling about stiffness, viscosity and friction between the sound and cavity sites can help the user identifying the shape of the cavity. A locking method is proposed to guarantee the stability of boundary detection.
Scenario of cavity diagnosis simulation
The validity of our method is illustrated by experiments results from two typical types of cavity profile.
A five-fingered, multi-sensory prosthetic 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

Jianan Xu, Na Yan and Mingjun Zhang Underwater Vehicle Intelligent Control Technology Lab, Harbin Engineering University,Harbin, China
First Principles Calculations in Silicon: Structural and Electronic Properties of Point Defect
Mang Niu, Deyao Li, Baicheng Sheng and Xiaohong Shao College of Science, Beijing University of Chemical Technology Beijing, China Wei Liu and Zhiqiang Wang Academy of Opto-electronics, Chinese Academy of Science Beijing, China
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 Coordinate System and of stroke spin angular velocity to the Mechanical Hydrofoil Apparatus hydrofoil propulsive performance.
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 Zhang Northwestern Polytechnical Universityar Xian, China
Theoretical and Experimental research of Caudal-fintype Piezoelectric-stack Pump with Variable-crosssection Oscillating Vibrator
LIN Xiaoguang, HU Xiaoqi , ZHANG Jianhui Precision Driving Laboratory , Nanjing University of Aeronautics and Astronautics Nanjing, Jiangsu Province , 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.
180 160 140 120 100 80 60 40 20 0

0 30 60 90 120 150 180
= = = =
0 30 45 90
Critical aerodynamic parameter and composite filament angle in various flow directions
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 Chen College of Mechanical Engineering and Applied Electronic Technique, Beijing University of Technology Beijing, China
Modeling and Prediction of Paint Film Deposition Rate for Robotic Spray Painting
Shengrui YU and Ligang CAO School of Mechanical and Electronic Engineering, Jingdezhen Ceramic Institute Jingdezhen, 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 .
-100
Strain(m/m)
-200
-300
-400
-500
a23 test a23 revised a24 test a24 revised
-600
Time(s)
Temperature influence comparison of specimens front face
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 Paint Thickness Error Distribution models have high precision, Thus the modeling method is effective .
77
WP2-3: Pattern Recognition

Session Chairs: Yulin Gao, Okayama University Guo peiyuan, Beijing Technology and Business University Room 7, 15:40-17:28, Wednesday, 10 August 2011
WP2-3(1) 15:40-15:58
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
WP2-3(2) 15:58-16:16
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 University 2. Shengjing Hospital of China Medical University Shengjing Hospital
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 scalp topographies of [AV-(A+V)] the processing of multi-sensory information was different between left related to the audiovisual interaction elicited at early and right brain.
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 on Higher Order Spectral Features of Vibration Signals
Zhou Yanbing, Liu Yibing, An Hongwen and Yan Keguo Key Laboratory of Condition Monitoring and Control for Power Plant Equipment, North China Electric Power University , China
200 stable vibration 2D-Bispectrum
Design of Quartz Accelerometer Signal Acquisition System

Chunfeng Yue, Huadong Yu, and Jinkai Xu College of Mechanical and Electric Engineering , Changchun University of Science and Technology Beijing, China
The fault vibration signals of large steam turbine normally are nonlinear 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.
Frequency2 (Hz)
150 100 50 0
50
100 Frequency1 (Hz)
150
200
200 Frequency2 (Hz) 150 100 50 0
unstable vibration
2D-Bispectrum
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 110-5g, which satisfies the INS. Real experiment system
50
100 Frequency1 (Hz)
150
200
Comparison of Bispectrum
WP2-3(5) 16:52-17:10
Pattern Recognition to Lamb Freshness Based on Much Data Merging

Guo Peiyuan, Bao man Beijing 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 Image acquisition device lamb freshness was researched.
78
WP2-4: Vibration Control & Analysis

Session Chairs: Kiyoshi Ioi, Kinki University Jipeng Ning, Harbin Engineering University Room 11, 15:40-17:28, Wednesday, 10 August 2011
WP2-4(1) 15:40-15:58 WP2-4(2) 15:58-16:16
Mechanical and Control Design of Caster for Low Vibrations and Crashes of Carts
Kiyoshi Ioi, Takashi Kawabuchi, Atsushi Suda and Koji Moriya Kinki University, Osaka, JAPAN
Research on Transfer Characteristics of Vibration of Shaft and Beam Sonic Crystals under Concentrated Mass Boundary Condition
Haisheng Shu, Shaogang Liu, Weiyuan Wang, Dan Zhao, Fa Zhang, Enwu Gao College of Mechanical and Electrical Engineering, Harbin Engineering University Harbin, Heilongjiang, China
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
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. Model of shaft or beam SC under concentrated mass boundary condition
Reduction effect of mechanism and control
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. By calculating the frequency response function, the The sketch map of flexural vibration reduction properties for a finite the periodic pipe 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.
(a) LR oscillator Bragg pipe cell (b)
Fault-Tolerant Control of Dynamic Positioning Vessel By Means of A Virtual Thruster

Mingyu Fu, Jipeng Ning and Yushi Wei Department of Automation, Harbin Engineering University Harbin, China
Huijie Shen,Jihong Wen, Dianlong Yu and Xisen Wen Key Laboratory of Science and Technology on Integrated Logistics Support, National University of Defense Technology,Changsha, 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 Space
Wu 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 on projector features to eliminate dynamic shadow. Improves the algorithm of shadow elimination based HSV color space by optimizing the Ostu algorithm. The Current Using merging algorithm integrates these two Image algorithms to further improve the effect of shadow elimination. Performance of the algorithm is more accurate description by using performance parameters of F. 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
Development of a Novel Iterative Learning Control Algorithm using Empirical ModeDecomposition Technique
Meng-Shiun Tsai, Chung-Liang Yen and Hong-Tzong Yau Department of Mechanical Engineering, National Chung-Cheng University, Taiwan
Motion Planning for a Dynamically-coupled Hyper-dynamic Manipulator by Reinforcement Learning

Masahiro Wada, Aiguo Ming and Makoto Shimojo The 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 Golf swing robot generated by the method. using dynamically-coupled drive
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
A Neuro-Fuzzy Compensator Based Smith Predictive Control for FOPLDT Process
Hao Chen, Zoubir Zouaoui and Zheng Chen Engineering Department, Glyndwr University, Wrexham, UK
WP2-5(4) 16:34-16:52
Twin Rotor System Modeling, De-coupling And Optimal Control
Peng Wen, and Yan Li Faculty 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.
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.
WP2-5(5) 16:52-17:10
Design and Simulation of a MRAC Controller for a Human-Scale TeleOperating System
Nan Xiao and Shuxiang Guo Faculty of Engineering, Kagawa University
n the paper the authors introduced a human-scale tele-operating system for biomedical applications. The core of the system is a 6 DOF parallel mechanism with highly precision. A control model was built and the parameters were identified by a genetic algorithm. To improve the performances and eliminate the nonlinear hysteretic restoring force, a MRAC controller was designed. The MRAC controller was designed based on Lyapunov stability theory. Then numerical experiments were carried out. The numerical experimental results indicate that the controller could improve the performances and the nonlinear hysteretic restoring force was got compensated.
The micro operating mechanism
80
WP2-6: Fault Diagnosis

Session Chairs: Masatomo Inui, Ibaraki University Guangjun Liu, Ryerson University Room 13, 15:40-17:28, Wednesday, 10 August 2011
WP2-6(1) 15:40-15:58 WP2-6(2) 15:58-16:16
Fast Safety Verification of Interior Parts of Automobiles
Satoru Yamazaki, Takahiro Baba, Nobuyuki Umezu and Masatomo Inui Department of Intelligent Systems Engineering, Ibaraki University Hitachi, Japan
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.
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 **
Aircraft Wiring Fault Evaluation Based on Modeling and Parameter Identification

Yinni Cao and Guangjun Liu Systems and Control Lab., Ryerson University Toronto, Canada
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 method for fatigue
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 Hao College of Information Science and Engineering, Northeastern University Shenyang, China
Stochastic Model Predictive Energy Management for Series Hydraulic Hybrid Vehicle
Daiwei Feng1, Dagui Huang1 and Dinggen Li2 1School of Mechatronics Engineering University of Electronics Science and Technology of China Chengdu, China 2School of Energy and Power Engineering Huazhong University of Science and Technology Wuhan, ChinaCorresponding author.
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 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 Room 14, 15:40-17:28, Wednesday, 10 August 2011
WP2-7(1) 15:40-15:58
Adaptive Control for Piezo-Actuated XY-Table Xinkai Chen and Makoto Hattori Department 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 XYtable 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.
Probe
WP2-7(2) 15:58-16:16
Vision-based Control of SMA-Actuated Polymer Microgripper with Force Sensing

R. J. Chang and C. C. Shiu Department of Mechanical Engineering, National Cheng Kung University Tainan, Taiwan
Fig. 1 The piezo-actuated XY-table.
SMA-actuated PU microgripper with force sensing arm and visualbased 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 Microgripper with Force Sensor grasping of 38m metal rod.
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 Actuators
Wonhee Kim and Donghoon Shin and Daehee Won Department of Electrical Engineering, Hanyang University, Korea Chung Choo Chung Division of Electrical and Biomedical Engineering, Hanyang University, Korea
Networked Fault-Tolerant Control Strategy of Multi-Actuated Control Surface Failure Using Smart Actuators
Inseok Yang, Donggil Kim, and Dongik Lee Dependable Embedded Control System Lab., Kyungpook National University, Daegu, R. O. Korea
Flatness based control with adaptive load torque compensation for position tracking of electro hydraulic actuators (EHAs) using a near Input-output linearizing inner-loop load pressure Schematic of EHA with rotational joint controller and a feedback plus feedforward outer-loop position controller. The desired load pressure design using differential flatness property of the EHA mechanical subsystem. Block diagram of the controller structure
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
Adaptive Neuro-Fuzzy Friction Compensator in Servo hydraulic System
Hutamarn S., Pratumsuwan P., and Po-ngaen W. Educational Mechatronics Research Group , KMUTNB Bangkok, Thailand
WP2-7(6) 17:10-17:28
The Nonlinearity Compensation of Piezoresistive Sensor Based on Levenberg-Marquardt Algorithm

Dacheng Xu Zhen Lei College of Electronic Information, Suzhou University Suzhou, China
This research is to develop a control algorithm based on two neuro-fuzzy for friction compensator in a hydraulic servo system. This precompensator neurofuzzy combined with fuzzy controller will be implemented to enhance the overall performance.
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 required memory The comparison of memory space with different algorithms requirement training with different algorithm.
82
Index of Authors
-AAbe, Akira Abedini, Hamed Agarwal, Vineet Ahmed, S. U. Ahmed, Sabir Ahn, Hi Chun Ahn, Jin Su Ai, Yanhui Aiyama, Yasumichi Al Khaburi, Jawad Al-Jumaily, Adel Alsubeheen, Hisham An, Hongwen An, Hongwen An, Hongwen An, Sung-Tae An, Suyong An, Su-Yong An, Ying Ando, Takeshi Ani, Ozoemena A Aoyagi, Manabu Aoyama, H Aoyama, Hisayuki Arai, Tatsuo Arnuttinanon, Benjaporn Asaka, Kinji Asama, Hajime Asano, Toshio Asano, Toshio Ashiba, Hiroki Ashida, Kiwamu Avila, Adrian Ayaz, Y. MA1-5 WP1-7 TP1-P WA1-5 TP1-P WA2-6 WA1-2 TA1-4 MP1-1 MP2-3 MA1-3 MA1-5 WP1-2 WP2-3 TP1-P MP2-5 MP2-5 TA1-5 TP2-6 WP2-1 MP1-2 TA1-2 WP1-5 MP1-6 MP1-2 WP1-3 TP2-2 MA1-6 TP2-1 MP1-7 WA1-2 TP2-1 MP1-7 WA1-5 Bartenwerfer, M Bartenwerfer, Malte Behera, Laxmidhar Ben, Yueyang Ben, Yueyang Benjanarasuth, T Bhardwaj, Sachin Bi, Xiaojun Bi, Ye Bian, Xinqian Boussu, Franois Bu, Wenshao Bu, Wenshao Butterfield, Joe MP2-2 MP2-2 WA2-2 TP2-5 WA2-4 WP1-5 MP2-2 MP2-4 WP1-7 TP1-P MP1-3 TA1-4 WP1-6 WA2-1
-CCai, Chaoyuan Cai, Lianbo Cai, Wei Cai, Yingbo Cao, Jingyu Cao, Ligang Cao, Lu Cao, Yinni Cha, Hyo-Jeong Chai, Tianyou Chai, Weiyan Chai, Xiaojie Chai, Xiaojie Chakraborty, G. Chakraborty, Guotam Chan, Kwong Wah Chang, Chih-Ming Chang, R.J Chang, Xiaoming Chao, Fan Chen, Chao Chen, Chao Chen, Cuihe Chen, Feng Chen, Han Chen, Hao Chen, Jianhui Chen, Jimin Chen, Jimin Chen, Junfeng Chen, Ken Chen, Ken Chen, Li Chen, Lifen WP1-2 TP1-P TA1-4 TP2-6 TP2-7 WP2-2 TA1-3 WP2-6 TP1-P MA1-4 TP2-7 TA1-5 TP1-P MA1-6 WA1-3 TA1-2 TA1-4 WP2-7 TP1-P MP2-1 MA1-2 TA1-2 TP1-P TP2-5 TP1-P WP2-5 TA1-6 TA1-1 WA2-1 MP1-4 MP2-4 WP1-1 WA1-6 TP1-P
-BBaba, Takahiro Bahadur, Issam M. Bahuguna, Puneet Bai, Xiaoguang Bai, Xiaoguang Bai, Xiaoguang Bai, Xueliang Bai, Yue Baiesu, Alina-Simona BANDO, Shigeru Bao, Man Bao, Man WP2-6 TA1-2 TP1-P MP2-6 TA1-7 TA1-7 WA2-7 TP1-P WA1-4 WA2-5 MP1-7 WP2-3
83
Chen, Liguo Chen, Lijuan Chen, Min Chen, Ming Chen, Shujun Chen, Wei Chen, Wensheng Chen, Xiaohuai Chen, Xiaopeng Chen, Xinkai Chen, Xuechao Chen, Xuechao Chen, Yangzhou Chen, Yaqing Chen, Yue Chen, Zheng Cheng, Jianhua Cheng, Li Cheng, Nong Cheng, Sheng Cheng, Stone Cheng, Stone Cheng, Yong Cheng, Yun Cheng, Zhiyong Cheraghpour, Farzad Chi, Zhongzhe Choi, Hyeunseok Choley, Jean-Yves Chong, James Chong, Seng Chugo, Daisuke Chugo, Daisuke Chung, Chung Choo Chung, Won Jee Chung, Won Jee Coleman, Sonya Crutchley, Dominic J. P. Cui, Jianwen Cui, Lingli Cui, Wei Cui, Wei Cui, Wei Cui, Ze
MP1-6 MP2-1 TP1-P WP2-2 WP1-3 MP1-5 WA2-6 MP2-1 MP1-5 WP2-7 WP1-1 MP1-1 WP2-4 MA1-4 MA1-2 WP2-5 WA1-6 WP1-6 WP1-4 WA2-3 MA1-4 WP1-6 MP1-2 MP1-3 TP1-P TP1-P MP2-1 WP1-2 TP2-4 MP2-1 WA1-3 TP2-1 WA1-1 WP2-7 WA1-2 WA2-6 WA2-2 MP1-6 MA1-2 TP2-7 MA1-7 MP2-7 WA2-5 MP1-3
Deng, Zongquan Dian, Songyi Diederichs, C Ding, Hongfei Ding, Xinping Ding, Xinping Domae, Yukiyasu Dong, Erbao Dong, Guangling Dong, Guihua Dong, Liyan Dong, Shaoyang Dong, Su Dong, Tao Dou, Jianping Dou, Yanhong Du, Bing Du, Juan Du, Ning Du, Qian Du, Yong DUAN, Hongjun Duan, Jinjun Duan, Xing-guang Duan, Xingguang Duhaut, Dominique Duhaut, Dominique
MP1-4 TA1-3 MP2-2 MA1-4 WA2-6 WA2-6 TP2-3 MP1-2 WP1-2 WA2-2 TP1-P WP1-5 WA2-4 MP2-6 WP1-4 TP1-P WA1-2 TP1-P MA1-2 MA1-6 MP1-2 MA1-5 TP1-P MA1-2 WP1-5 WP2-1 WP2-1
-EEichhorn, V Elfehri, Jalloul Erdemir, Erdem Esa, Faizal MP2-2 MP1-3 MA1-6 TP1-P
-FFan, Guoliang Fan, Guoliang Fan, Jinhui Fan, Jinhui Fan, Jinhui Fang, Lei Fang, Xuelin Fang, Yuefa Fang, Zaojun Fatikow, S Fatikow, Sergej Fei, Juntao Fei, Yetai Feng, Daiwei Feng, Guodong Feng, Lei Feng, Lin Fu, Chenglong Fu, Hao MP1-4 WA2-7 MP2-7 WA1-1 MP2-3 TP2-6 MA1-3 WA2-7 MP2-7 MP2-2 MP2-2 MA1-4 MP2-1 WP2-6 TA1-6 MP2-1 TP1-P WP1-1 WA1-6
-DDaeinabi, Khadijeh Dai, Fuquan Dai, Peng Dai, Xianzhong Das, Dipankar Dehghani-Sanij, Abbas A Deng, Yufen Deng, Zili Deng, Zili Deng, Zili TP2-3 WA1-3 WA2-4 TP1-P TA1-3 MP2-3 MP2-6 TA1-7 TA1-7 TP1-P
84
Fu, Mingyu Fu, Mingyu Fu, Mingyu Fu, Mingyu Fu, Mingyu Fu, Sheng Fu, Xiao Fu, Yan Fu, Yili Fujie, Masakatsu Fujie, Masakatsu G. Fujie, Masakatsu G. Fujii, Nobutada Fujimura, Kikuo Fujiwara, Takayuki Fukuda, Toshio Funahashi, Takuma Funaoka, Shota Furuya, Masaaki Fuse, Yoshihiro
WA1-4 WA2-4 WP2-4 TP1-P TP1-P TP1-P WA2-4 MP1-7 MA1-2 MP2-3 MA1-4 WP2-1 TA1-1 TA1-5 MA1-7 WP1-3 MA1-7 WA1-1 WA2-5 WA2-5
-GGai, Meng Gai, Yuxian Gan, Zengkang Gao, Baofeng Gao, Chunyan Gao, Enwu Gao, Fan Gao, Fengqi Gao, Hongtao Gao, Huibin Gao, Liwen Gao, Liwen Gao, Lixin Gao, Longqin Gao, Wei Gao, Wei Gao, Xinqin Gao, Xueshan Gao, Xueshan Gao, Yongqiang Gao, Yuan Gao, Yulin Ge, Lianzheng Ge, Yunjian Geoff, V Merrett Ghazikhani, M. Hamid Gondal, I. Gondal, I. Gong, Mingde Gong, Xi Gong, Xi Gong, Xun Green, Peter N Green, Peter N TP2-7 WA2-6 MA1-2 TP1-P WA1-5 WP2-4 MA1-2 TA1-6 TP1-P WP1-4 WA1-1 MP2-3 TP2-7 TP1-P TP2-5 TP1-P TP2-2 WA1-1 WA1-3 MP1-7 TA1-7 WP2-3 WA2-6 MP2-3 TA1-6 WP1-1 MP2-4 WP2-6 TP2-3 TA1-4 TP1-P TP1-P MP1-6 MP1-6
GU, Deying Gu, Dongbing Gu, Jason Guiffard, Benoit Gnther, Fred-Holger Guo, Bo Guo, Hongwei Guo, Jian Guo, Jian Guo, Jin Guo, Jisheng Guo, Junjie Guo, Junjie Guo, Peiyuan Guo, Peiyuan Guo, Qiuquan Guo, Qiyong Guo, Sheng Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Shuxiang Guo, Wei Guo, Xuemei Guo, Xuwei Gupta, Prateek Guyomar, Daniel
MA1-5 WP1-4 TP2-4 TP2-2 MA1-1 WP1-7 MP1-4 MA1-3 MA1-2 TP1-P TP2-7 MP2-6 TP1-P MP1-7 WP2-3 MA1-3 WP2-3 WA2-7 MA1-3 TA1-1 TA1-1 TP2-2 WA1-2 WA2-3 WP2-5 WA2-6 TP1-P TP1-P MA1-2 MA1-4 WA2-7 TA1-6 MP1-2 TP1-P TP2-2
-HHaario, Heikki Hafiz, Muhamad Hamada, Toshihiro Hamada, Toshihiro Hammond III, Frank L. Han, Changsoo Han, Dong Han, Hyungsuk Han, Jongboo Han, Jung-Min Han, Xu Han, Zengjun Handroos, Heikki Handroos, Heikki Haneyoshi, Toshimasa Hao, Yanling Hao, Yanling Hao, Yanling Hao, Yong TP2-2 MA1-1 MP1-7 TA1-3 MP1-1 WP1-2 TP2-7 WA2-7 WA2-7 MA1-6 WP1-4 MP1-3 TP2-2 WA1-1 WA1-6 TP1-P TP1-P TP1-P WA1-2
85
Hara, Hajime Harada, Akitoshi Haraguchi, Rintaro Hashimoto, Hideki Hashimoto, Hiroshi Hashimoto, Hiroshi Hashizume, Makoto Hata, Seiji Hata, Seiji Hata, Seiji Hata, Seiji Hattori, Makoto Hayashi, Junichiro Hazra, Trinankur He, Chao He, Chi He, Cunfu He, Cunfu He, Guangping He, Li He, Siyuan He, Wenhao He, Zhongzheng Heinonen, Ari Hernndez, Danilo Cceres Hildre, Hans Petter Hirai, Shigeoki Hirata, Shinnosuke Hirose, Kazuki Hirose, M. Hirose, Naoki Hofer, Eberhard P. Hojoh, Hirotaka Hojoh, Hirotaka Hojoh, Tatsuya Hong, Jaesung Horie, Y. Hoshino, Yuta Hou, Huijuan Hou, Zengguang Hou, ZhiCheng Hu, Chengquan Hu, Chuxiong Hu, Chuxiong Hu, Hong Hu, Huosheng Hu, Jinchun Hu, Shenghai Hu, Xiaoqi Hu, Ying Hu, Ying Hu, Ying Hu, Zhen Hu, Zhigang Huang, Dagui Huang, Dagui Huang, Dagui Huang, Debao Huang, Dexin
TP2-1 TP2-1 TP2-3 TP2-3 TP2-1 WA1-1 MA1-6 MA1-1 TA1-3 MP1-7 TA1-1 WP2-7 MP1-7 TP2-4 TA1-1 WP1-2 TP2-4 WA1-6 TP2-3 MP2-5 MP2-1 MP1-5 TP1-P WA1-1 TP2-5 WA2-5 TA1-3 MP1-6 MP1-6 MA1-7 WA1-1 MP1-3 MP1-7 TA1-3 MP1-7 MA1-6 MA1-7 WP1-1 TP1-P MA1-2 TP1-P MP2-2 MP2-6 TP2-4 TP1-P WP1-4 MP2-6 MP1-2 WP2-2 MP1-3 TA1-1 MP1-7 MP1-6 TP1-P WP1-7 TP1-P TP1-P MA1-7 WP1-2
Huang, Hai Huang, Haibo Huang, Ivan Huang, Jiacai Huang, Jiming Huang, Lei Huang, Qiang Huang, Qiang Huang, Qiang Huang, Qiang Huang, Qingjiu Huang, Shenghua Huang, Shenghua Huang, Wenbin Huang, Xiguang Huang, Yanlong Huang, Yanlong Huang, Yifeng Huang, Yijian Huang, Ziteng Hutamarn, S. Hutchinson, Jerry
WA1-3 TP1-P MA1-4 WP1-7 MP2-1 TP1-P MP1-5 WP1-1 MP1-1 MA1-2 TP1-P TA1-4 WP1-6 TA1-6 TP2-3 MA1-5 MP2-7 TP1-P MP1-5 TP1-P WP2-7 MP2-3
-IImae, Joe Imen, Masoud Inaba, Masayuki Inada, Masayuki Inui, Masatomo Ioi, Kiyoshi Iqbal, K. F. Irie, Yuuka Ishida, Kenji Ishida, Kenji Ishida, Kenji Ishihara, Hidenori Ishihara, Sunao Ishii, Chiharu Isozaki, Naoya Ito, Takanori MA1-4 MA1-5 MP2-6 TP2-1 WP2-6 WP2-4 WA1-5 MP1-6 MA1-4 MP2-3 WP2-1 WA1-1 WA1-2 TP2-1 TP2-1 WA1-1
-JJanati, Alireza Jasper, D Jazeh, Hesam Eddin Shoori Jazeh, Hesam Eddin Shoori Jeong, Jin Hyeok Ji, Wei Jia, Haibo Jia, Songmin Jia, Songmin Jia, Songmin Jia, Songmin Jia, Songmin WP1-1 MP2-2 MP1-5 TP1-P MA1-6 TP1-P WA1-3 MP2-3 MA1-7 MP2-7 TA1-5 TP2-7
86
Jia, Songmin Jia, Songmin Jia, Songmin Jia, Tinggang Jia, Zhenyuan Jiang, Fan JIANG, Jing Jiang, Sin-Yi Jiang, Xiaoling Jiang, Yang Jiang, Yinlai Jiang, Yinlai Jiang, Yinlai Jiang, Yinlai Jiao, Bingfeng Jiao, Wei Jin, Tianxu Jing, Minqing Jing, Minqing Jo, Kang-Hyun Joseph, Samleo L. Ju, Dongying Ju, Hehua Ju, Tao Jung, Chang Doo Jung, Chang Doo
WA1-1 WA2-5 MP2-3 WA2-4 TP2-6 WP1-3 MP2-4 WP1-1 MP1-5 TA1-3 MP2-3 MA1-4 WA2-3 WP2-1 TA1-2 WA1-5 WP1-5 WA2-2 WP1-6 TP2-5 TA1-5 WP1-5 WP1-5 MA1-3 WA1-2 WA2-6
-KKaihara, Toshiya Kalawsky, Roy Kamruzzaman, J. Kamruzzaman, J. Kanamori, C Kanda, Kazuki Kaneshige, Akihiro Kang, Chenhui Kang, Cunfeng Kang, Jeong-Gwan Kang, Shaobo Kang, Xiao Kang, Yo hwan Kawabuchi, Takashi Kawamura, Kazuhiko Kawanishi, Masahiko Kawanishi, Masahiko Khoie, Maryam Khorram, Mahdi Kikuchi, Yutaka Kim, Changhyun Kim, Chi yen Kim, Doik Kim, Doik Kim, Donggil Kim, Hyung Chun Kim, Jeong-Jung Kim, Kijung TA1-1 WA1-3 MP2-4 WP2-6 WP1-5 WP2-6 WA2-3 TP2-7 WA1-4 TA1-5 TP1-P WA2-5 WA1-5 WP2-4 MA1-6 MA1-3 MA1-2 TP1-P WP1-7 TA1-3 WA2-7 WA1-5 WP1-3 WA2-4 WP2-7 WA2-6 MP2-5 WA2-7
Kim, Myung Sik Kim, Myung Sik Kim, Taeju Kim, Wonhee Kitaaki, Yasuo Kitajima, Katsuhiro Kitajima, Katsuhiro Kiyohiro, Noriaki Kobayashi, Kyo Kobayashi, Nobuaki Kobayashi, Tomoaki Kobayashi, Yoshinori Koide, M. Kojima, Mitsuharu Kometani, Reo Komune, Shizuo Komuro, Kazuma Koncar, Vladan Kondo, Satoshi Kondo, Takahiro Kong, Lingjie Korayem, Moharam Habibnejad Koshimizu, Hiroyasu Koshimizu, Hiroyasu Kotani, Mitsunori Kotani, Shinji Kotrotsios, George Kou, Yuxiang Koyanagi, Ken'ichi Krzeminski, Lukasz Kuang, Renbing Kumar, Cheruvu Siva Kumar, C.S. Kumra, Rohit Kuno, Yoshinori Kunwar, F. Kurisu, Masamitsu Kurose, Shinji Kwon, Soon Jea
WA1-2 WA2-6 MP1-4 WP2-7 TP2-3 TP2-3 WA1-7 WA2-5 TA1-3 MP1-3 MA1-4 TA1-3 MA1-7 MP2-6 WA1-2 MA1-6 MA1-5 MP1-3 WA1-7 MP1-7 TP1-P TP2-3 MA1-1 MA1-7 WP2-1 WA2-5 MA1-1 TP2-5 WP1-3 TP2-2 TA1-5 WA1-3 MA1-6 TP1-P TA1-3 WA1-5 MP1-2 TA1-1 WA1-2
-LLam, Tinlun Lebrun, Laurent Lee, Dongik Lee, Jongmin Lee, Ju-Jang Lee, Lae-Kyoung Lee, Lae-Kyoung Lee, Mincheol Lee, Mincheol Lee, Seung Hwan Lee, Yun-Seok Lei, Jingye Lei, Jun Lei, Zhen Li, Bo TP1-P TP2-2 WP2-7 WA2-7 MP2-5 MP2-5 TA1-5 WA1-5 MP2-1 MA1-6 MP1-5 TP1-P TP1-P WP2-7 TP1-P
87
Li, Chaoquan Li, Chengqi Li, Chengqi Li, Chenmei Li, Dayou Li, Debiao Li, Desheng Li, Desheng Li, Desheng Li, Deyao Li, Dinggen Li, Fangxing Li, Guanghui Li, Guiyang Li, H Li, Haiyan Li, Hong Li, Hong Li, Hongsheng Li, Hongyi Li, Hongyi Li, Hui Li, Hui Li, Hui Li, Jiang Li, Jing Li, Jing Li, Jing Li, Jun Li, Jun Li, Junsheng Li, Kejie Li, Kejie Li, Kun Li, Miao Li, Mingai Li, Mingai Li, Mingai Li, Mingai Li, Mingyue Li, Nan Li, Qi Li, Qi Li, Qi Li, Qian Li, Qian Li, Qiang Li, Qingling Li, Renju Li, Shigang Li, Shigang Li, Shijie Li, Shuwei Li, SongSong Li, Tingjie Li, Wei Li, Weipeng Li, Weiwei Li, X
WA1-3 WP1-3 WA1-6 WA1-4 MP1-6 TP2-6 TA1-2 WA1-7 TP1-P WP2-2 WP2-6 WA1-3 MA1-6 MA1-3 WP1-5 MP1-7 WA2-6 WA2-6 WP1-7 MA1-3 MP1-3 WA1-4 WP1-7 MA1-4 WP2-1 WP1-1 WP2-2 MP1-1 MP1-6 WP1-4 TP1-P WA1-3 WA2-5 WA1-6 WP1-4 MP2-3 MP2-5 TP2-7 WA1-5 WA1-6 WP2-1 WP2-3 TP1-P TP1-P TP2-5 WA2-4 WP1-2 TA1-6 MA1-7 TA1-5 WA1-7 WP1-7 MP2-7 WA1-4 MA1-3 TP1-P WA1-3 MA1-3 WP1-5
Li, Xia Li, Xiaotiao Li, Xiaoxiao Li, Xiaoyang Li, Xiaozhou Li, Xinfei Li, Xisheng Li, Xiuzhi Li, Xiuzhi Li, Xiuzhi Li, Xiuzhi Li, Xiuzhi Li, Xuesheng Li, Xun Li, Yan Li, Yan LI, Yan Li, Yan Li, Yang Li, Yangmin Li, Yangmin Li, Yiquan Li, Yong Li, Yong Li, Yongquan Li, Yuan Li, Yuan Li, Yuntang Li, Zhihui Li, Zhiqiang Liang, Chao Liang, Guodong Liang, Jinghui Liang, Jintao Liang, Mengyu Liang, ShuLi Liang, Ting Liang, Wenyuan Liang, Xu Liang, Yan Liang, Zhengrong Liao, Jianxiong Liao, Wei-Hsin Lim, Hoon Lin, Chi-Ying Lin, Enhuai Lin, Hong-Bo Lin, Lin Lin, Ming-Tzong Lin, Xiaoguang Lin, Xichuan Lin, Xichuan Lin, Ying-Lung Liu, Bendong Liu, Bendong Liu, Chung-Ching Liu, Da Liu, Daxin Liu, Di
WA2-6 TP2-2 WA2-7 MP1-3 WA2-1 WP1-6 WP1-3 MA1-7 MP2-7 WA1-1 WA2-5 MP2-3 TA1-1 TA1-6 TP2-2 WA2-1 WP2-5 TP1-P WA2-4 MP2-1 MP2-2 TP2-6 MP2-6 TA1-7 WA1-2 MA1-6 TA1-5 MP1-6 MP2-5 TP2-7 WA1-7 TP1-P TA1-4 WA2-2 TA1-3 TP1-P TP1-P MP2-3 MP1-2 TA1-3 TP2-2 TP1-P TA1-2 MA1-6 TA1-4 WA1-7 MP1-1 TP2-7 MP1-1 WP2-2 TA1-1 MA1-4 MP1-1 TP1-P WA1-6 MP1-1 TA1-2 WA2-7 WP1-7
88
Liu, Fangfang Liu, Fanming Liu, Fei Liu, Guangjun Liu, Guojun Liu, Hao Liu, Hao Liu, Heng Liu, Heng Liu, Hong Liu, Hongchi Liu, Hongyun Liu, Hui Liu, Huifang Liu, Jia Liu, Jiancheng Liu, Jianfang Liu, Jinzhong Liu, Jun Liu, Junhong Liu, Junhong Liu, Kun Liu, Lanjiao Liu, Li Liu, Long Liu, Lu Liu, Min Liu, Peizhi Liu, Rongqiang Liu, Ruixian Liu, Shanshan Liu, Shaogang Liu, Shaoli Liu, Shuang Liu, Tao Liu, Tianliang Liu, Wei Liu, Wei Liu, Wei Liu, Xiang Liu, Xiucheng Liu, Yan Liu, Yan Liu, Yanfei Liu, Yanfei Liu, Yanxia Liu, Yibing Liu, Yibing Liu, Yibing Liu, Yong Liu, Yong Liu, Yunhui Liu, Zhaomiao Liu, Zhaoyi Liu, Zhenye Liu, Zhenye Liu, Zhiyuan Liu, Zhongzhu Long, Lianchun
MP2-1 TP1-P WA1-2 WP2-6 TP2-2 MA1-3 MP1-3 WA2-2 WP1-6 WP2-1 TP1-P WA1-7 WA2-3 TP2-6 WA2-6 MP1-7 TP2-2 TP1-P TP1-P TP2-2 WA1-1 MP1-4 MP1-6 WP1-5 TA1-7 WA1-5 TA1-6 TP2-7 MP1-4 TP2-4 MP2-7 WP2-4 MP2-4 MA1-3 TA1-3 WA2-2 MP2-5 WP2-2 MP1-7 MP2-4 WA1-6 TP1-P TP1-P TP1-P TP1-P WP1-3 WP1-2 WP2-3 TP1-P TP2-2 TP2-2 WA1-1 MP2-1 MA1-4 WA1-4 TP1-P MA1-3 MP2-6 WP2-2
Lu, Bo Lu, Hongwei Lu, Jianglei Lu, Kaibo Lu, Wang Lu, Wei Lu, Yan Lu, Yan Lu, Yuepin Lu, Zhenyang Lu, Zhimao Lu, Zongxing Luo, Bo Luo, Jiman Luo, Yang Luo, Yaohua Lv, Chenglong Lv, Kaidong Lv, Qi Lv, Shijia
TA1-2 TP2-6 TA1-6 WP1-6 TP1-P MP2-3 WA2-6 WA2-6 WP1-5 WP1-3 MP1-7 TA1-7 WA1-3 TA1-3 MP2-7 TP1-P TA1-1 WP1-6 WP1-4 TP1-P
-MMa, Chao Ma, Cheng Ma, Chunmin Ma, Cong Ma, Gan Ma, Gan Ma, Hong Ma, Jianyong Ma, Jie Ma, Ju Ma, Weiguo Ma, Xin Ma, Xu Ma, Xu Ma, Yufeng Ma, Zhenhe Mae, Yasushi Mahmoud, Md. Khalad Abu Malik, U. A. Mansouri, Mohammad Mao, Xiaohui Martinez, Carlos Matsumoto, Nozomu Matsuno, Takayuki Matsuo, Yoshiki McGinnity, T.M. Mei, Yanping Mei, Yanping Meng, Guoying Mesgari, Hamed Mi, Haokun Mick, U Mihaescu, Daniel Mills, James K. WP1-7 TA1-2 WA1-4 TP2-5 WP1-1 MP1-1 TP1-P MP2-3 WA1-4 WP1-2 TP2-5 MP1-3 MA1-3 MA1-2 TP1-P TP2-7 MP1-2 MA1-3 WA1-5 MA1-5 MA1-7 WP1-2 MA1-6 WP1-3 MA1-5 WA2-2 TP1-P TP1-P WP1-2 TP1-P TP1-P MP2-2 WA1-4 TA1-2
89
Ming, A Ming, Aiguo Miraftabi, Barbara Mishima, Nozomu Mittal, Vinay Miyake, Tohru Mizukawa, Makoto Moore, Philip Moore, William H. Moosavian, S. Ali A. Moosavian, S. Ali A. Moosavian, S. Ali A. Moosavian, S. Ali. A. Moosavian, S. Ali. A. Moosavian, S.Ali A. Moosavian, S.Ali A. Morgado, Marco Mori, Takemitsu Morita, Kazuo Moriya, Koji Motoyoshi, Tatsuo Mrad, Ridha Ben Mu, Bingguo Mu, Hongwei Mukai, Ryota
WP1-5 WP2-5 WA1-1 TP2-1 TP1-P WA1-1 TP2-3 WA1-3 TP2-2 WP1-1 WP1-7 TP1-P MP2-4 TA1-4 MP1-5 TP1-P WA1-7 TP2-1 WA1-1 WP2-4 WP1-3 MP2-1 TA1-4 TP1-P TP2-1
Niu, Jinzhe Niu, Lin Niu, Mang Niu, Yuewei Noda, Akio Noh, Chi beom Nousiainen, Satu Nundrakwang, S
TP2-5 TP1-P WP2-2 WA1-2 TP2-3 WA1-5 WA1-1 WP1-5
-OOBrien, John Oh, Sang-Rok Oh, Seyoung Oh, Se-Young Ohara, Kenichi Oiwa, Taishi Oka, Masamichi Okada, Kei Okada, Takuya Okubo, Tsuyoshi Okuda, Haruhisa Oliveira, Paulo Oliveira, Paulo Oonchom, Keelati Oshima, Hideki Oshima, Toru Ou, Zhicai Oyekan, John WA1-3 WP1-3 MP2-5 TA1-5 MP1-2 TP1-P MA1-6 MP2-6 WA1-2 TP2-3 TP2-3 TP2-5 WA1-7 WP1-3 TA1-5 WP1-3 MP2-5 WP1-4
-NNagahama, Kotaro Nagai, Shunsuke Nagasaka, Yoshisada Nagasaka, Yosuke Nagy, Daniel Nagy, Daniel Naka, Masayuki Nakakuki, Takashi Nakamura, Akio Nakanishi, Isao Nakano, Hiroki Nan, Jingyang Nan, Qiuming Nandy, S. Nandy, S. Nandy, Sambhunath Naruka, Gaurav Singh Neil, M White Nelson, E. Andrea Neubauer, Marcus Ni, Jinping Ni, Jinping Ning, Hui Ning, JiPeng Ning, Jipeng Nishikawa, Tomohiro Nishimura, Michiyoshi Nishino, Tomohiro Nishiwaki, Kentaro MP2-6 WA2-3 TA1-3 MA1-7 MA1-1 MA1-1 MA1-4 TP2-1 WP2-1 TA1-5 WA2-1 WA2-2 TP1-P MA1-6 TP1-P WA1-3 MP2-2 TA1-6 MP2-3 WP1-4 MP2-6 TP2-6 TP1-P WA2-4 WP2-4 MP2-3 WA2-5 MP2-6 TA1-3
-PPan, Hongtao Pan, Hongwei Pan, Min Pan, Qinxue Pan, Qinxue Pan, Qinxue Pan, Qinxue Pang, Grantham K.H Pang, Grantham K.H. Pang, Muye Pang, Yan Paramani, Ali Pyambri Paraschiv, Nicolae Park, Chan-Soo Park, Chan-Soo Park, Sangdeok Park, Su Seong Peng, Peng Peng, Yan Peurala, Sinikka Pvdic, Brigitte Le Po-ngaen, W. Pratumsuwan, P. Pu, Zhiqiang WA1-3 MP1-3 MP2-1 MP2-6 TA1-7 TA1-7 WA1-5 TA1-6 TA1-6 WA1-4 WA1-4 WA2-7 WA1-4 WA2-4 WP1-3 MP1-4 WA2-6 WA2-1 TP1-P WA1-1 WP2-1 WP2-7 WP2-7 MP1-4
90
Purahong, B.
WP1-5
-QQi, Baili Qi, Liang Qi, Ronghuai Qi, Wenjuan Qian, Huihuan Qian, Wei Qian, Yi Qian, Zhen Qiao, Dapeng Qiao, Dapeng Qiao, Mingzhong Qin, Xiansheng Qin, Xuebin Qiu, Zhaoguo Qu, Liping TP1-P WA2-4 TP1-P TA1-7 TP1-P WA1-6 TP2-5 MA1-7 TA1-6 TA1-6 TA1-4 WP2-2 WA1-7 TP2-4 TP1-P
-RRan, Chenjian Ran, Chenjian Ray, R. Ray, Ranjit Reddy, N.S Ren, Chonggang Ren, Hao Rong, Hua Rong, Weibin Rong, Wenting Rossano, Gregory Rossi, Marko TA1-7 TP1-P TP1-P WP1-1 WP1-1 WA2-2 TP1-P TP1-P MP2-2 WA1-6 WP1-2 WA1-1
-SSaint-Aim, Sebastien Saito, Masahiro Salahshoor, Karim Samavati, Farzad Cheraghpour Samavati, Farzad Cheraghpour Sariyildiz, Emre Sasai, Takuya Sato, Kazuki Sato, Susumu Sawada, Hideyuki Sawada, Takayuki Saxena, Vidush Sedigh, Ali Khaki Sekiguchi, Akinori Seo, Eun-Ho Seo, Eun-Ho Seo, JongTae Serr, Philippe WP2-1 TA1-3 TP1-P MP1-5 TP1-P MP1-1 WP2-1 MP1-1 MA1-7 MA1-1 MP1-3 TP1-P TP1-P MA1-5 WA2-4 WP1-3 MP1-5 TP2-4
Setoya, Hideo Shaari, Muhammad Farid Shan, Zhipeng Shang, Deguang Shang, Mingdong Shao, Chunyan Shao, Qi Shao, Wei Shao, Xiaohong Shao, Yanming Sharma, Himanshu Dutt Sharma, Krishan K. Shen, Chien Yu Shen, Feng Shen, Feng Shen, Hongmin Shen, Huijie Shen, Peihui Sheng, Baicheng Sheng, Jinbo Sheng, Jinbo Sheng, Jinbo Sheng, Jinbo Sheng, Jinbo Sheng, Jinbo Shi, Hongbo Shi, Liwei Shi, Qingyong Shi, Xiaocheng Shi, Xiaocheng Shi, Xiaocheng Shi, YuanZheng Shi, Zhenyun Shikha, Jain Shima, Yasunori Shimazu, Shota Shimojo, Makoto Shin, Donghoon Shin, Gi Soo SHINADA, Kazuhiro Shiratsuchi, Koji Shiu, C.C Shome, S.N Shome, S.N. Shome, S.N. Shome, Sankar Nath Shoorehdeli, Mehdy Aliyari Shu, Haisheng Silvestre, Carlos Silvestre, Carlos Singh, Bhim Singh, Rohit Kumar Sinha, Ravindra Kumar Siradjuddin, Indrazno Somani, R. Song, Changhui Song, Changhui Song, Haiqiang Song, Heping
MA1-1 TP1-P TA1-7 WA2-2 WA2-1 MP2-5 MA1-3 TP1-P WP2-2 MP1-3 MP2-2 WA2-4 TA1-2 MP2-1 TP2-7 WA2-5 WP2-4 TP1-P WP2-2 MA1-7 MP2-7 TA1-5 WA1-1 WA2-5 MP2-3 WA2-4 TP2-2 TP2-6 WA1-4 WA2-4 TP1-P TP1-P TA1-2 TP1-P WP1-3 MP2-3 WP2-5 WP2-7 WA1-2 WA2-5 TP2-3 WP2-7 WP1-1 MA1-6 TP1-P WA1-3 MA1-5 WP2-4 TP2-5 WA1-7 WA2-4 MP2-2 TP1-P WA2-2 MA1-6 TA1-4 TP1-P TP1-P MP2-2
91
Song, Heping Song, JaeBok Song, Jianguo Song, Jingyan Song, Kai-Tai Song, Min Song, Yongtao Song, Yu Song, Zhengxun Song, Zhibin Stolle, C Su, Gang Su, Hao Su, Hu Su, Jianhua Su, Liying Su, Luodan Su, Yixiong Su, Zhonghua Su, Zongshuai Suda, Atsushi Suebsomran, Anan Sugisaka, Masanori Sun, Dong Sun, Di Sun, Feng Sun, Feng Sun, Feng Sun, Feng Sun, Hexu Sun, Huabo Sun, Lining Sun, Lining Sun, Qi Sun, Qiyuan Sun, Rongyi Sun, Shuwen Sun, Xuguang Sun, Yi Sun, Yuan Suzuki, Ryoichi Swarup, A.
TA1-5 WA2-4 MP1-4 WP1-4 WP1-1 MP2-5 MP1-1 TA1-6 MP1-6 WA2-6 MP2-2 MP1-3 WA1-3 MA1-5 MP2-5 TP1-P MA1-3 TP2-7 WA1-2 MP1-4 WP2-4 WP1-5 TP1-P MA1-3 MP2-5 TP2-5 TP1-P TP1-P TP1-P TP1-P MP2-7 MP2-2 MP1-6 WA2-3 MP1-5 WP1-1 WP1-4 TP2-2 MA1-6 WA1-5 MP1-3 WA2-4
-TTaheri, Farid Takagi, Yuji Takahashi, Shingo Takahashi, Tatsuji Takahashi, Yo Takano, Takehiro Takase, Kunikatsu Takubo, Tomohito Tallec, Marc Le Tamaki, Katsuhiko Tamiya, Takashi Tamiya, Takashi TP2-4 MP1-7 MA1-7 MA1-5 WP2-1 TA1-2 TP2-1 MP1-2 WP2-1 TA1-3 MA1-3 MA1-2
Tamura, Hideki Tamura, Yusuke Tan, Huan Tan, Min Tan, Min Tan, Renjia Tan, Renpeng Tan, Renpeng Tan, Renpeng Tan, Xiangmin Tan, Yazhou Tanaka, Koujirou Tang, Hui Tang, Jianjun Tang, Lijun Tang, Mo Tang, Shiqi Tang, Yangshan Tang, Yangshan Tang, Zongyong Tanmay, T. Tano, Shunichi Tanzawa, Tsutomu Tao, Dongbo Tarkka, Ina Tashiro, Hirofumi Temelta, Hakan Temelta, Hakan Temelta, Hakan Teng, Fulin Teng, He Theeravithayangkura, Chayooth Thiruvalluvan, Kaarvannan Tholia, Amit Tiago, Gaspar Tian, YanTao Toda, Masaaki Tsai, Meng-Shiun Tseng, Hsuan-Chi Tsukada, T. Tsunoda, Okitoshi Tsunoda, Okitoshi Tu, Bing Tung, Cheng-Wei Tunnell, R Tuoya Turanli, Mert Tutwani, Mayank
TA1-2 MA1-6 MA1-6 MP1-4 MP2-7 MP1-3 MP2-3 MA1-4 WA2-3 MP1-4 TP1-P TA1-1 MP2-2 TP1-P TP1-P MP2-4 TA1-6 TA1-7 TP1-P TA1-4 MA1-6 TA1-5 WA2-5 WP1-3 WA1-1 TP2-3 WA1-5 WA2-5 MP1-1 WP1-7 WP2-6 MP1-2 TP2-2 MP2-2 TP2-5 TP1-P TA1-3 WP2-5 WP1-6 MA1-7 WA2-1 WP2-6 WA1-7 MP1-1 MP2-2 WA1-7 WA1-5 TP1-P
-UUchida, Masaru Ueki, Satoshi Ula, Cihan Umemura, Atsushi Umezu, Nobuyuki Uno, Shunichi MA1-7 WA2-3 WA2-5 WA1-6 WP2-6 WP2-6
92
Uragami, Daisuke
MA1-5
-VVaezi, Masoud Vaezi, Masoud Vasseur, Christian MP1-5 TP1-P MP1-3
-WWada, Masahiro Wahab, Md Saidin Wallaschek, Jrg Wan, Shanming Wan, Zhijian Wan, Zhong Wang, Bin Wang, Bin Wang, Bo Wang, Chengkun Wang, Chenglong Wang, Dalong Wang, Dangxiao Wang, Dangxiao Wang, Dongxiao Wang, Fei Wang, Fuji Wang, Gang Wang, Gengxiao Wang, Guan Wang, Guanglong Wang, Guobin Wang, Guochen Wang, Guoli Wang, Guoli Wang, Hao Wang, Hongbo Wang, Hongguang Wang, Hongjian Wang, Hui Wang, Jianjun Wang, Jindong Wang, Jing Wang, Jingshan Wang, Jiwu Wang, Kai Wang, Kai Wang, Kai Wang, Kejun Wang, Lei Wang, Lei Wang, Liang Wang, Lifeng Wang, Liying Wang, Liying Wang, Ludan WP2-5 TP1-P WP1-4 WP1-6 TP1-P TA1-1 MA1-7 WP2-3 WA1-4 TP1-P WA1-4 TA1-3 TP2-6 WP2-1 WA1-1 TP1-P TP2-6 MP2-7 TP1-P WP1-1 TA1-6 MP2-1 TP1-P TA1-5 TA1-6 MP2-6 MA1-2 WP1-6 TP1-P MP2-5 WP1-2 MP2-6 TP1-P TA1-2 TP1-P MP2-4 WP1-1 WA1-5 MP2-4 MP2-7 WP1-2 WA1-7 MP2-2 TA1-7 TP1-P WA2-3
Wang, Min Wang, Naiyue Wang, Pu Wang, Qingfeng Wang, Qiuyan Wang, Qiuying Wang, Shicheng Wang, Shucai Wang, Shuoyu Wang, Shuoyu Wang, Shuoyu Wang, Shuoyu Wang, Shusan Wang, Suli Wang, Tian Wang, Tian Wang, Wanshan Wang, Weihong Wang, Weijun Wang, Weiyuan Wang, Xiaoxin Wang, Xingtao Wang, Xingtao Wang, Xinhua Wang, Xiuhui Wang, Yangli Wang, Yanshen Wang, Yina Wang, Yong Wang, Yuechao Wang, Yuezong Wang, Yujia Wang, Yun Wang, Zhanxi Wang, Zhaolong Wang, Zhenhua Wang, Zhiqiang Wang, Zhonghua Wang, Zuobin Warisawa, Shin-ichi WATANABE, Atsushi Watanabe, Hiromi Watanabe, K. Watanabe, Yuto Watson, Simon A Watson, Simon A Wei, Hengxi Wei, Jing Wei, Wei Wei, Xuetong Wei, Yuanlong Wei, Yushi Wei, Yushi Wen, Feng Wen, Feng Wen, Feng Wen, Guang Wen, Guang Wen, Jihong
WA2-1 WA2-7 TP2-4 TP2-4 WA1-4 TP2-6 WA1-5 TP1-P MP2-3 MA1-4 WP2-1 WA2-3 WA1-3 TP2-4 MP2-7 WP1-2 WA2-1 MA1-4 WP1-2 WP2-4 TP1-P MA1-2 WP1-5 WP1-4 WP1-3 MP2-5 WA2-6 WA2-3 TP1-P MP1-3 TP1-P WA1-3 TP1-P WP2-2 TP2-7 MP1-6 WP2-2 TP1-P MP1-6 WA1-2 WA2-5 WA2-5 MA1-7 MP2-3 MP1-6 MP1-6 TP1-P WP1-6 TA1-1 TP2-6 MP2-1 WA2-4 WP2-4 MA1-6 TA1-5 TP1-P TP2-3 TP1-P WP2-4
93
Wen, Liping Wen, Peng Wen, Pin Wen, Shiguang Wen, Xisen Weng, Zhankun Won, Daehee Wong, C. -C Wong, Chi-Biu Wong, Rex H. Wongwirat, Olarn Wu, Bin Wu, Bin Wu, Che-Hau Wu, Chengdong Wu, Chengdong Wu, Haijun Wu, Hao Wu, Hao Wu, Huapeng Wu, Huapeng Wu, Jinglong Wu, Jinglong Wu, Na Wu, Xiao Wu, Xiaofeng Wu, Yingzhe Wun, Lin
TP2-4 WP2-5 WA1-1 TP1-P WP2-4 MP1-6 WP2-7 WP1-5 WA1-3 TA1-5 WP1-3 TP2-4 WA1-6 MP1-1 WP2-6 TP1-P WP2-4 WP2-6 TP1-P TP2-2 WA1-1 WP2-3 WP2-3 WP1-4 WA2-4 WA2-7 WP1-7 WP1-7
-XXia, Guoqing Xia, Huanxiong Xia, Lan Xiao, Dingguo Xiao, Han Xiao, Jizhong Xiao, Jizhong Xiao, Juanya Xiao, Junhao Xiao, Kai Xiao, Nan Xiao, Nan Xiao, Nan Xie, Jia Xie, Jiansheng Xie, Pingchun Xie, Wenbo Xie, Wenbo Xie, Zhiyong Xin, Le Xiong, Bo Xiong, Guangxi Xiong, Jijun Xu, Bo Xu, C Xu, Chunguang Xu, Chunguang Xu, Chunguang WP1-7 WP1-4 MP2-7 WA1-5 MP1-5 MA1-6 TA1-5 TA1-4 WA2-5 MP1-4 MA1-3 WP2-5 MA1-2 WA2-2 WA1-6 WA2-6 TP1-P TP1-P WP1-4 WP2-4 MP2-7 MP1-7 TP1-P TP1-P WP1-5 MP2-6 TA1-7 WA1-5
Xu, Dacheng Xu, De Xu, De Xu, Erbao Xu, He Xu, Hongcheng Xu, Hongxia Xu, Jia Xu, Jian Xu, Jianan Xu, Jing Xu, Jinkai Xu, Jinkai Xu, Jinkai Xu, Kaijun Xu, L Xu, Leon Xu, Limei Xu, Min Xu, Min Xu, Mu Xu, Pingping Xu, Qian Xu, Wei Xu, Wei Xu, Wei Xu, Xiaoli Xu, Xiaoli Xu, Yan Xu, Yangsheng Xu, Ying Xu, Yonggang Xu, Yuanbo Xu, Zhe Xu, Zhengdong Xu, Zhigang
WP2-7 MA1-5 MP2-7 TP2-2 MP1-2 MP1-2 WP1-5 MP1-6 WP1-7 WP2-2 MP2-4 WA2-1 WP2-3 TP2-6 TP1-P WP1-5 TA1-1 TA1-1 MP1-2 MP1-2 TP2-6 MP1-4 MP1-5 MP1-5 WP1-1 MP1-1 WA1-4 MP1-7 TP1-P TP1-P TP2-6 TP2-7 MP2-2 TP2-4 MP1-5 TP2-2
-YYamada, Manabu Yamada, Takayoshi Yamagishi, Y. Yamaguchi, Tatsuya Yamamoto, Hidehiko Yamamoto, Takashi Yamauchi, Yasuhiro Yamazaki, Kimitoshi Yamazaki, Kimitoshi Yamazaki, Satoru Yan, Aijun Yan, Jun Yan, Jun Yan, Keguo Yan, Lei Yan, Na Yan, Qin Yan, Rui WA1-3 WA1-3 MA1-7 WA1-1 WA1-3 TP2-1 WA1-2 TP2-1 MP2-6 WP2-6 TP2-4 WA1-1 MP2-3 WP2-3 MP2-7 WP2-2 MP1-2 TP1-P
94
Yan, Tianyi Yan, Wan Yan, Wenjun Yan, Xin Yan, Zhihong Yanase, Satoshi Yang, Jiahui Yang, Caizhi Yang, Chao Yang, Ding Yang, Hao Yang, Jiahui Yang, Jie Yang, Jie Yang, Jie Yang, Jinfu Yang, Jinfu Yang, Jingjing Yang, Jun Yang, Inseok Yang, Mingshun Yang, Qiang Yang, Qingsheng Yang, Qingsheng Yang, Runhuai Yang, Tianwen Yang, TingLei Yang, Xiangchen Yang, Xue Yang, Yuzheng Yao, Bin Yao, Biqiang Yao, Fulai Yao, Jun Yao, Yu Yaqub, M.F. Yaqub, M.F. Yau, Hong-Tzong Ye, Hongling Ye, Juntao Ye, Lezhi Ye, Mao Ye, Xiufen Ye, Xiufen Ye, Xiufen Yen, Chung-Liang Yesildirek, Aydin Yi, Byung-Ju Yi, Byung-Ju Yi, Byung-Ju Yi, Byung-Ju Yi, Jianqiang Yi, Jianqiang Yi, Longfang Yin, Shujuan Yin, Wenjia Yin, Zhouping Ying, Lixia Yokota, Sho
WP2-3 MP1-1 WA2-3 WA1-2 WP1-7 MA1-7 TP1-P TP1-P WP1-5 TP1-P MP2-6 WA1-6 MP1-2 MA1-3 MP1-2 MP2-5 WA1-5 WP2-3 MA1-3 WP2-7 TP2-2 WA2-3 MA1-3 TP1-P MP1-2 TP1-P TP1-P TA1-7 MA1-2 MA1-4 TP2-4 TP1-P TP1-P MP1-7 TP1-P MP2-4 WP2-6 WP2-5 WA1-1 MP2-6 TA1-2 MA1-7 MP2-7 WP1-2 TP1-P WP2-5 MA1-5 TP1-P MP1-4 MP1-5 MA1-6 MP1-4 WA2-7 TP2-5 TP1-P TP1-P MP2-7 MP1-2 TP2-1
Yokota, Sho Yoon, Dae-Keun Yoon, Sung min Yoshida, Shunichi Yoshida, Shunichi Yoshimura, Chiaki Yoshioka, Masataka You, Bum-Jae You, Jiang Youssef, Sherin M. Yu, Bing Yu, Bo Yu, Bo Yu, Dianlong Yu, Ge Yu, Huadong Yu, Huadong Yu, Huadong Yu, Huatao Yu, Jiaqi Yu, Junzhi Yu, Lan Yu, Miao Yu, Shengrui Yu, Shichao Yu, Tiantiao Yu, Xiaowen Yu, Yang Yu, Yang Yu, Yong Yu, Yueqing Yu, Yueqing Yu, Zhangguo Yu, Zhangguo Yu, Zhanjiang Yuan, Fang Yuan, Jianjun Yuan, Jianwen Yuan, Junjie Yuan, Kui Yuan, Kui Yuan, Kui Yuan, Kui Yuan, Lan Yuan, Lin Yue, Chunfeng Yue, Shen Yue, Yong YUTA, Shinichi Yuta, Shin'ichi
WA1-1 MP1-5 WA1-5 MA1-3 MA1-2 WA2-5 MP2-3 WP1-3 TP1-P TA1-7 WP2-3 WA2-6 WA2-6 WP2-4 WP2-1 WA2-1 WP2-3 TP2-6 WP1-5 TP2-6 MP1-4 WA2-3 MP2-2 WP2-2 MP1-3 WA2-1 MP2-4 TP2-6 WP1-3 MP2-3 MP1-5 TP1-P WP1-1 MP1-1 WA2-1 MP1-7 MP1-1 TA1-1 TP2-3 MP1-5 MA1-6 TA1-5 TP1-P TA1-4 MA1-2 WP2-3 TP2-3 MP1-6 WA2-5 TP2-3
-ZZamani, Ali Zarafshan, Payam Zarafshan, Payam Zha, Hongbin WP1-7 MP2-4 TA1-4 MA1-7
95
Zhai, Guisheng Zhai, Xingquan Zhan, Yuling Zhang, Biao Zhang, Chao Zhang, Cheng Zhang, Chunxiao Zhang, Chunzhi Zhang, Dan Zhang, Deyin Zhang, Fa Zhang, Feng Zhang, Fuhai Zhang, Guanghui Zhang, Guangjun Zhang, Guangming Zhang, Hailong Zhang, Han Zhang, Hong Zhang, Hongqi Zhang, Hongwei Zhang, Hongyan Zhang, Houxiang Zhang, Jianhua Zhang, Jianhua Zhang, Jianhua Zhang, Jianhua Zhang, Jianhui Zhang, Jianhui Zhang, Jianwei Zhang, Jianwei Zhang, Jianwei Zhang, Jianwei Zhang, Jianwei Zhang, Jianwei Zhang, Jianyu Zhang, Jiawei Zhang, Jin Zhang, Jinsheng Zhang, Jinsong Zhang, Jisheng Zhang, Jun Zhang, Lijie Zhang, Lijing Zhang, Limin Zhang, Liuzhong Zhang, Liwei Zhang, Liwei Zhang, Min Zhang, Mingjun Zhang, Mingjun Zhang, Nana Zhang, Peng Zhang, Ping Zhang, Ping Zhang, Qiang Zhang, Qianqian Zhang, Qinchao Zhang, Shiwu
MA1-4 TP1-P TP1-P WP1-2 WP1-2 MP1-3 TP2-4 WP1-2 MP2-1 WA1-6 WP2-4 TP1-P MA1-2 WP1-6 WP1-7 TP1-P TP1-P MA1-2 MP2-5 TP1-P WA1-2 TP2-3 WA2-5 WA2-1 WA2-5 WP1-7 MP1-7 TA1-2 WP2-2 MP1-3 MP1-4 TA1-1 WA2-5 MP1-7 WA2-3 TP2-7 TP2-2 MP1-6 WA1-5 WA2-1 TP1-P TA1-6 WA1-2 WA2-7 MA1-3 WA2-6 WA1-7 MP1-7 TP2-5 WP2-2 WA1-3 WP1-2 MP1-3 WP1-3 WA1-6 WA2-6 TP1-P MA1-2 MP1-2
Zhang, Shiwu Zhang, Shizhong Zhang, Shutian Zhang, Songcan Zhang, Tao Zhang, Tao Zhang, Tianrui Zhang, Ting Zhang, Wei Zhang, Weihan Zhang, Weihan Zhang, Weijun Zhang, Wenyi Zhang, Xiaochen Zhang, Xiaodong Zhang, Xiaodong Zhang, Xiaofeng Zhang, Xiaojun Zhang, Xinfu Zhang, Xuefeng Zhang, Xuesong Zhang, Yabin Zhang, Yaping Zhang, Yi Zhang, Yingfa Zhang, Yongqiang Zhang, Yunong Zhang, Yunzhou Zhang, Yuru Zhang, ZiMing Zhang, Zuoqiong Zhao, Boqiang Zhao, Dan Zhao, Depeng Zhao, Dongyan Zhao, Gang Zhao, Guangyu Zhao, Guangzhi Zhao, Haojiang Zhao, Honghua Zhao, Honghua Zhao, Jiandong Zhao, Jie Zhao, Liang Zhao, Lianyu Zhao, Lin Zhao, Qichao Zhao, Shengdun Zhao, Xiaochuan Zhao, Xinhua Zhao, Xinhua Zhao, Xinhua Zhao, Xinjun Zhao, Xinyu Zhao, Yongsheng Zhao, Zixin Zhen, Wei Zheng, Gang Zheng, Huicheng
MP1-2 MP2-2 TP1-P WP1-6 WP1-4 TP1-P WA2-1 WP2-1 MP1-6 TP1-P WA1-6 MP1-1 WA2-6 MA1-6 WP1-3 WA1-6 TA1-4 MP1-3 TP1-P WP2-2 MP2-4 TP1-P WA1-7 TP1-P TP1-P WP1-6 TA1-4 WP2-6 WP2-1 TP1-P TA1-4 TP1-P WP2-4 TA1-2 TP1-P MP1-2 MP2-2 WA2-3 MP1-4 MA1-2 WP1-5 TP1-P WP1-7 MA1-7 MP1-5 WA1-2 TP1-P WA2-2 TP2-5 MP2-1 MP2-2 MP1-5 TP1-P TA1-7 WP1-6 WA2-3 TA1-3 WP1-4 TA1-4
96
Zheng, Xiaolong Zheng, Yaqing Zheng, Yaqing Zhong, Bowen Zhong, Rui Zhou, Awei Zhou, Bo Zhou, Yanbing Zhou, Yu Zhu, Chi Zhu, Danjie Zhu, Hairong Zhu, Hua Zhu, Huiyan Zhu, Jiangmiao Zhu, Jianhong Zhu, Kai Zhu, Peng Zhu, Qidan Zhu, Wei Zhu, Wei Zhu, Xiaoqing Zhu, Xinglong Zhu, Yinggu Zhu, Yu Zhu, Yu Zhu, Zhongjun Zong, Fucai Zong, Guanghua Zou, Wei Zou, Wei Zouaoui, Zoubir Zulkefly, Mohammad Ezri Indra Zuo, Guoyu Zuo, Guoyu
WA1-1 MP1-5 WA2-3 MP1-6 WP1-5 TP1-P TP1-P WP2-3 TP2-2 MP2-3 MP1-3 TP2-5 TA1-2 MP2-7 TP2-7 TP2-5 WP2-2 TA1-4 WP1-6 WA2-5 TP1-P MP2-4 TP1-P WA2-7 MP2-6 TP2-4 WA2-4 TP2-6 TP2-6 MA1-6 TA1-5 WP2-5 TP1-P MP2-4 WP1-1
97
98
Memo
99
Memo
100
Memo
101
Memo
102
Memo
103
Memo
104
Memo
105
Memo
106
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., 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 Ju-Jang Lee, KAIST, Korea Ren C. Luo, National Taiwan University, Taiwan Jinsong Wang, UESTC, China Huadong Yu, CUST, China Co-sponsors: IEEE Robotics and Automation Society, Harbin Institute of Technology, Kagawa Univ. Zhenyang Lu, Beijing Univ. of Technology, China Founding Council Chair: Technical Co-sponsors: NSFC, CAA, RSJ, JSME, SICE, JSPE, HEU, UEC, UESTC, CUST, BJUT, SIT 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 Index Hong Zhang, University of Alberta, Canada Dagui Huang, UESTC, China The 2012 IEEE International Conference on Mechatronics and Automation (ICMA General Chair: 2012) will take place in Chengdu, the Provincial Capital of Sichuan, China from Tatsuo Arai, Osaka University, Japan Shuguo Wang, Harbin Institute of Technology, China August 5 to August 8, 2012. Chengdu is a tribute to China's proud history. Nestled General Co-Chairs: in Chengdu, a time-honored city famous for its history, culture and landscapes. William R. Hamel, University of Tennessee, USA As the host city of ICMA 2012, Chengdu not only provides the attendees with a Hajime Asama, University of Tokyo, Japan great venue for this event, but also an unparallel experience in Chinese history and Il Hon Suh, Hanyuan University, Korea Darwin G. Caldwell, Italian Institute of Tech., Italy culture. You are cordially invited to join us at IEEE ICMA 2012 in Chengdu to live Chun-Yi Su, Concordia University, Canada this unique experience. The objective of ICMA 2012 is to provide a forum for Hiroyuki Kano, Tokyo Denki University, Japan researchers, educators, engineers, and government officials involved in the general Zongquan Deng, Harbin Institute of Technology, China areas of mechatronics, robotics, automation and sensors to disseminate their latest Program Chair: research results and exchange views on the future research directions of these fields. Xinkai Chen, Shibaura Institute of Technology, Japan Program Co-Chairs: Jie Zhao, Harbin Institute of Technology, China The topics of interest include, but not limited to the following: Kevin Lynch, Northwestern University, USA - Intelligent mechatronics, robotics, biomimetics, automation, control systems, Mamoru Mitsuishi, the University of Tokyo, Japan - Opto-electronic elements and Materials, laser technology and laser processing Wan Kyun Chung, POSTEC, Korea Huosheng Hu, University of Essex, U.K - Elements, structures, mechanisms, and applications of micro and nano systems Shuzhi Sam Ge, National University of Singapore - Teleoperation, telerobotics, haptics, and teleoperated semi-autonomous systems Mingcong Deng, Tokyo U. of Agriculture and Tech, Japan -Sensor design, multi-sensor data fusion algorithms and wireless sensor networks Qinxue Pan, Beijing Institute of Technology, China - Biomedical and rehabilitation engineering, prosthetics and artificial organs Organizing Committee Chairs - Control system modeling and simulation techniques and methodologies Shuxiang Guo, Kagawa University, Japan Yili Fu, Harbin Institute of Technology, China - AI, intelligent control, neuro-control, fuzzy control and their applications Organizing Committee Co-Chairs - Industrial automation, process control, manufacturing process and automation Xiaohong Wang, Harbin Institute of Tech., China Aiguo Ming, U. of Electro-Communications, Japan Contributed Papers: All papers must be submitted in PDF format prepared strictly Shulin Tian, UESTC, China Tutorials/Workshop Chairs: following the IEEE PDF Requirements for Creating PDF Documents for IEEE Weishan Chen, Harbin Institute of Technology, China Xplore. The standard number of pages is 6 and the maximum page limit is 8 pages Nak Youn Chong, JAIST, Japan with extra payment for the two extra pages. See detailed instructions in the Kazuhisa Ito, Shibaura Institute of Technology, Japan conference web site. All papers accepted by IEEE ICMA 2012 will be indexed by Guangjun Liu, Ryerson University, Canada EI and included in IEEE Xplore. Extensions of selected papers will be Invited/Organized Session Chairs: Kazuhito Yokoi, AIST, Japan published in a regular or a special issue of the journals of IJMA and JRM. Zijiang Yang, Ibaraki University, Japan Hong Liu, Harbin Institute of Technology, China Organized Sessions: Proposals with the title, the organizers, and a brief statement Li Jiang, Harbin Institute of Technology, China of purpose of the session must be submitted to an OS Chair by March 20, 2012. Jinjun Shan, York University, Canada Tutorials & Workshops: Proposals for tutorials and workshops that address Awards Committee Co-chairs Makoto Kaneko, Osaka University, Japan related topics must be submitted to one of the Tutorial/Workshop Chairs by May 1, James K. Mills, Univ. of Toronto, Canada 2012. Publications Chairs: Ruifeng Li, Harbin Institute of Technology, China Important Dates: Satoru Takahashi, Kagawa University, Japan Publicity Chairs: March 20, 2012 Full papers and organized session proposals Tamio Tanikawa, AIST, Japan May 1, 2012 Proposals for tutorials and workshops Ying Feng, Concordia University, Canada May 15, 2012 Notification of paper and session acceptance Hiroyuki Fujioka, Fukuoka Institute of Tech., Japan June 1, 2012 Submission of final papers in IEEE PDF format Zhijiang Du, Harbin Institute of Technology, China Guisheng Zhai, Shibaura Institute of Tech., Japan Finance Chairs: For detailed up-to-date information, please visit the IEEE ICMA conference Ruiwei Yang, Harbin Institute of Technology, China website at: 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
http://2012.ieee-icma.org
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 others 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 Editor in Chief

Prof. Shuxiang Guo
Kagawa University Department of Intelligent Mechanical Systems Engineering 2217-20 , Hayashi-cho Takamatsu, 761-0396, JAPAN guo@eng.kagawa-u.ac.jp
Executive Editor
Prof. Huosheng Hu
University of Essex School of Computer Science and Electronic Engineering Wivenhoe Park Colchester CO4 3SQ, UK huosheng.hu@gmail.com 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
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
NE W
TIT LE
International Journal of
Mechatronics and Automation
Scope of the Journal

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. 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
International Journal of
Mechatronics and Automation
www.inderscience.com/ijma
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 Board

Editor-in-Chief
Prof. Shuxiang Guo Kagawa University, Japan Prof. Jeffrey Johnson Open University UK Prof. Jong-Hwan Kim KAIST Korea, Republic of Prof. Chang Liu Northwestern University USA Prof. Max Meng Chinese University of Hong Kong Hong Kong Prof. James K. Mills University of Toronto Canada Prof. Aiguo Ming University of Electro-Communications Japan Prof. Nazim Mir-Nasiri Swinburne University of Technology Malaysia Prof. T.J. Tarn Washington University in St. Louis USA Prof. Hong Zhang University of Alberta Canada Prof. Jianwei Zhang University of Hamburg Germany
Executive Editor
Prof. Huosheng Hu University of Essex, UK
Editorial Board
Prof. Martin Adams Nanyang Technological University Singapore Prof. Gursel Alici University of Wollongong Australia Prof. Hajime Asama University of Tokyo Japan Prof. Darwin G Caldwell Italian Institute of Technology Italy Prof. Fabio Celani Sapienza University of Rome Italy Prof. Alexander Ferworn Ryerson University Canada Prof. Toshio Fukuda Nagoya University Japan Prof. William R. Hamel The University of Tennessee, USA Prof. Dagui Huang University of Electronic Science and Technology of China, China
v i s i t w w w. i n d e r s c i e n c e . c o m
Methods of payment
What the editors say about IJMA
The new IJMA will cover the area of mechatronics and automation that is currently very important and hot topics. I see that the technology of mechatronics and automation will play a major role in developing new technological products. Hence, I am expecting that the new journal will be a great hit with every researcher who is working on future innovations. It gives a great pleasure to be a part of the IJMA team. Toshio Fukuda, Nagoya University, Japan I am honored to be a part of this exciting new journal which addresses an important and emerging area of research, and believe that it will be extraordinarily successful. I am confident that IJMA will have a significant impact in the area of mechatroronics and automation. T.J. Tarn, Washington University in St. Louis, USA It is certainly an honor for me to serve as an Editorial Board member for this important new journal. Mechatronics and automation technologies are central in a wide range of expanding industries across the world. IJMA promises to provide both basic and applied researchers a high quality avenue to report their work in this exciting aspect of modern engineering. William R. Hamel, The University of Tennessee, USA Mechatronics and industrial automation are at the heart of technological development and it is vital that researchers have high quality publications in which they can rapidly disseminate their results. IJMA will cover a vital and underrepresented area of research and I am confident that it will have a significant impact on the community, quickly becoming a leading journal in this field. Darwin G Caldwell, Italian Institute of Technology, Italy I am honored to be invited to serve as an Editorial Board member of this new journal. Under the guidance of Editors and Editorial Board, this new journal will be an important forum for the publication of exciting new developments in emerging technological areas. James K. Mills, University of Toronto, Canada
To be completed by all subscribers

Terms are payment with order. Payment by cheque, bankers draft or credit card is acceptable. Name of subscriber ............................................................................ ........................................................................... Position .............................................................. Institution ............................................................ Address .............................................................. ........................................................................... ........................................................................... ........................................................................... ........................................................................... ........................................................................... ........................................................................... ........................................................................... Fax ...................................................................... E-mail ................................................................. Credit card type and number ............................................................................ ............................................................................ Expiry date ......................................................... Three-digit security number (on the reverse of the credit card) ...................... Signature............................................................. Date .................................................................... Please address subscription orders to the address overleaf
The birth of the new journal is a big event in the exciting field of Mechatronics and Automation, and I am very proud to be a part of the strong editorial team that will maintain high quality and standards of all the papers published in it. The IJMA is certainly going to be a vital and unique source of information on the latest theoretical and practical achievements of the researchers in this multidisciplinary and very essential engineering area. Nazim Mir-Nasiri, Swinburne University of Technology, Malaysia
Subscription order form

To find out the subscription rates for International Journal of Mechatronics and Automation (IJMA), please go to www.inderscience.com/ijma or http://www.inderscience.com/subscribe.php (for all Inderscience titles, including IJMA) This form may be photocopied or downloaded from www.inderscience.com/www/ielsubsform2.pdf Journals may be ordered online from http://inderscience.metapress.com Please address subscription orders to: lnderscience Enterprises Ltd. (Order Dept.) World Trade Centre Building II 29 Route de Pre-Bois, Case Postale 856, CH-1215 Genve 15, SWITZERLAND For rush orders please: fax: +44 1234 240515 or E-mail: subs@inderscience.com Please enter the following regular subscriptions to IJMA ........ subscriptions (Print or Online) [delete as necessary] ........ subscriptions (Print and Online)
Relevant Inderscience Titles

International 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 AND ARTIFICIAL INTELLIGENCE
Total cost ..........................................................

For information about these titles and the substantial portfolio of journals developed by Inderscience, please visit the website at: www.inderscience.com
Methods of payment overleaf
Notes for Authors and Submission of Papers

Submitted papers should not have been previously published or be currently under consideration for publication elsewhere. All papers are refereed through a double-blind process. A guide for authors and other relevant information for submitting papers are available on the Submission of Papers section of the Inderscience website: please go to Author Guidelines (www.inderscience.com/guidelines) To submit a paper, please go to Submission of Papers (http://www.inderscience.com/papers) For queries concerning the journal, please contact: Editor-in-Chief Prof. Shuxiang Guo Kagawa University Department of Intelligent Mechanical Systems Engineering, 2217-20 Shinmachi, Hayashi-cho, Takamatsu, 761-0396, Japan E-mail: guo@eng.kagawa-u.ac.jp With a copy to: Editorial Office, E-mail: subs@inderscience.com (Please include in your email the title of the Journal)
ISSN: 2045-1059 (Print), ISSN: 2045-1067 (Online)
Special Issue on Focused areas and future trends of bio-inspired robots

Vol. 24, No. 4, August 2012, Fuji Technology Press, Japan
Journal of Robotics and Mechatronics
CALL FOR PAPERS
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/mkhlow@ntu.edu.sg Dr. Xinyan Deng/xdeng@purdue.edu Dr. Shuxiang Guo/guo@eng.kagawa-u.ac.jp (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/

ICMA2011 Digest

Hochgeladen von

Dokumentinformationen

Originalbeschreibung:

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

ICMA2011 Digest

Hochgeladen von

Copyright:

Verfügbare Formate

Conference Digest

2011 IEEE International Conference on Mechatronics and Automation

IEEE ICMA 2011

IEEE ICMA 2011 PROCEEDINGS

Additional copies may be ordered from:

Copyright and Reprint Permission:

The Institute of Electrical and Electronics Engineers, Inc.

Seiji Hata General Chair

Chunfu He General Co-chair

Hajime Asama Program Chair

Desheng Li Program Co-chair

Guangsheng Guo, Professor President of Beijing University of Technology

IEEE ICMA 2011 Conference Digest Table of Content

IEEE ICMA 2011 Conference

Max Q.H. Meng Aiguo Ming Hong Zhang Dagui Huang

The University of Tokyo, Japan Program Co-Chairs

Kagawa University, Japan Organizing Committee Co-Chairs

Kebin Jia Aiguo Ming

Beijing University of Technology, China University of Electro-Communications, Japan Tutorial/Workshop Chairs

Yueqing Yu Yoshinori Kuno Yoshimi Takeuchi Hideyuki Ishihara Yangquan Chen

Hiroyasu Koshimizu James K. Mills Songmin Jia

Wei Zhang Satoru Takahashi

Shujun Chen Hideyuki Sawada Guangjun Liu Qin Li

Songling Yang Takahiro Wada

Shiwei Feng Jinwei Fan & Lixia Liu

Liwei Shi Bendong Liu Liying Su & Shuai Huang

Conference Web System Administrator Liwei Shi Kagawa University, Japan

International Program Committee

IEEE ICMA 2011 Conference

General Information Beijing

Chinese Address Cards Beijing Empark Grand Hotel,

69 Tel: (86-010) 88598888 Fax: (86-451) (86-010) 88599999

IEEE ICMA 2011 Conference Plenary Talk 1

Hiroyuki Yoshikawa, Ph.D.

Short Biography for Dr. Hiroyuki Yoshikawa Education:

IEEE ICMA 2011 Conference Plenary Talk 2

Tzyh Jong Tarn

Tzyh Jong Tarn

IEEE ICMA 2011 Conference Plenary Talk 3

George Kotrotsios holds a Ph.D. Degree in Optoelectronics, Institut National Polytechnique

IEEE ICMA 2011 Special Forum

IEEE ICMA 2011 Conference Forum

IEEE ICMA 2011Conference

Hajime Asama, Professor

Hongo 7-3-1, Bunkyo-ku, Tokyo 113-8656, Japan

IEEE ICMA 2011 Conference Forum

IEEE ICMA 2011Conference

Robotics Challenge for Disaster

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

IEEE ICMA 2011 Conference Forum

IEEE ICMA 2011Conference

Qiang Huang, Ph. D, Professor

No. 5, Zhongguancun, Nandajie, Haidian, 100081, China

IEEE ICMA 2011 Conference Forum

IEEE ICMA 2011Conference

Robotics Challenge for Disaster

Edmonton, Alberta Canada T6G 2E8

IEEE ICMA 2011 Conference Forum

IEEE ICMA 2011 Program at a Glance

IEEE ICMA 2011 Technical Program, Sunday, August 7, 2011

14:00 - 18:30 17:30 - 18:30

IEEE ICMA 2011 Technical Program, Monday, August 8, 2011