Conference Digest 2020 IEEE International Conference on Mechatronics and Automation IEEE ICMA 2020 Beijing, China October 13-16, 2020 Cosponsored by IEEE Robotics and Automation Society Beijing Institute of Technology, China Kagawa University, Japan Technically cosponsored by National Natural Science Foundation of China, China Chinese Mechanical Engineering Society Chinese Association of Automation State Key Laboratory of Robotics and System (HIT) The Institute of Advanced Biomedical Engineering System, BIT Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, Beijing Institute of Technology, China Guangxi University of Science and Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems; Tianjin Key Laboratory for Advanced Mechatronics System Design and Intelligent Control; Tianjin University of Technology, China Tianjin International Joint Research and Development Center, Tianjin University of Technology, China Harbin Engineering University The Robotics Society of Japan The Japan Society of Mechanical Engineers Japan Society for Precision Engineering The Society of Instrument and Control Engineers University of Electro-Communications University of Electronic Science and Technology of China Optics and Precision Engineering IEEE ICMA 2020 PROCEEDINGS Additional copies may be ordered from: IEEE Service Center 445 Hoes Lane Piscataway, NJ 08854 U.S.A. IEEE Catalog Number: CFP20839-PRT ISBN 978-1-7281-6415-1 IEEE Catalog Number (CD-ROM): CFP20839-CDR ISBN (CD-ROM): 978-1-7281-6414-4 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 reprint or republication permission, email to IEEE Copyrights Manager at [email protected]. All rights reserved. Copyright ©2020 by IEEE. The papers in this book comprise the proceedings of the meeting mentioned on the cover and title page. They reflect the author’s 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 2020 Conference Organizing Committee, it is our great pleasure, an honor, and a privilege to welcome you to Beijing for the 2020 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 2020 marks the 17th edition of the IEEE ICMA annual conference series. We are proud to announce that a high number of 529 papers were submitted from 28 countries and regions, including 511 contributed papers, 18 papers for organized sessions, and 342 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 65%. Presentations at ICMA 2020 are organized in 6 parallel tracks, for a total of 55 sessions, including 1 poster session, taking place during the three conference days. We are fortunate to be able to invite four distinguished speakers to deliver plenary talks. We are very pleased that you are joining us at IEEE ICMA 2020 in Beijing to take part in this unique experience. The main objective of IEEE ICMA 2020 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 2020 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. Qin Li Hideyuki Sawada Liwei Shi Shuxiang Guo Xueshan Gao General Chair General Chair Program Chair Organizing Chair Organizing Chair Welcome Remarks It is my pleasure to welcome you to join us at the 2020 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2020) on behalf of Beijing Institute of Technology. We are delighted to host the 17th edition of the IEEE ICMA Conference of the annual series, which reflect 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 Institute of Technology. Beijing Institute of Technology (BIT) is one of the national key universities in China as an open, public, research-oriented university with a focus on science and technology. As the 10th university to enter the “985 Project” and as one of the first 15 universities to be acknowledged into “211 Project” which aim at establishing world renowned universities, BIT’s annual research fund in 2019 has amounted to over 2 billion RMB ranking top 10 in China. And the research on mechatronics and automation at BIT has become increasingly active. It is sincerely hoped that IEEE ICMA 2020 will provide a forum for researchers, educators, engineers, and government officials involved in the broad research areas of mechatronics, robotics, sensors and automation to exchange ideas on their latest research and views on the future research directions of the related fields. Finally, I would like to express my sincere gratitude to all of the sponsoring societies and organizations as well as all the individuals contributed to organizing the Conference. Also, special thanks go to all the authors, session organizers, plenary speakers, exhibitors for their research works and making IEEE ICMA 2020 a successful and fruitful event. To all participants, I extend my heartfelt welcome and thanks for attending this event. Jun Zhang, Professor President, Beijing Institute of Technology Welcome Message It is my honor to welcome you to attend the 2020 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2020) on behalf of Guangxi University of Science and Technology. We are delighted to support the Conference which marked as the 17th 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. I would like to make a brief introduction to Guangxi University of Science and Technology. Guangxi University of Science and Technology is located in Liuzhou City, the cradle of Ancient Humans called Liujiang man in southern China, the pillar of Guangxi Zhuang Autonomous Region, as well as the second largest city in Guangxi Zhuang Autonomous Region. Today, Liuzhou has been a noted city with ecological and livable civic environment, excellent tourism, and rich historical and cultural resources. It is sincerely hoped that IEEE ICMA 2020 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, 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 2020 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. Simin Li, Professor President Guangxi University of Science and Technology IEEE ICMA 2020 Conference Digest Table of Content Foreword Welcomg Remarks IEEE ICMA 2020 Conference ................................................................................ i Organizing Committees .................................................................................................. i International Program Committee ................................................................................ iv IEEE ICMA 2020 Conference Cosponsors ........................................................... xi General Information ............................................................................................. xii Conference Information ......................................................................................