Conference Digest

2009 IEEE International Conference on Information and Automation

(ICIA 2009)

Conference Digest

June 22-25, 2009 Zhuhai/Macau, China

Sponsored by IEEE Robotics and Automation Society (RAS) IEEE Systems, Man, and Cybernetics Society South China University of Technology University of Macau ICIA 2009 PROCEEDINGS

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ii Welcome Message

On behalf of the IEEE ICIA 2009 Conference Organizing Committee, we would like to extend a warm welcome to you all to the 2009 IEEE International Conference on Information and Automation. ICIA is still a young, but vibrant and growing international conference – running annually since 2004 and gaining increasing international prominence. Its scope has been broadened to emphasize the importance of information to automation research. We are pleased to bring you the 2009 conference as a forum that facilitates timely and effective academic and scientific exchanges among researchers in a wide range of research yields in information science and automation engineering. A record 681 valid submissions were made to this year’s conference, from 21 countries or regions, 82 of which come from outside mainland China. After a thorough review process, 298 or about 43% of the submitted papers were accepted into ICIA 2009’s technical program, which runs from three days on June 22, 23, and 24, 2009 in six parallel tracks. In addition, We are pleased to complement the technical program with a one-day workshop in Macau on June 25, and three plenary talks by world renowned researchers of our field. The host city of ICIA 2009 conference program, Zhuhai, is a beautiful coastal city in South China, with a nickname of City of a Hundred Islands. The host city of the post-conference workshop and activity is Macau, known as “Vegas of the East”. Zhuhai and Macau are connected together, which is convenient for the conference participants to transfer. They not only provide the attendees with a great venue for this event, but also an unparallel experience in visiting the beautiful resort in South China. We are very glad that you are joining us at ICIA 2009 in Zhuhai/Macau to live this exciting experience. ICIA 2009 has been the effort of several sponsoring societies and organizations, many individuals including our colleagues, volunteers and friends. We would like to take this op- portunity to express our gratitude for their help and contributions.The Program Committee members worked very hard to give their thorough review of all the submitted papers, which is vital to the success of this conference;the members of the organizing committee dedicated significantly their time toward ensuring the success of the conference.The financial assis- tance of the South China University of Technology and University of Alberta is gratefully acknowledged.Last but not least, we would like to thank all the authors for their support and participation in making this conference a success.This is your conference to be enjoyed and celebrated. We wish you a great conference and pleasant stay in Zhuhai/Macau!

General Chairs Program Chair Hong Zhang, University of Alberta, Canada James Mills, University of Toronto, Canada Yangmin Li, University of Macau, China

iii iv Table of Contents

Welcome Message ii

Advisory Board vi

Organizing Committee vii

Program Committee ix

Conference Information x

Program Schedule xiv

Plenary I: Alex Zelinsky xviii

Plenary II: Max Meng xix

Plenary III: Kok-Meng Lee xx

Technical Sessions: Monday, June 22 1

Technical Sessions: Tuesday, June 23 27

Technical Sessions: Wednesday, June 24 47

Workshops: Thursday, June 25 (Macau) 67

Author Index 73 2009 IEEE International Conference on Information and Automation

Honorary Chair

Yuanyuan Li South China University of Technology, China

Advisory Board

Tzyh-Jong Tarn Washington University, USA

Toshio Fukuda Nagoya University, Japan

Shigeo Hirose Tokyo Institute of Technology, Japan

Tianyou Chai Northeast University, China

William Gruver Simon Fraser University, Canada

Min Zhu South China University of Technology, China

Rui Martins University of Macau, China

vi Organizing Committee of ICIA 2009

General Chairs Hong Zhang, University of Alberta, Canada James Mills, University of Toronto, Canada

General Co-Chairs Kazuo Kosuge, Tohoku University, Japan Xianmin Zhang, South China University of Technology, China Kai Meng Mok, University of Macau, China

Program Chair Yangmin Li, University of Macau, China

Program Co-Chairs Yisheng Guan, South China University of Technology, China Hugh Liu, University of Toronto, Canada Abderrahmane Kheddar, CNRS, France Edward Tunstel, Johns Hopkins University-APL, USA

Publication Chairs Zhidong Wang, Chiba Institute of Technology, Japan Lizhen Wang, Yunnan University, China

Awards Chairs Yunhui Liu, Chinese University of Hong Kong, China Dong Sun, City University of Hong Kong, China Sam S. Ge, National University of Singapore, Singapore

vii Workshop Chairs Ning Xi, Michigan State University, USA Nilanjan Ray, University of Alberta, Canada Youfu Li, City University of Hong Kong, China

Local Arrangement Chairs Fengcong Lan, South China University of Technology, China Danping Wang, South China University of Technology, China Zhong Chen, South China University of Technology, China Mang I Vai, University of Macau, China Feng Wan, University of Macau, China

Finance Chairs Melanie Calvert, University of Alberta, Canada Sun Wei, South China University of Technology, China Hongxia, Yang, South China University of Technology, China Program Committee

Bi, Shusheng Li, Xiaoshan Wang, Xin Bi, Zhuming Li, Yangmin Wang Yu Chen, Xin Li, Youfu Wang, Lizhen Chen, Weihai Li, Yunhua Wong, Pak-Kin Chen, Weidong Lian, Feng-Li Wu, Changhua Chen, Chun-Ta Liao, Wei-Hsin Wu, Xiaojun Chen, Yongsheng Liu, Dikai Wu, Xiaofeng Dailey, Matthew Liu, Guangyu Xiao, Jizhong Damaren, Chris Liu, Hugh Xie, Ming Ding, Xilun Liu, Jinguo Xin, Ming Gu, Jason Liu, Yugang Xu, Qingsong Duan, Haibin Liu, Yunhui Yan, Shaoze Fang, Yongchun Lou, Yunjiang Yang, Guilin Fatikow, Sergej Lu, Tien-Fu Ye, Cang Feng, Gary Ma, Shugen Ying, Xianghua Fiorini, Paolo Mei, Tao Yu, Shui Fung, Wai-Keung Meng, Yan Yu, Yong Gao, Xueshan Mills, James K. Yuan, Jianjun Ge, Sam Ouezdou, Fathi Ben Yuan, Xiaobu Gong, Zhiguo Ouyang, Puren Yun, Chao Gu, Jason Park, Jong Zhang, Dan Guan, Yisheng Perez, Ruben Zhang, Hong Guo, Shuxiang Sakka, Sophie Zhang, Tiemin Guo, Yi Shan, Jinjun Zhang, Xianmin Hashimoto, Minoru Shen, Yantao Zhang, Yongde Hou, Zhenguang Sheng, Weihua Zhang, Youmin Hu, Chao Shi, Jichuan Zhang, Yunong Hu, Huosheng Stasse, Olivier Zhao, Xin Hu, Jwu-Sheng Su, Chunyi Zhao, Xinhua Huang, Qingjiu Sun, Dong Zhao, Zhijun Huang, Yalou Tan, Min Zheng, Yuan Fang Ji, Ping Tan, Jindong Zhou, Yu Kheddar, Abderrahmane Tsai, Ching-Chih Zhu, Chi Lee, Jang Myung Vai, Ming-I Zhu, George Li, Bin Wan, Feng Zhu, Jianguo Li, Bing Wang, Zhidong Zhu, Xiangyang Li, Howard Wang, Huiyuan Zhu, Xiaorui Li, Jiangang Wang, Guoli

ix Conference Information

Conference Registration

The conference registration desk, located in the grand lobby on the ﬁrst ﬂoor of Zhuhai Dehan Hotel, will be open according to the schedule below for on-site registration as well as for the pre-registration attendees to pick up their registration package.

Day Sunday, June 21 Monday, June 22 Tuesday, June 23 Wednesday, June 24

Time 12:00 - 20:00 08:30 - 17:00 09:00 - 17:00 09:00 - 12:00

Four-day Conference Schedule

The conference technical sessions and social functions cover a four-day period, Jun 22-25, from Monday to Thursday. The overall schedule is shown in the table below. Three plenary talks will be given in Room Guohui on the 5th ﬂoor, as shown in Figure 1. The technical sessions will be held in rooms Guoxing, Guoyun, Guoxiang, Guoxcui, Guose, Guosheng and Guowang, respectively, all on the 4th ﬂoor, as shown in Figure 2. A more detailed schedule is shown in the table of Program Schedule on page xiii.

ICIA09 will organize a half-day workshops in Macau on June 25. Buses will leave at 10:00 from Dehan Hotel for Macau, and bring people back to Dehan Hotel around 5:30. It is the participants’ obligation to get their visas to access Macau.

Workshop I (on robotics) will be held at Auditorium STDM, International Library of University of Macau. Workshop II (on mechatronics) will be held at Auditorium II, International Library of University of Macau. Lunch will be provided in Library Cafe (Lord Stow’s Bakery), located on the 2nd Lower Ground Floor of the Library.

Time/Day Monday, June 22 Tuesday, June 23 Wednesday, June 24 June 25

Morning Plenary I Plenary II Plenary III (to Macau) Technical Sessions (M1) Technical Sessions (T1) Technical Sessions (W1)

Afternoon Technical Sessions (M2) Technical Sessions (T2) Technical Sessions (W2) Workshops Technical Sessions (M3) Technical Sessions (T3) Technical Sessions (W3)

Evening Welcome Dinner Awards Banquet Farewell Reception

Audio-Visual Equipment

There will be a data projector, a pointer, a microphone and a computer available in all rooms. Anything else required must be requested by the authors.

x Email Facilities

Wired and wireless Internet access will be available in the session rooms on the 4th ﬂoor (see Figure 2), June 22-24 from 09:00-18:00.

Transportation

By plane and bus/boat: The host city Zhuhai may be reached by first fly to one of five airports: Zhuhai Airport, Hong Kong International Airport, Macau International Airport, Guangzhou International Airport, and Shenzhen Inter- national Airport. Zhuhai Airport serves mostly domestic routes, and is one hour from the city of Zhuhai by shuttle bus. It takes about 15 minutes to reach the hotel from shuttle bus stop. From Hong Kong International Airport, there is a direct ferry (SkyPier) to Zhuhai Jiuzhou Port in 70 minutes, which is five minutes by taxi from the hotel. However there are only three service runs a day. From Macau International Airport, there is an Express Link service, which bypasses the Macau immigration and customs and takes you directly to Zhuhai border (Gongbei) with mainland China. From Gongbei once you exit the immigration building, it is 15 minutes by taxi to the conference hotel. Bus services to Zhuhai are available from Shenzhen International Airport and Guangzhou International Airport, a ride of about two and a half hours for about 90 RMB. Please ask the bus driver where to get off to reach Zhuhai Dehan Hotel. It is usually another 10 to 15 minutes by taxi to reach the hotel.

By train and bus: You can choose to take a train to Guangzhou or Shenzhen ﬁrst, from another Chinese city. Then there are numerous buses from Guangzhou or Shenzhen to Zhuhai, departing from various parts of the city. There is no direct train to Zhuhai at this time. Taxi is one of the convenient transportation tools in Zhuhai, it can be gotten anywhere in the city. The price is 2.4 RMB/km, with a starting fee of RMB 10 (RMB 13 after 12:00 PM).

Lunches

Buﬀet lunches will be provided to all registered ICIA09 participants, on June 22, 23, and 24, served at Kaiser Western Restaurants on the second ﬂoor of conference Hotel. Additional lunch tickets can be purchased for $20 or 160 RMB per ticket at the ICIA09 Registration Desk.

Social and Cultural Functions

Welcome Dinner will be held on June 22 out of the conference hotel, at De Yue Fang at 18:30. Buses leave Dehan Hotel at 17:30 to transport conference delegates to the restaurant, and bring people back to Dehan Hotel around 20:30. A limited number of extra dinner tickets are available to spouses and friends of registered delegates at the cost of $50 or 400 RMB per ticket.

Awards Banquet will be held in the Room Guoyan on ﬂoor 5 at Dehan Hotel on June 23 at 18:30. Banquet tickets are issued to registered delegates. In addition, a limited number of extra banquet tickets are available to spouses and friends of the registered delegates at $50 or 400 RMB per ticket.

Farewell Reception will take place on June 24 at 17:30 in the Imperial Dining Palace on the 2nd ﬂoor of Dehan Hotel. All delegates are invited to the reception, but the dinner portion of the evening is left to the delegates to explore Zhuhai on their own. Information about the city is available at the hotel as well as the registration desk.

xi Dehan Hotel Conference Levels

Guohui

Guoyan

Figure 1: Plenary talk I will be given in Guohui Room, and the conference award banquet will be held in Guoyan Room, both on the 5th ﬂoor.

Guosheng

Guose Guoxiang

Guoyun Guocui Guowang Guoxing

Figure 2: Tracks 1 through 7 parallel technical sessions will be held in rooms Guoxing, Guoyun, Guoxiang, Guoxcui, Guose, Guosheng and Guowang, respectively, all on the 4th ﬂoor. Plenary talks II and III will be given in Guoxing Room.

xii Program Schedule

Monday, June 21 08:30 - 09:00 Opening Ceremony – Room Guohui 09:00 - 10:00 Plenary I (by Alex Zelinsky) – Room Guohui 10:00 - 10:20 Coﬀee/Tea Break 10:20 - 12:00 M1-1 M1-2 M1-3 M1-4 M1-5 M1-6 Automation Control Ap- Humanoid Networks & Com- Computer Information I plications I Robots munications I Vision I Acquisition I 12:00 - 13:30 Lunch Break 13:30 - 15:10 M2-1 M2-2 M2-3 M2-4 M2-5 M2-6 Automation Control Ap- Parallel Networks & Com- Computer Information II plications II Robots I munications II Vision II Acquisition II 15:10 - 15:30 Coﬀee/Tea Break 15:30 - 17:10 M3-1 M3-2 M3-3 M3-4 M3-5 M3-6 Automation Control Ap- Service Networks & Com- Computer Information III plications III Robots munications III Vision III and Signal Processing I 10:20 - 17:10 M1-7, M2-7, M3-7: Poster Session I, II, III – Room Guowang 18:30 - 20:30 Welcome Dinner (at De Yue Fang)

Tuesday, June 23 09:00 - 10:00 Plenary II (by Max Meng) – Room Guohui 10:00 - 10:20 Coﬀee/Tea Break 10:20 - 12:00 T1-1 T1-2 T1-3 T1-4 T1-5 T1-6 Automation Control Ap- Mobile Mechatronic Computer Information IV plications IV Robots I Systems I Vision IV and Signal Processing II 12:00 - 13:30 Lunch Break 13:30 - 15:10 T2-1 T2-2 T2-3 T2-4 T2-5 T2-6 Automation Control Ap- Mobile Mechatronic Sensors I Information V plications V Robots II Systems II and Signal Processing III 15:10 - 15:30 Coﬀee/Tea Break 15:30 - 17:30 T3-1 T3-2 T3-3 T3-4 T3-5 T3-6 Automation Control Ap- Mobile Pattern Recogni- Sensors II Information VI plications VI Robots III tion I and Signal Processing IV 18:30 - 20:30 Awards Banquet (at Dehan Hotel)

Wednesday, June24 09:00 - 10:00 Plenary III (by Kok-Meng Lee) – Room Guohui 10:00 - 10:20 Coﬀee/Tea Break 10:20 - 12:00 W1-1 W1-2 W1-3 W1-4 W1-5 W1-6 Intelligent Intelligent Mobile Pattern Recogni- Sensors III Information Control I Systems I Robots IV tion II and Signal Processing V 12:00 - 13:30 Lunch Break 13:30 - 15:10 W2-1 W2-2 W2-3 W2-4 W2-5 W2-6 Intelligent Intelligent Parallel Pattern Recogni- Sensors IV Information Control Systems II Robots II tion III and Signal II Processing VI 15:10 - 15:30 Coﬀee/Tea Break 15:30 - 17:30 W3-1 W3-2 W3-3 W3-4 W3-5 W3-6 CAD/CAM Intelligent Bio- Mechanisms Human Robot CAD/CAM II I Systems III Robots Interaction 17:30 - 19:00 Farewell Reception

Session Room Guoxing Guoyun Guoxiang Guocui Guose Guosheng

xiii Local Guide to Zhuhai and Macau

The host cities of the conference are located at the central-south side of Guangdong Province, China, at the entrance of Pearl River (Zhu Jiang) to the Paciﬁc Ocean, as shown in the following picture.

Guangzhou

Shenzhen Hong Kong Zhuhai Macau

Figure 3: Location of Zhuhai and Macau in Guangdong Province

Zhuhai ICIA 2009 will be held in Zhuhai, a beautiful coastal city in South China. Located at the southern tip of the Pearl River Delta of Guangdong Province, Zhuhai is one of the five special economic zones in China. It faces Hong Kong in the east across the sea and joins Macau in the south. Also, it is close to many other cities in Guangdong Province. Standing on the west bank of the estuary of the Pearl River to the South China Sea, Zhuhai is a garden- like coastal city with 146 charming islands (and hence known as a City of a Hundred Islands). With its amazing large green area, the city is a modern ecotypic resort. The beautiful Jingshan Road and Qinglu Road (Lovers’ Road) add romantic atmosphere to Zhuhai. In 1990s, Zhuhai City as a whole was selected as one of the top 40 tourist attractions in China. And in 1998, it won the Dubai International Award for Best Practices to Improve the Living Environment. Since then, Zhuhai has become known to the world as a most suitable place for human living. Actually, people have lived there since the Neolithic Age four or five thousand years ago. A government administrative department was set up in the area in the Qin Dynasty (221 - 206 B.C.). During the following centuries, the area underwent slow but steady development. In 1953, Zhuhai County was set up there, upgraded to Zhuhai City in 1979. In 1980, a special economic zone was established in Zhuhai. Today, the city has under its jurisdiction three districts, namely, Xiangzhou, Doumen, and Jinwan. In recent years, Zhuhai has made progress in economic development owning to its advantageous geo- graphical location near Hong Kong and Macau, its ports with excellent conditions, its overseas Chinese contributions, and especially the policy of reform and opening up. Foreign investment, advanced technologies and management methods stimulated the economic boom of Zhuhai. As a result, the transportation and accommodations improved. Diversified transportation links provide a wide range of ways to get there or to travel inside the city. A variety of star rated hotels offer convenience and enjoyment.

xiv The superior advancement in economy promotes the development of tourism of Zhuhai. The moderate climate of Zhuhai makes it an ideal tourist destination all year round. It has many attractions worthy of visiting, including the Zhuhai Fisher Girl Statue, New Yuanmingyuan Garden, Pearl Land Amusement Park, Jiuzhou City, Meixi Royal Stone Archways, Huangyang Mountain and Baiteng Lake. Additionally, various appealing islands are recommended such as Dong’ao Island, Gaolan Island, Qi’ao Island and Hebao Island and so on. Zhuhai is also famous for its hot springs and golf clubs where you can take a break from sightseeing. The consummate tourist reception and service system oﬀers many choices of entertainment as well. Dining and shopping are also pleasant. Western and oriental cultures collide and combine here: an open, colorful, and romantic Zhuhai awaits you.

Dehan Hotel (The Conference Venue)

Zhuhai

Macau

Figure 4: A map of part of Zhuhai

⦴⍋ᖋ㗄໻䜦ᑫ ഄഔ˖ᑓϰⳕ⦴⍋Ꮦঢ়໻䏃ো೑䰙Ӯ䆂Ёᖗ˄䜦ᑫ˅ ⬉䆱˖Ӵⳳ˖

Figure 5: Zhuhai Dehan Hotel (the conference venue)

xv Macau The name of Macau is derived from the word Magao. It was said that in the middle of 16th century when the Portuguese first set foot there, one of the officers asked a fisherman the name of the land. The man misunderstanding the officer’s meaning, answered ‘Magao’ - the name of A-Ma Temple in front them. The word became the Portuguese name for the land and for nearly 400 years, the Portuguese ruled here prior to Macau’s official return to the People’s Republic of China on December 20, 1999 as a special administrative region. Compared with other Chinese metropolises like Guangzhou or Hong Kong, the land of Macau is quite small covering an area of just 27.5 square kilometers. The total population of Macau is about 470,000 of which 95% are Chinese, the remainder being Portuguese and other westerners. The majority resides on the Macau Peninsular where you can find a variety of both Oriental and Western cultural and historical places of interest and all sorts of old buildings that are either European baroque or traditional Chinese in style. The blend of people, culture and history has influences on every aspect of life in the city. A wander around the Macau Peninsular will bring you into a world of antiques and fashion, traditional and modern, as well as tranquility and glitz. Most travelers who have been to Macau conclude that it is a location suited to both tourism and living as it is a beautiful city with clean streets, gardens and picturesque hilly landscapes. Sunshine, clear air, green lands and all sorts of delicious food all contribute to its many attractions. Wandering around is the best way to explore the city’s numerous historical and cultural heritages. Popular sightseeing places that form part of a traveler’s itinerary are spread all over the Macau Peninsular. Largo do Senado, the splendid main square with surrounding simple, elegant Portuguese and baroque style buildings is the busiest downtown area of the city. Clothing shops, curio markets, pharmacies, snack stalls and jewelry shops housed in the narrow alleyways that radiate from the square sell dazzling items. A northerly walk leads tourists to the featured attractions of the city Ruins of St. Paul’s, a former screen wall of St. Paul’s Church and the Monte Fort, one of the best-preserved forts in Macau. The Museum of Macau, to the right of the ruins, tells all stories on the city’s past. Situated at the base of Penha Peninsula in the southwest part of the city is A-Ma Temple, built in the Ming Dynasty (1368 - 1644), which is dedicated to the sacred goddess A-Ma. In the southern part of the Peninsular, the New Reclaimed Area and the Outer Harbor Area, compared with the more traditional central and western areas, is the newly-developed region on which the modern aspect of the city can be found. There are many luxurious hotels housing various gambling casinos and these venues are packed with people from all over the world when the night comes. Numerous museums in these two areas present the essence of Macau’s culture and history including Macau Wine Museum, Grand Prix MuseumMacau Art Museum, etc. The two outlying islands of Taipa and Coloane, connected to the Macau Peninsular by two bridges, feature tranquil natural and beach sceneries and are good choice for a short break away from the bustling peninsular. Macau Jockey Club’s horse racing attracts numerous gamblers. Hac Sa Bay and Bamboo Bay are two breathtaking natural scenic areas with the best seaside bathing places in Macau. Macau is the paradise for gourmands with a wide range of delicious cuisines from all over the world including unparalleled Macau-style Portuguese cuisine, traditional Cantonese cuisine, exotic food from Italy, France, Brazil, India, Japan, and Korea... Everyone can find his own favorite! Moreover, the well-known Macau dim sum delicacies should never be missed. The Pastis de Nata (a Portuguese-style egg tart) that originated on the outlying island of Coloane is the featured snack of the city. All kinds of dim sum ranging from almond cake, chicken cakes, cashew cookies, sesame crackers, egg and cheese rolls are served in the many Portuguese caf and they are good choices for gifts of families or friends. Known as ’Oriental Las Vegas’, the gambling industry in Macau is booming and has already become an important feature of Macau’s economy. Surprisingly, tourists do not find the kind of razzmatazz in Macau’s casinos as elsewhere; by contrast you can feel the expectations of gamblers from their polite manners and the peaceful atmosphere. Macau, a famous destination with prosperity and peace, fashion and history, oriental and western cultures, is deserving of a visit and a stay here is sure to revitalize the weary traveler.

xvi Zhuhai

Macau

Figure 6: A map of Macau

xvii Plenary Talk I

Monday, June 22, 2009, 09:00-10:00 Room: Guohui Chair: Hong Zhang Dependable Autonomous Systems

Alex Zelinsky Director, Information & Communication Technologies Centre CSIRO, Australia

Abstract: Today, we expect that all consumer technologies such as computers, ipods and motor vehicles all operate with the highest levels of performance, reliability and integrity. For robotics and automation technologies to successfully deployed into everyday situations, the general public quite rightly expect automation systems to be fully operational 100% of the time. People expect autonomous technologies to operate at higher levels of performance and safety than people themselves exhibit. For example smart car technologies are expected to cause ZERO accidents while human errors kill more 150,000 people on our roads world-wide every year! The design principles are now emerging based on years of exhaustive trial and error testing to underpin autonomous systems that are suitable for real-world deployment. Currently, it is not yet possible to realize an autonomous system that doesn’t fail periodically. Even if the mean rate between failures is days or weeks, a single failure could have catastrophic consequences. CSIRO has adopted an approach to address this situation through built-in monitoring systems that continually check all key system parameters and variables. If the monitored parameters move outside tightly deﬁned bounds the system will safely shutdown, and alert the human supervisor. The failure conditions are logged and then further testing and debugging is performed. The value and appropriateness of our approach will be shown by a number of real-world studies. We have demonstrated how it is possible to design computer vision systems for human-machine applications can operate with over 99% reliability, in all lighting conditions, for all types of users irrespective of age, race or visual appearance. These systems have been used in automotive and sports applications. We have shown how this approach has been used to design ﬁeld robotic systems that have deployed in agricultural automation, submersible marine robotics and 24/7 mining applications.

Brief Biography: Alex Zelinsky is CSIRO’s Director of the ICT Centre. Dr Zelinsky is extensively published and is internationally recognised as a leader in the ﬁelds of Robotics and Computer Vision. Dr Zelinsky is recognised and respected for the commercialisation of his ground-breaking research into computer vision systems. Dr Zelinsky has received numerous awards for his work including the Aus- tralian Engineering Excellence Award, Australian Eureka Science Prize, US R&D magazine Top 100 Award (2002); and a Clunies Ross Award. Dr. Zelinsky has been a World Economic Forum Technology Pioneer. He is a Fellow of the Academy of Technological Sciences and Engineering; . Fellow of the IEEE and Fellow of Engineers Australia.

xviii Plenary Talk II

Tuesday, Jun 23, 2009, 09:00-10:00 Room: Guoxing Chair: James Mills

Active Wireless Capsule Endoscopy and Automatic Diagnosis

Max Meng Professor, Department of Electrical Engineering Chinese University of Hong Kong, China

Abstract: In this talk, we will ﬁrst review the state of the art in wireless capsule endoscopy and the challenges in the development of active capsule endoscopes and the associated automatic diagnosis system based on images obtained by the wireless capsule endoscopes. Our recent work on the development of wireless capsule endoscope dynamic model, accurate 3D localization of the wireless capsule endoscope, and actuation mechanisms will then be presented, together with analytical, simulation and experimental results we have obtained. We will ﬁnish the talk with a brief summary of the contents presented and our views on future possibilities and research opportunities in the concerned research areas.

Brief Biography: Max Q.-H. Meng has been a Professor of Electronic Engineering at the Chinese University of Hong Kong since August 2002. He was with the University of Alberta in Canada as an assistant professor (1994), associate professor (1998), and professor (2000), respectively. His research interests include robotics and medical devices. He has published over 350 international journal and conference papers. He served as an Associate VP for Conferences of the IEEE Robotics and Automation Society and an AdCom member of the IEEE Neural Network Council/Society. He is a recipient of the IEEE Third Millennium Medal award and a Fellow of IEEE.

xix Plenary Talk III

Wednesday, June 24, 2009, 09:00-10:00 Room: Guoxing Chair: Yangmin Li Simulation-based Engineering Science for Automation in the Era of Information Technology

Kok-Meng Lee Professor, School of Mechanical Engineering Georgia Institute of Technology, USA

Abstract: Growing applications of robotics, automation and mechatronics in non-traditional industries (such as agricultural, food-processing, structural health monitoring, surgical robotics, and healthcare) present new opportunities as well as challenges. Unlike dealing with engineering objects, developing application-oriented automation systems (working with human-subjects and/or handling live-products and natural-objects) require well-thought designs to minimize the number of experiments. Often, such systems require fusing the knowledge and techniques beyond traditional engineering fields. Along with several practical and emerging applications to help illustrate the impacts, this talk will focus on simulation-based engineering science (SES) which offers the scientific and mathematical basis to develop new approaches to synergistically design, model, algorithm, real-time computation, communication and control of systems for automation in the era of information technology (AeIT).

Brief Biography: Dr. Kok-Meng Lee received his M.S. and Ph.D. degrees in mechanical engineering from the Massachusetts Institute of Technology in 1982 and 1985, respectively. He has been with the Georgia Institute of Technol- ogy since 1985. As a Professor of mechanical engineering, his research interests include system dynamics and control, robotics, automation and optomechatronics. He holds seven U.S. patents. Dr. Lee is a Fellow of ASME and IEEE. He is currently the Editor-in-Chief of the IEEE/ASME Transactions of Mechatronics for which he served as an Editor from 1995 to 1999. He has held representative positions within the IEEE Robotics and Automation Society: he founded and chaired the Technical Commit- tees on Manufacturing Automation (1996 to 1998) and on Prototyping for Robotics and Automation; and served as Chair or Co-Chair for numerous international conferences and on the AIM Conference Advisory Committee since 2000. His awards include Presidential Young Investigator (PYI) Award, Sigma Xi Junior Faculty Award, International Hall of Fame New Technology Award, and the Woodruﬀ Faculty Fellow. He was also recognized as an advisor for seven Best Student Paper Awards and a Best Thesis Award.

xx Monday June 22, 2009

2009 IEEE International Conference on Information and Automation ICIA 2009

1 Monday, June 22, 2009

Time Room Session Session Title Page

10:20 - 12:00 Guoxing M1-1 Automation I 3

Guoyun M1-2 Control Applications I 4

Guoxiang M1-3 Humanoid Robots 5

Guocui M1-4 Networks and Communications I 6

Guose M1-5 Computer Vision I 7

Guosheng M1-6 Information Acquisition I 8

Guowang M1-7 Poster Session I: Robots and Computer Vision 9

13:30 - 15:10 Guoxing M2-1 Automation II 11

Guoyun M2-2 Control Applications II 12

Guoxiang M2-3 Parallel Robots I 13

Guocui M2-4 Networks and Communications II 14

Guose M2-5 Computer Vision II 15

Guosheng M2-6 Information Acquisition II 16

Guowang M2-7 Poster Session II: Intelligent Control and Information 17

15:30 - 17:10 Guoxing M3-1 Automation III 19

Guoyun M3-2 Control Applications III 20

Guoxiang M3-3 Service Robots 21

Guocui M3-4 Networks and Communications III 22

Guose M3-5 Computer Vision III 23

Guosheng M3-6 Information and Signal Processing I 24

Guowang M3-7 Poster Session III: Automation and Mechanisms 25

2 Session: M1-1 Monday, June 22, 10:20 - 12:00 Automation I Chairs: Youlun Xiong, Jiaquan Gao Room: Guoxing

10:20 - 10:40 10:40 - 11:00

WBMOIGA: Weight-Based Multiobjective Research on Distribution Structure of Application Immune Genetic Algorithm and its Application Service Provider Platforms Based on Jiaquan Gao Manufacturing Grid Wei Tan and Xifan Yao The study presents a weight-based multiobjective immune genetic algorithm (WBMOIGA). For WB- With focus on resource application, this paper studies MOIGA, it can alleviate diﬃculty many weight-based the problem of resource discovery in broad area. we approaches face by two new schemes: tournament selec- propose a multi-level tree overlay network structure for tion algorithm with similar individuals and truncation ASP deployment, whose nodes are highly autonomous algorithm with similar individuals. Numerical results and mutually supportive. Lamination retrieval and show WBMOIGA outperforms NSGA-II and RWGA. multi-spot discovery in broad area for resources can be realized through this structure.

11:00 - 11:20 11:20 - 11:40

A Comparison of Nonlinear Filtering Approaches Planning to Learn: Integrating Model Learning for Radar Target-Tracking Performances into a Trajectory Planner for Mobile Robots Huibo Zhao, Quan Pan, Yan Liang and Yongmei Cheng Matthew Greytak and Franz Hover

Nonlinear problem is a hot and diﬃcult topic in radar We present a path planning algorithm for a simple mo- target tracking ﬁelding. In this paper, we mainly com- bile robot that performs online model learning. If the pared classical tracking methods combining with RJM- convergence rate of the learning algorithm can be pre- CMC method, including the PF, EKF-PF, UKF-PF dicted for each candidate plan, then the planner au- techniques . Simulations on maneuvering target radar tomatically incorporates active learning strategies into tracking are carried out to validate the performance of the optimal plan. the proposed scheme

11:40 - 12:00

Adaptive Distance Function and its Application in Free-Form Surface Localization Wenlong Li, Zhouping Yin and Youlun Xiong

In this paper, a new distance function is deﬁned to ap- proximatively describe the distance between updated point and corresponding surface model. Our distance function constitutes of point-plane distance in normal direction and compensated distance in tangent plane. The performances are conﬁrmed by a series of simulation experiments.

Guoxing

3 Session: M1-2 Monday, June 22, 10:20 - 12:00 Control Applications I Chairs: Chun-Hsiung Fang, Hassen Dorrah Room: Guoyun

10:20 - 10:40 10:40 - 11:00

Stabilization of Discrete-Time Nonlinear Control Fuzzy Tracking Control Design Systems Shih-Wei Kau, Sheng-Yu Shiu, Chi-Chiuan Lu, Xin-Yuan Chun-Hsiung Fang, Shih-Wei Kau, Sheng-Yu Shiu, Huang and Chun-Hsiung Fang Chi-Chiuan Lu and Xin-Yuan Huang The tracking control problem of T-S fuzzy systems is This paper deals with the stabilization problem for solved in the paper. A new method is proposed to discrete-time nonlinear systems that are represented improve the existing result. All the designed conditions by the Takagi -Sugeno fuzzy model. By the multiple are expressed in the form of LMIs. From the simulation fuzzy Lyapunov function and the three-index algebraic example, it can be seen that the proposed approach combination technique, a new stabilization condition is tracking performance. developed. The condition is expressed in the form of linear matrix inequalities (LMIs) and proved to be less conservative than existing results in the literature. Fi- nally, a truck-trailer system is given to illustrate the novelty of the proposed approach.

11:00 - 11:20 11:20 - 11:40

Fuzzy PID Controller Design for PMLSM Direct Development of Fuzzy Logic-Based Arithmetic Drive System and Visual Representations for Solving Quadratic Huacai Lu and Manhua Li Programming in Fully Fuzzy Environment Hassen Dorrah and Walaa Gabr A fuzzy PID controller is designed by combined fuzzy control with conventional PID control for the Perma- This paper presents the development of fuzzy logic rep- nent Magnet Linear Synchronous Motor direct drive resentations using the notion of normalized fuzzy matri- system. Simulated and experimental results show that ces developed by Gabr and Dorrah for solving quadratic the controller has strong dynamic steady performance, programming problems in a fully fuzzy environment. and strong robustness to external disturbance. The ﬁrst is the arithmetic type based on dual cell representation, expressed by replacing each parameter with the pair (Actual Value, Fuzzy Level). The second is the visual type based on colored cells representation.

11:40 - 12:00

Diﬀerentially Flatness-Based Trajectory Control a 2-Degree of Freedom Gantry Crane Robot Yaqing Zheng

Detailed analysis of the diﬀerential ﬂatness of a 2 degree-of-freedom gantry crane robot on the basis of its nonlinear dynamic model is given. The feedforward controller and feedback trajectory tracking controller are analyzed. The simulation results have proven the correctness of the theoretical conclusions.

Guoyun

4 Session: M1-3 Monday, June 22, 10:20 - 12:00 Humanoid Robots Chairs: Qiang Huang, Xiaorui Zhu Room: Guoxiang

10:20 - 10:40 10:40 - 11:00

Numerical Method to Estimate the Initial State of Multi-Objective Optimization for a Humanoid the Stable Gaits for the Underactuated Biped Robot Climbing Stairs Based on Genetic Robot with Knees Algorithms Limei Liu and Yantao Tian Sheng Bi, Huaqing Min, Qifeng Liu and Xijing Zheng

To estimate a initial state of the stable gaits for the A new method of gait optimization for a humanoid biped robot with knees, a new numerical method is robot climbing stairs based on multi-objective(zero mo- proposed in this paper. It is based on the theories of ment point (ZMP) and energy minimization) Genetic cell mapping and Poincar return map. Experimental algorithm(GA) was proposed in this paper. The simu- results veriﬁed the validity of this method. lation results showed the feasibility and eﬀectiveness of the method.

11:00 - 11:20 11:20 - 11:40

A Humanoid Mini-Walking Robot with a Stick Using NEWUOA to Drive the Autonomous Visual Fuliang Le, Xinyu Wu, Shiqi Yu, Bin Zhang and Modeling of an Object by a Humanoid Robot Yangsheng Xu Torea Foissotte, Olivier Stasse, Pierre-Brice Wieber and Abderrahmane Kheddar This paper describes a compact mini-walking robot with Barbie’s shape, and its walking is realized with This paper presents a significant amelioration of our al- only one actuator. The first remarkable feature of this gorithm aiming at building autonomously visual mod- robot is the total weight and dimension of the proposed els of unknown objects, with a humanoid robot. Our mechanism is expected to be lighter and smaller than Next-Best-View solution, relying on two different opti- other mini-walking robots. Secondly, the proposed leg mization methods, is modified in order to improve the mechanism in the robot can work smoothly as human robustness while broadening the cases that can be han- with only one DOF. deld.

11:40 - 12:00

On-Line Trajectory Generation for a Humanoid Robot Based on Combination of Oﬀ-Line Patterns Zhangguo Yu, Qiang Huang, Xuechao Chen, Wei Xu, Peinan Ge and Kejie Li

This paper proposed a method to generate stable and smooth locomotion trajectory through linking basic oﬀ- line patterns together considering stability constraints by spline interpolation. The robot makes a selection of one basic pattern which can be link with the current locomotion pattern according to stability constraints and route requirements.

Guoxiang

5 Session: M1-4 Monday, June 22, 10:20 - 12:00 Networks and Communications I Chairs: Max Q.-H. Meng, Weifeng Chen Room: Guocui

10:20 - 10:40 10:40 - 11:00

An Improvement of DV-Hop Algorithm Based on The Conditional Diagnosability of Mobius cubes Collinearity under the Comparison Model Lingfei Wu, Max Q.-H. Meng, Jian Huang, Huawei Liang, Shuming Zhou Chao Peng and Zijing Lin The growing size of the multiprocessor systems in- In order to fully consider the topology relationship creases their vulnerability to component failures. It among the anchor nodes, an Improvement of DV-Hop is crucial to locate and to replace the fault processors Algorithm Based on Collinearity is proposed, in which to maintain systems high reliability. The fault diag- we introduce the concept of normalized colinearity nosis is the process of identifying fault processors in a (NC) into the selection phase of beacon nodes. The system through testing. The conditional diagnosis re- experimental results show the validity of the proposed quires that for each processor v in a system, all the method. processors that are directly connected to v do not fail at the same time.

11:00 - 11:20 11:20 - 11:40

On the Security Cost of Interval Multicast ELHFR: A Graph Routing in Industrial Wireless Weifeng Chen and Ye Sun Mesh Network Jindong Zhao and Zhenjun Liang We propose a new approach based on Subset Differ- ence scheme to achieve interval-multicast security. We This article presented a routing protocol that ex- formally prove that the cost of the Subset-Difference ploits the mesh topology and application characteris- based approach is no bigger than the one of the Key- tics of wirelessHART. It only find the shortest paths of Tree based approach. Our experiment studies demon- some special nodes of a BFS tree. The routing algo- strate that the cost of the SD-based approach is much rithm and the routing updating mechanism are pre- smaller. sented.Simulation shows the proposal is better than AODV.

11:40 - 12:00

Software Aging Estimation and Prediction of a Real VOD System Based on PCA and Neural Networks Xiaozhi Du, Yong Qi, Di Hou and Chongan Xu

This paper investigates the software aging patterns of a real VOD system. Firstly software aging is detected and estimated. Then the software aging prediction model is constructed based on PCA and artiﬁcial neural network. The experimental results show that the presented aging prediction model is eﬀective.

Guocui

6 Session: M1-5 Monday, June 22, 10:20 - 12:00 Computer Vision I Chairs: Zaili Dong, Hong Wang Room: Guose

10:20 - 10:40 10:40 - 11:00

The Object Recognition and Adaptive Threshold Analysis, Comparison and Improvement of Block Selection in the Vision System for Landing an Matching Based Sub-Pixel Motion Measurement Unmanned Aerial Vehicle Methods for Image Sequences Fucen Zeng, Haiqing Shi and Hong Wang Yangjie Wei, Zaili Dong and Chengdong Wu

We present a vision-based landing system for a UAV The sub-pixel motion measurement for image sequences through the recognition of the landmark ”H” and a is researched, and an improved two-dimensional triangle on top of ”H”. An adaptive threshold selection distance-similarity measurement based on block match- method and image registration are used to recognize ing algorithm is proposed to decrease the huge compu- ”H”, and the Hough Line Detection and Helen formula tational burden of existing strategies. The experiments is applied to detect the triangle. are conducted with respect to the image sequences to show the feasibility and validity of the methods.

11:00 - 11:20 11:20 - 11:40

Improvement of Physics Performance on FFD Comparison of Image Analysis and Conventional Algorithm Methods for Cellular Tissue Proportion Weihua Hui, Quanhu Zhang, Bin He and Shiqi Huang Measurement of Wood Haipeng Yu, Yixing Liu, Guangping Han and Yongzhi Cui FFD algorithm is a main method on geometry sculp- ture, but this approach is only used in globe region Wood cellular tissue proportions of twenty-five wood and in geometry deformation. We present a new FFD species were analyzed with both image analysis method method based on physics which is created on mass- and conventional weighing and grid-counting methods. springs model with local deformation character, so this The results showed that significant positive correlations geometry method can be with physics attribute, which exist among the tested data. The approach of image extend application fields of FFD method greatly. analysis had more advantages of rapidity, accuracy and agility than the conventional methods.

11:40 - 12:00

A Novel Boiler Flame Image Segmentation and Tracking Algorithm Based on YCbCr Color Space Min Xie, Jianhua Wu, Lin Zhang and Chun Li

A flame image automatic threshold segmentation and tracking algorithm based on YCbCr space is proposed.The proposed algorithm is tested on two types of video sequence.The experimental results indicate that it is a concise method of high speed and efficiency, and the central area of the flame can be segmented and tracked effectively.

Guose

7 Session: M1-6 Monday, June 22, 10:20 - 12:00 Information Acquisition I Chairs: Bin Liang, Xianzhong Dai Room: Guosheng

10:20 - 10:40 10:40 - 11:00

Data Flow Control Infrastructure for the Research on Real-Time Estimation for Control of Distributed Cooperative Measurement System Tethered Satellite System Dengpan Zhang and Haige Song Yong He, Bin Liang, Wenfu Xu and Cheng Li

This paper presents a novel data flow control Infras- In this paper, a real-time estimator is developed to get tructure for the collaborative distributed measurement. the parameters. The Extended Kalman Filter is used to The proposed way implements the reconfiguration of estimate the parameters. The proposed estimator not the virtual measurement cases and schedules the users only reduces the complexity of system model, but also measurement tasks among all the registered equipment improves the parameters precision. Simulation results or measurement units by a dynamic reconfigurable verify the validity of this method. scheduling mechanism.

11:00 - 11:20 11:20 - 11:40

Data Mining Based on Fuzzy Rough Set Theory Deign of CMOS Image Acquisition and and its Application in the Glass Identiﬁcation Veriﬁcation System Based on FPGA Ruying Sun and Rongcang Han Houde Liu, Yafei Sun, Weida Huang and Bin Liang

To overcome the disadvantage of determining artifi- This paper designs a CMOS image acquisition and ver- cially the class number, fuzzy C means clustering is ification system based on FPGA. The key technologies introduced to fuzzify the continual attribute, and the of this system are analyzed and verified, including the best minute class number is obtained by cluster valid- development of drive programming of CMOS sensor ity analysis. The relationship of glass composition and and experimentation on image display. This system its application is excavated using data mining method can realize image acquisition and verify image collected in this paper. from image acquisition system.

11:40 - 12:00

Development of ANN Inverse Compensator for Two-Dimensional Force Sensor Yuhan Ding, Xianzhong Dai and Chunmiao Ma

To improve the dynamic performance and eliminate the coupling of the oblate ring 2-Dforce sensor, an ANN inverse compensator is constructed. The compensator is composed of several diﬀerentiators and a static ANN. Experiment results show that the coupling phenomenon almost disappears and the dynamic performance is ameliorated.

Guosheng

8 Session: M1-7 Monday, June 22, 10:20 - 12:00 Poster Session I: Robots and Computer Vision Chairs: Yangmin Li Room: Guowang

10:20 - 12:00 10:20 - 12:00

A Fast SLAM Algorithm Based on the Auxiliary Adaptive Method for Infrared Small Target Particle Filter with Stirling Interpolation Detection Based on Gray-Scale Morphology and Liang Zhang and Yaowu Chen Backward Cumulative Histogram Analysis Xinyu Wang, Jingdong Chen, Huosheng Xu and Xi Chen This paper provides a method which combines the auxiliary variable model with FastSLAM and, uses Stirling We present a fast and adaptive method for infrared Interpolation to approximate the nonlinear functions. small target detection. Image background regions It overcomes the drawbacks of the FastSLAM by us- are removed using top-hat transform. Then, opti- ing a model ignoring the measurement data and the mal threshold is obtained by backward cumulative his- approximation error for nonlinear functions. togram analysis and CFAR. Finally, small targets are detected using multi-frame data association. Exper- imental results prove the validation of the proposed method.

10:20 - 12:00 10:20 - 12:00

The Design of Eight Degrees of Freedom Rescue Fast Automatic Image Segmentation Based on Cutting Robot System on Vehicle Bayesian Decision-Making Theory Yuxian Gai, Huiying Liu and Shaoping Huang Zhigen Fei, Junjie Guo, Peng Wan and Wenjian Yang

An eight degrees of freedom rescue cutting robot on It is proposed to apply Bayesian decision-making the- Vehicle has been developed, including mechanical sys- ory based on minimum error probability to image seg- tem, Sensing and control system, Remote control video mentation. A novel method called weighted equal in- system, and Vibration control system. It can used in terval sampling is presented to obtain the contracted army to eliminate explosive. When military engineer- sample set. MMIC algorithm of Bayesian Information ing has been attacked, it can be used to cut protection Criterion is employed to determine segmentation num- door. ber.

10:20 - 12:00 10:20 - 12:00

Research on Obstacle Avoidance Based on Fuzzy Automatic Image Segmentation Incorporating Control for Inspection Robot in Oil Pipeline Shape Priors via Graph Cuts Ding Feng, Jin Liu, Shouyong Li, Peng Wang, Kui Zhou Xianpeng Lang, Feng Zhu, Yingming Hao and Qingxiao and Chaobin Huang Wu

The paper has designed the fuzzy controller and estab- In this paper, we propose an automatic segmentation lished the fuzzy control rule for an oil pipeline inspec- algorithm via graph cut. Firstly, the data term in tra- tion robot based on the fuzzy control principle. Whats ditional graph cut energy is redeﬁned to counteract il- more, the results of the simulation experiment for the lumination change. Secondly, shape priors are intro- robot show that the obstacle-avoidance control technol- duced into segmentation process, which help to obtain ogy has favorable real-time, robustness and ﬂexibility. more robust results. Finally, an automatic segmentation strategy is presented.

Guowang

9 Session: M1-7 Monday, June 22, 10:20 - 12:00 10:20 - 12:00 10:20 - 12:00

Robot Volume and Movement Ability Kinematics of Parallel Kinematic Machine Relationship Research Exechon Junyao Gao, Xueshan Gao, Jianguo Zhu, Boyu Wei and Zhuming Bi, Y. Jin, R. Gibson and P. McTotal Shilin Wang Due to the potential advantages of parallel kinematic This paper aims at robot volume and movement ability machines, hundreds of them have been proposed. How- relationship. A mathematic formula explains why big ever, only a few of them have been practically applied. robot is slow than little robot. Big robot needs big ratio One recently-developed one is the Exechon. Less the- of power to weight. But it is diﬃcult for big robot use oretical studies are available to prove its good perfor- too big motors. Big robot is often duller than little mance. In this paper, its kinematics has been investi- robot. gated.

10:20 - 12:00 10:20 - 12:00

New Method for Kinematic Analysis of a Hybrid Topology Synthesis and Classification of a Novel Manipulator Family of Parallel Manipulator With 3-Dimension Jun Shi, Xiaorui Zhu and Zexiang Li Translation and 1-Dimension Rotation Yuan Chen and Bing Li This paper presents a new method to analyze the kinematics of a widely-used commercial hybrid manipulator Based on the single-open-chain method, a systematic IRB260 from the ABB Company. This manipulator in- and effective design process is given and the 12 promis- cludes two parallel four-bar mechanisms that make the ing 3T1R parallel manipulators with lower coupling de- kinematics and dynamic analysis complicated. In this gree are presented originally in this paper. These ma- paper, the rigorous analytical method is totally based nipulators are deliberately classified according to four on the exponential coordinate description and the screw evaluation criterions. Lastly, a novel synthesized ma- theory. This method has created the virtual open-chain nipulator is applied to cooking robot. manipulator that is equivalent to the hybrid manipulator. Then the kinematics can be solved using the rou- tine steps for the virtual open-chain manipulators. The simulation results show that this new method results in the correct kinematics of this hybrid manipulator.

10:20 - 12:00

Maintaining Communication Links in Unstructured Environments with a Team of Mobile Robots Xi Chen, Wei Zhuang and Jindong Tan

The estimation of communication links quality plays a critical role not only in sensor network routing protocol, but also in maintaining the sensor network. By evaluating the estimation, when identify some failures occure, mobile robots can be deployed to automatically move to the region to cover communication gaps. This paper presents a comprehensive metric to evaluate the links quality and the corresponding control schemes to maintain the communication links. The mobile robots dynamically reconﬁgure themselves to maintain reliable end-to-end communication links. Moreover, the selfde- ployment algorithms allow a team of robots to recognize the coverage gap by monitoring links quality.

Guowang

10 Session: M2-1 Monday, June 22, 13:30 - 15:10 Automation II Chairs: Chao Hu, Yunjian Ge Room: Guoxing

13:30 - 13:50 13:50 - 14:10

Time-Varying LQ Control for Autonomous Soft People Counting in Crowded Environment Based Landing of Small-Scale Helicopter on Texture Analysis Xiaohu Xia, Min Zhu, Xiaotao Zhang and Yunjian Ge Sen Guo, Wei Liu and Heping Yan

This paper addresses soft landing of miniature heli- This paper discusses people counting of crowd open copter and suggests an optimal strategy with appro- scene according to statistics. Firstly, features of tex- priate design parameters for soft landing. The time- ture of scene image are obtained based on grey level varying gains and time-varying quadratic performance dependence matrix. Then the statistical model of num- index LQ control for soft landing of helicopter exam- ber of people is built. At last, people is counted based ines and simulate. Simulation results have proved that on those statistical models. the designed controller is suitable.

14:10 - 14:30 14:30 - 14:50

The Injection Machine Automatically Set Dual-Modal Indoor Mobile Localization System Parameters Method of Injection Speed and Based on Prediction Algorithm Pressure Lujia Wang, Chao Hu, Jinkuan Wang, Longqiang Tian Hanru Zhong and Rui Xu and Max Q.-H. Meng

This paper presents an injection model and a method This paper proposed an indoor RF localization system for setting grading injection pressure and speed auto- by using dual-modal architecture. It applies SPKF al- matically by a kind of engineering experiment. The in- gorithm to reduce the reflection and scattering effect jection model is established based on the physical pro- on signal propagation in the indoor environment. Ex- cess of mold filling, and then is solved by the computer perimental results demonstrate it can improve the lo- calculation for gaining grading points. calization accuracy and reduce the communication cost while object is moving.

14:50 - 15:10

Controller Design of a Two-Degree-of-Freedom Smith Predictor Scheme for Improved Performance Wei Tang, Dezhi Meng, Xi Wang, Kaisheng Zhang and Mengxiao Wang

A simple controller design method for a two-degree-of- freedom Smith predictor is investigated to obtain an improved performance of setpoint tracking and disturbance attenuation. The double controllers are designed as ideal PID and approximate derivative PID, respectively. Simulations and application indicate the advantages of the proposed method.

Guoxing

11 Session: M2-2 Monday, June 22, 13:30 - 15:10 Control Applications II Chairs: Yunhui Liu, Youlun Xiong Room: Guoyun

13:30 - 13:50 13:50 - 14:10

Research on the Fast Nose-Point Control of a Control System for Continuous Soaking Process in Fighter Sugar Reﬁnery Kaijun Liao, Xinmin Dong and Xiaoping Wang Wenbo Na

The fast nose-point control of a ﬁghter is researched in The continuous soaking process (CSP) is an important the frame of Integrated Control System with a multi- step in sugar reﬁnery. This paper presented an intelli- strata hierarchical structure. The nose pointing com- gent optimization control system (IOCS) to implement mand including the normal load command and bank the modeling, optimization, and control of the CSP angle command is got and the actuator-allocation con- with the help of c-means,clustering and genetic. The troller is designed. results of actual runs demonstrate the validity of the system.

14:10 - 14:30 14:30 - 14:50

Robust Fuzzy Control for Uncertain Markovian A Hybrid Control Method of Tension and Position Jump Nonlinear Singular Systems for a Discontinuous Web Transport System Aiqing Zhang and Huajing Fang Jiankui Chen, Zhouping Yin, Youlun Xiong and Jianzhou Quan This paper deals with the problem of robust stochastic stabilization for Markovian jump nonlinear singular This paper is focused on actualizing a hybrid control systems with Wiener process via a fuzzy-control ap- method of tension and position for a discontinuous web proach. Based on LMI, a state feedback fuzzy con- transport system. Based on the mathematical model troller is designed such that the closed-loop fuzzy sys- and hybrid control strategies, an experiment platform is tem is robustly stochastically stable for all admissible established. Several experiments have been performed uncertainties. to show the eﬃciency and feasibility of this hybrid control method.

14:50 - 15:10

Global Asymptotic Stabilization Control of a Lake Surface Cleaning Robot Zhongli Wang and Yunhui Liu

A global asymptotic stabilization control based on vector backstepping design for an underactuated lake surface cleaning robot (LSCR) is proposed.A non-smooth transformation is used for transforming the system dynamics from the Cartesian coordinates to the polar coordinates. Then with the vectorial backstepping design procedures, the position and orientation of the LSCR can be synchronously convergent to the desired conﬁg- uration. The proofs of the stability and convergence are provided.

Guoyun

12 Session: M2-3 Monday, June 22, 13:30 - 15:10 Parallel Robots I Chairs: Jianwei Zhang, Yunjiang Lou Room: Guoxiang

13:30 - 13:50 13:50 - 14:10

Domestic Robots with Multi-Function and Safe Dynamic Modeling and Contouring Control of Internet Connectivity Parallel Kinematic Machines Xiaofeng Xiong, Zhangjun Song and Jianwei Zhang Yingying Zhong, Yunjiang Lou and Zhibin Li

This paper presents a kind of domestic robot with This study concerns dynamic modeling and contour- multi-function such as cleaning, telepresence. Its mode ing control of parallel kinematic machines. Since the of control is based on the Internet by remote control. tracking error does not reﬂect truly product quality, the Because of high cost and unreliable connectivity based contouring error is introduced in dynamic control. For on the Internet, we emphasize integration of function comparison purpose, the augmented PD control and and a safe method of encryption. the computed torque control are also carried out.

14:10 - 14:30 14:30 - 14:50

The Error Modeling and Accuracy Synthesis of a Dynamics Based Trajectory Planning for Parallel 3-DOF Parallel Robot Delta-S Manipulators Jiangpin Mei, Liangan Zhang and Yi Li Yunjiang Lou and Fang Feng

In this paper, some key issues of a 3-DOF parallel ma- In order to fully exploit capacity of parallel robots, nipulator named Delta-S is developed, such as error dynamics based trajectory planning is inevitable by modeling, sensitivity analysis, and accuracy synthesis. considering both kinematic and dynamic constraints. Firstly, the characteristics of Delta-S are analyzed and Three dynamics based trajectory planning methods, its error mapping function is formulated in the follow- the time-optimal, the jerk-bounded, and the cubic poly- ing. Secondly, the sensitivity analysis is carried out to nomial planning, are investigated, compared and imple- find the source errors which affect the pose accuracy of mented using the Orthopod parallel manipulator. the end-effecter in terms of the error model.

Guoxiang

13 Session: M2-4 Monday, June 22, 13:30 - 15:10 Networks and Communications II Chairs: Shuxiang Guo, Hong Bae Park Room: Guocui

13:30 - 13:50 13:50 - 14:10

Research of Fault-Tolerance Technique for High Robust and Non-Fragile H-Infinity Congestion Availability Industrial Ethernet Controller Design Algorithm for ABR Service of Aidong Xu, Liqun Jiang and Haibin Yu ATM Networks: PLMI Approach Seung Hyeop Yang, Joon Ki Kim and Hong Bae Park Industrial Ethernet are widely used in industrial control system, but the requirement of high reliability and sta- We describe the synthesis of robust and non-fragile H- bility for control system limits the application of indus- infinity state feedback rate-based congestion controllers trial Ethernet. Providing high available fault-tolerant for the ATM network system with affine parameter un- capability on the large control systems becomes a very certainties and round trip delay, as well as static state important issue. In this paper, three industrial Ether- feedback congestion controller with polytopic uncer- net based redundancy protocols are presented. tainty. And we show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system.

14:10 - 14:30 14:30 - 14:50

Building Information Specification Ontology for An Acoustic Communication System for Multiple Computer Network Management Based on Formal Underwater Vehicles Based on DS-CDMA Concept Analysis Shuxiang Guo and Zixin Zhao Hui Xu and Debao Xiao This paper proposes an underwater acoustic commu- Specification ontology may be a prospective solution nication system based on DS-CDMA for multiple un- for unified description of management data modeling derwater vehicles. Multiple underwater vehicles in this languages. However, basics of a unified mathematical system can communicate with the console on the water theory are still lacking for ontology building. Delighted surface simultaneously. The simulation results indicate by the philosophical thinking of conceptual scheme for that it is feasible to use this system to accomplish un- descriptive metaphysics, this paper tries to utilize For- derwater communication reliably. mal Concept Analysis for this purpose.

14:50 - 15:10

An Anycast Model of Implementing Communication Between Ad Hoc Networks and IPv6 Networks Xiaonan Wang and Huanyan Qian

This paper proposes a communication model which utilizes Anycast to perform the seamless communication between Ad Hoc networks and IPv6 networks. This model creates a new kind of IPv6 address auto- conﬁguration scheme which does not need the address duplication detection.

Guocui

14 Session: M2-5 Monday, June 22, 13:30 - 15:10 Computer Vision II Chairs: Youfu Li, Jianwei Zhang Room: Guose

13:30 - 13:50 13:50 - 14:10

A New Image Matching Algorithm Based on Scale Adaptive Background Update Based on Mixture Adapted Interest Point Detection Models of Gaussian Peng Liang, Shaofa Li and Cheng Wang Feng Wang and Shuguang Dai

This paper brings forward a novel interest point detec- Background subtraction method is commonly used in tor called scale adapted Harris detector to detect inter- image segmentation. This paper puts emphasis on est points, then we formulate feature matching problem background model update based on mixture models of based on Earth Movers Distance for image matching. Gaussian, and implements an adaptive learning method Experimental results demonstrate the proposed algo- to update background models. Each pixel is classiﬁed rithm perform better than other methods in both recall into 4 diﬀerent types: still background, dynamic back- and precision. ground, moving object, temporary still object.

14:10 - 14:30 14:30 - 14:50

A Frequency Domain Approach to Fast and Motion Descriptor: A Motion Trajectory Accurate Image Registration Signature Haili Xu, Guoran Hua, Jian Zhuang and Sun’an Wang Shandong Wu, Y. F. Li and Jianwei Zhang

An approach to image registration based on Pseudo- We propose a novel concept of motion descriptor to Polar Fast Fourier Transform (PPFFT) and Small serve as a fundamental mechanism to describe long- World Clonal Selection Algorithm (SWCSA) is intro- term spatiotemporal motions. The descriptor is a so- duced. With PPFFT, the complexity of computation called signature description of motion trajectories ex- is signiﬁcantly lower. Because of the optimization al- tracted via visual tracking. We present the signature gorithm used, the processing accuracy of our method rationale, ﬂexible variants and its typical uses. is higher than that of phase correlation algorithm.

14:50 - 15:10

A Practical Method for Calibrating Omnidirectional Cameras using LCD Panel Liwei Zhang, Jianwei Zhang and Ying Hu

In this paper, we present an LCD-based method for calibrating an omnidirectional vision system with a parabolic mirror. Experimental results show that the reprojected error is less than half the error of the printed chessboard model. The method is economic and easy to implement.

Guose

15 Session: M2-6 Monday, June 22, 13:30 - 15:10 Information Acquisition II Chairs: Zhiguo Gong, Wancheng Wang Room: Guosheng

13:30 - 13:50 13:50 - 14:10

OWL-based Emergency Preplan Ontology Inversion Based State Estimation in Bioleaching Creation and Application in Knowledge Sharing Process Performed by Thiobacillus Ferrooxidans Feng Yang, Hui Wen, Wei Cheng and Xiaoling Dai Wancheng Wang

Knowledge representation and sharing crossing organi- The ”assumed inherent sensor” inversion (AISI) that is zations become critical problems. A new construction a soft-sensor in essence is used to perform the on-line method of owl ontology oriented to emergency preplan estimation of the directly immeasurable state variables is proposed, and then, based on the emergency preplan in the bioleaching process performed by Thiobacillus ontology guided by the new construction method, we Ferrooxidans. The simulations are performed by using put forward a knowledge management and share frame- the AISI for the bioleaching process with measurement work oriented to virtual organization. noises. The simulation results show the eﬀectiveness of the AISI.

14:10 - 14:30 14:30 - 14:50

Research on an Effective Domain Meta-Search Log Mining to Support Web Query Expansions Engine System Patrick Ngok and Zhiguo Gong Nengfu Xie and Wensheng Wang In this paper, query expansion will be achieved by min- This paper proposed a domain search engine system, ing query information in a query log. An association called DSES, and provided a domain information de- will be constructed by data mining association tech- termination algorithm to solve domain information se- nique. Then every incoming new query will be com- lection. The new approach significantly improved the pared with the newly built association rule, and a new domain-specific information closure, reducing the non- expanded query can be constructed with the original information returned. A DSES-based agriculture do- query and the newly added item. main information system was designed, which showed the method was effective.

14:50 - 15:10

Sensorless Position and Speed Estimation with Improved Integrator for PMLSM Drive Improved Integrator for PMLSM Drive Huacai Lu, Manhua Li and Yuetong Xu

A sensorless detection algorithm designed for permanent magnet linear synchronous motor. Measured ter- minal currents and voltages are used to estimate the flux of the -axis in stator frame. Position and speed signals are derived from angle of the flux linkage and its change rate. A new improved integrator is designed for compensate DC offsets and drift.

Guosheng

16 Session: M2-7 Monday, June 22, 13:30 - 15:10 Poster Session II: Intelligent Control and Information Chairs: Yangmin Li Room: Guowang

13:30 - 15:10 13:30 - 15:10

A Novel Absolute Magnetic Encoder Based on Automatic Acquisition and Test for Grounding Pseudorandom Code Grid Corrosion Diagnosis Yong Liu, Shuanghui Hao and Minghui Hao Jian Liu, Didi Cao, Hongli Cheng, Yanna Yang, Yunfeng Ni, Teng Li and Sen Wang A new multi-pole encoder was proposed. Two ring al- nicos were used: one was magnetized to 8 N-S, and To reduce the manpower, an automatic acquisition and the other was magnetized according to pseudorandom test system for grounding grids corrosion diagnosis is code. Encoder was calibrated using a higher resolution proposed. The basic principle, the steps to produce the optical encoder oﬀ-line. It can realize absolute detec- complete test scheme and the control strategy of auto- tion and cost is very low. matic acquisition and test are described. Experiment results show the feasibility of the proposed approach.

13:30 - 15:10 13:30 - 15:10

Uneven Virtual Grid-Based Clustering Routing A Method of Constructing Complete Graph for Protocol for Wireless Sensor Networks Multi-Objects Path Planning in Complex Zhe Ji, Shunjie Xu, Guoqiang Wang and Li Hong Environment Bo Gao, Demin Xu and Fubin Zhang In order to balance network load in WSN, uneven virtual grid-based clustering routing protocol (VGCR) is This paper describes an approach that integrates the proposed. VGCR divides network into different rings. representations of uniform grids and Voronoi diagrams According to optimal number of cluster heads, rings are to build the complete graph in complex environment for divided into grids. Cluster is rotated to change the rel- multi-objects. It generates an initial Voronoi diagram ative location of nodes. Simulation results show good and make modifications considering the relationship be- performance. tween objects and obstacles. The complete graph is built from the modified diagram.

13:30 - 15:10 13:30 - 15:10

Target Detection in Complex Background based Research on Intelligent Decision Support System on Fuzzy Enhanced Fractal Feature for Power System Kunhua Zhang, Xuan Yang and Li Zhang Zhuangzhi Liu, Dongxiao Niu, Xusheng Yang and Wanxing Sheng The new membership function of fuzzy sets based on fractal feature is defined and fractal difference be- In order to assist the dispatcher make operation tween target and background was increased effectively and control decision correcctly and quickly,this paper through fuzzy enhancement transformation. Then presents an innovative multi-agent architecture of deci- combing region connection with area feature, the tar- sion support system for power system operation. The get can be detected in complex background correctly, system is divided into three layers: the decision re- and capability of restraining noise is good. source layer, the communication facilitator layer and the function agents layer.

Guowang

17 Session: M2-7 Monday, June 22, 13:30 - 15:10 13:30 - 15:10 13:30 - 15:10

The H-infinity Control Applying on An Expert System for the Anaerobic Wastewater Electromagnetic Suspension Height of the Beam Treatment Process on Numerically Controlled Machining Center with Jiayu Kang and Linan Mi Movable Gantry Xia Yang, Yan Gao, Bo Yang and Jiguang Du An expert system (ES) developed for the monitoring and diagnosis of anaerobic wastewater treatment plants A suggestion to suspend large-scale movable compo- is presented. The expert system puts emphasis on the nent, has been put forward firstly to realize high accu- monitoring and designing of PH control and the pre- rate orientation without friction in this paper. The vention of acidification. The results show that good simulatio designed a H robust controller to improve monitoring effect can be achieved. the rigidity of electromagnetic suspension air-gap. This control method can be reali n result shows that this control method has better dynamic and static performance and robustness, and meets the requirement on high accurate rigidity of electromagnetic suspension height.

13:30 - 15:10 13:30 - 15:10

A Novel Light Intensity Modulation Curvature Assessment Model of Coal Enterprise’s Fiber Optic Sensor Informationization Level Based on Analytic Yili Fu and Haiting Di Hierarchy Process Kang Shao and Jinyun Li A ﬁber optic sensor is developed, which can measure curvature directly. Experiments show that the output This paper introduced a new approach combining tech- of sensor is linear with curvature when the radius is niques of AHP and Delphi to construct target system larger than 60mm. Mathematical models are proposed. and assessment model of coal enterprise informationiza- The sensors are used to build a quasi-distributed sys- tion, where the AHP technique was used to establish tem, which can measure curvature and torsion angle the hierarchical structure model, and the judgment ma- simultaneously. trix was constructed by using both the AHP score and Delphi method.

13:30 - 15:10 13:30 - 15:10

Wavelet Neural Networks Based Performance Skew Detection of Track Images Based on Wavelet Estimation for Power Gating Domino Circuits Transform and Linear Least Square Fitting Jinhui Wang, Wuchen Wu, Na Gong, Lei Zuo, Xiaohong Changyou Li and Quanfa Yang Peng and Ligang Hou A novel algorithm to detect the skew angle of a scanned A system for estimating the leakage power, the ac- track image is proposed. In the algorithm, the wavelet tive power and the delay of domino OR gates with transform is used to extract the skew feature points the sleep transistor based on wavelet neural networks from the track images and the linear least square is proposed. It possesses fast speed convergence and method to get the skew angle. high precision. Comparison between the footer and the header sleep transistor technique is given at last.

Guowang

18 Session: M3-1 Monday, June 22, 15:30 - 17:10 Automation III Chairs: Shusheng Bi, Zhixin Zeng Room: Guoxing

15:30 - 15:50 15:50 - 16:10

Centralized Control of Home Electric Appliances An Automatic Microassembly Workcell for Based on Short Range Wireless Technology PMMA Microﬂuidic Chip Packaging Yong Li, Donghai Huang, Zhenyu Chen and Zhixin Zeng Minglei Sun, Shusheng Bi, Guohui Qiao and Jingjun Yu

This paper presents a star topology architecture system This paper reports on a workcell developed for PMMA for the control of small home electrical appliances. The MFC alignment with micro assembly operations in vol- proposed system exploits the open Internet standards. ume MEMS devices production. The work-cell inte- The pilot project constructed a connection between a grates microscopic computer vision, precise positioning PC and two air conditioners through wireless modules and pneumatic driving technique. Experimental results and serial communication links with a new CRC algo- show that the average operation cycle is 3.4 minutes; rithm. the microassembly accuracy can reach 2.9 microns.

16:10 - 16:30 16:30 - 16:50

Ontology-Based Model for Resolving the MH Algorithm: A Mixed Heuristic Algorithm for Data-Level and Semantic-Level Conflicts Solution of Two-Dimentional Cutting Stock Yumeng Zhao, Shidong Zhang and Zhongmin Yan Problem Yingyu Huo, Kejing He, Rengui Zhang and Yong Zhong This paper puts forward a new architecture called RCM, which provides an extensible mechanism to de- Presents a single objective linear programming model scribe mapping formulas and constraints of conflicts be- for the 1D and 2D cutting stock problems with time tween global ontology and local sources. Grounded on restriction, and proposes an efficient multistage Mixed the given model, an enhanced algorithm is proposed to Heuristic Algorithm (MHA) for model solving. The deal with difficulties caused by data-level and semantic- final cutting solution gotten by the MHA achieves a level conflicts. utilization ratio of more than 95%. MHA is widely applicable and very fast.

16:50 - 17:10

Backstepping-Based Path Following Control of an Underactuated Autonomous Underwater Vehicle Yintao Wang, Weisheng Yan and Rongxin Cui

This paper derives a control law to steer the dynamic model of an underactuated autonomous underwater vehicle (AUV) along a predeﬁned path. We describe the path to be followed by the movement of a virtual AUV and drive the actual AUV on the desired path through following this virtual AUV. Furthermore, it overcomes a singular point that are presented in a number of path following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting control law yields convergence of the path following error trajectories to zero. Simulations illustrate the performance of the proposed controller.

Guoxing

19 Session: M3-2 Monday, June 22, 15:30 - 17:10 Control Applications III Chairs: Nghia Duong Hoai, Jiangang Li Room: Guoyun

15:30 - 15:50 15:50 - 16:10

Self-Tuning Controller Design for Motion Control Dynamic Scheduling of Multi-Task for Hybrid Systems Flow-Shop Based on Energy Consumption Yanan Li, Jiangang Li and Xuehui Ye Lingli Zeng, Fengxing Zou, Xiaohong Xu and Zheng Gao

The modeling and identification for motion control sys- The idea of idle time window(ITW) is introduced. tems are discussed. A mechanism is proposed to deal With the ITWs of machines as constraints, the math- with the low-excitation problem in the closed-loop iden- ematical model is proposed for dynamic scheduling tification. A self-tuning feedback controller is proposed. of multi-task for hybrid flow-shop with the objective And the self-tuning ZPETC is used to improve the of minimizing the energy consumption. The particle tracking performance. All these algorithms are verified swarm optimization algorithm is employed to solve this in a milling machine problem.

16:10 - 16:30 16:30 - 16:50

Petri Net Controller Synthesis for Advanced A Sliding Mode Controller for Induction Motor Surface Movement Guidance and Control System Fed with Three-Level Inverter Xinmin Tang, Xinping Zhu and Songchen Han Bac Nguyen Xuan and Nghia Duong Hoai

To guarantee safety of surface movements, it is neces- This paper presents a sliding mode controller for induc- sary to develop Advanced Surface Movement Guidance tion motor fed with three-level Neutral Point Clamped and Control System. This paper focuses on the con- (NPC) Voltage Source Inverter (VSI). The simulation troller synthesis of A-SMGCS based on discrete event and the experimental results demonstrate the stability supervisory control theory, the conﬂiction avoidance and the robustness of the proposed method. problem of movements is transformed into state for- bidden problem of controlled Petri net.

16:50 - 17:10

Current-based Wheel Slip Detection of All-Wheel Driving Vehicle Zhiping Zhu, Kui Yuan and Zuo Wei

This paper presents a current-based wheel slip detecting method which can detect longitudinal wheel slip of a all-wheel driving vehicle running on road surface with diﬀerent friction patches. A multi-mode slippage detection scheme is proposed to judge whether a wheel slippage occurs by detecting the change of the relevant wheel velocity and the change of the driving wheel ar- mature current. A simple predictive control algorithm is also proposed to reduce the eﬀect produced by the wheel slippage.

Guoyun

20 Session: M3-3 Monday, June 22, 15:30 - 17:10 Service Robots Chairs: Shugen Ma, Chao Hu Room: Guoxiang

15:30 - 15:50 15:50 - 16:10

An Amphibious Snake-Like Robot: Design and Image Representation and Compression for Motion Experiments on Ground and in Water Capsule Endoscope Robot Shumei Yu, Shugen Ma, Bin Li and Yuechao Wang Chao Hu, Max Q.-H. Meng, Li Liu, Yinzi Pan and Zhiyong Liu This paper presents an amphibious snake-like robots design and its omnipotent locomotion ability both on In this paper, we present image representation and the land and in the water. This amphibious snake-like compression techniques for the capsule endoscope. robot, mainly composed by 9 Modular Universal Units, First, the characteristics of the capsule endoscopic im- is waterproof and can move smoothly in the water while ages are investigated. Secondly, the Cartesian, po- pressurized with O-rings and other essential accessories. lar coordinate, and expanded square representations of In this paper, we concentrate on the gait diversity of the circular image are discussed. Then special DPCM, the amphibious snake-like robot. wavelet compression techniques are applied to get high compression ratio and signal to noise ratio.

16:10 - 16:30 16:30 - 16:50

A Technical Review on The Orthopedic Inverse Kinematic Analysis for the Arm of a Compliant Robotic Arms Mobile Humanoid Robot Based on the Hongliang Ren, Max Q.-H. Meng, Lin Qi and Yichen Fan Closed-Loop Algorithm Jingguo Wang and Yangmin Li We investigate the existing studies on the orthopedic compliant robot arms, together with our proposals for This paper presents a kind of method for the inverse the pelvic surgery. In pelvic-acetabular surgery, it is kinematics of a 7-DoF arm installed on a mobile hu- important to position the tools accurately and precisely manoid robot. Due to the redundancy, the CLIK via for operations. A review is given for the industrial pseudoinverse method is used to solve the correspond- robotics arms serving as surgical tools. ing joint trajectories if the end-eﬀector trajectory is given and the constraints of joint limits are applied to optimize the redundancy.

16:50 - 17:10

Simultaneous Dynamic Scheduling and Collision-Free Path Planning for Multiple Autonomous Vehicles Shuai Yuan, Haye Lau, Dikai Liu, Shoudong Huang, Gamini Dissanayake, Daniel Pagac and Tim Pratley

This paper is about an integrated approach for dynamic task allocation and collision-free path planning in real- world industrial material handling environment, where multiple autonomous vehicles operate on a network of paths and where each path segment can only be occu- pied by one vehicle at a given instant.

Guoxiang

21 Session: M3-4 Monday, June 22, 15:30 - 17:10 Networks and Communications III Chairs: Huosheng Hu, Weihua Sheng Room: Guocui

15:30 - 15:50 15:50 - 16:10

Mechanical Feature Attributes for Modeling and An Automatic Ontology Population with a Pattern Classiﬁcation of Physical Activities Machine Learning Technique from Theodoros Theodoridis, Alexandros Agapitos, Huosheng Semi-Structured Documents Hu and Simon Lucas Seong-Bae Park

A rigorous investigation on the synergy of mechanical This paper proposes an automatic ontology population attributes to engineer tactics for measuring human ac- method. The knowledge source for ontology population tivity in terms of forces, as well as to provide indepen- used in this paper is web-tables. The most appropriate dency and discrimination clarity of action recognition concept within the ontology is determined by parse tree using linear and non-linear classiﬁcation methodolo- kernel. Then, tables are populated as individuals of gies from data mining and evolutionary computation, concepts. Through experiments, the proposed method are the main objectives where this paper focuses on. achieves 62.35% of accuracy. Mechanical analysis is employed to mathematically describe and model human movement by using a number of mechanical features inspired mainly from Kinematics Dynamics.

16:10 - 16:30 16:30 - 16:50

Analysis of Road Traffic Capacity Based on Mobility Assisted Localization for Robotic Sensor Maximum Likelihood Method Networks Yanfei Cai and Xiaoxiong Weng Changhua Wu, Weihua Sheng, Yinig Zhang and Saroja Kanchi Capacity is different with impact of conditions of road, traffic and operation environments. The paper arms to The accurate localization of sensor nodes in a mobile analyses statistical relationship between capacity and robotic sensor network is important in many surveil- average headway. We find a new distribution model of lance applications. Based on our previous work in sen- headway: lognormal distribution model. By the empir- sor localization, this paper introduces a mobility as- ical data testing, the calculation deviation of capacity sisted localization approach guided by network rigidity is only 0.22 percent. for mobile robotic sensor networks. The rigidity test of a network is based on a pebble game algorithm, that decides whether the network is uniquely localizable or not.

16:50 - 17:10

Network Virtual Money Evolution Mode: Moneyness, Dynamics and Trend Hui Peng and Yanli Sun

Network virtual money tends to evolve from original, primary to ameliorative, intermediate and advanced mode, eventually circulate in real world and be expanded by virtual loan granting. Virtual money evolution could increase the attractiveness of virtual world and beneﬁt the subscribers and game operators simultaneously.

Guocui

22 Session: M3-5 Monday, June 22, 15:30 - 17:10 Computer Vision III Chairs: Shane Xie, Xianmin Zhang Room: Guose

15:30 - 15:50 15:50 - 16:10

A Robust Local Descriptor Method for Image Denosing by Curvature Strength Diffusion Registering Maori Artefacts using Colour Images Baopu Li, Max Q.-H. Meng and Huaicheng Yan Danny Cheng, Shane Xie and Enrico Haemmerle Due to its great advantage that it can preserve im- Two new local descriptor methods are presented which age edges while reducing noise, the anisotropic diffu- make use of colour images instead of greyscale images sion open a new filed in image processing. However, for computing local descriptors. Experimental work as anis otropic diffusion is based on gradient, which is conducted indicate that the proposed methods out- sensitive to noise, it may not work efficiently especially perform existing methods when registering images of when the image contains a high level of noise. Maori artefacts with improvements in matching accuracy of up to 10%.

16:10 - 16:30 16:30 - 16:50

Learning Model for Object Detection Based on A Visual Inspection System for Surface Mounted Local Edge Features Components Based on Color Features Xusheng Tang, Zhelin Shi, Deqiang Li, Long Ma and Dan Huihui Wu, Xianmin Zhang and Shiliang Hong Chen In order to inspect the surface mounted components We present a learning model for object detection that on PCBs, firstly, the features of the components were uses a novel local edge features. The features are mo- analyzed, then, a two-stages inspection process which tivated by the scheme that use the chamfer distance synthesized the projection method and Bayes classifier as shape comparison measure. Adaboost is used to was presented. The experiment results have verified build an object detector. Experimental results show the validity of this scheme in terns of recognition rate our method is fast and effective. and speed.

16:50 - 17:10

Image-Based Visual Servoing Using Improved Image Moments Sining Liu, Wen-Fang Xie and Chun-Yi Su

Visual servoing has played an important role in automated robotic manufacturing systems, of which there is a challenge on how to choose proper image features to enhance system performances. This paper addresses such a challenge by proposing a method consisting of an ameliorative image pre-processing algorithm and an improved Image Based Visual Servoing (IBVS) using image moments algorithm.

Guose

23 Session: M3-6 Monday, June 22, 15:30 - 17:10 Information and Signal Processing I Chairs: Chi-Man Pun, Jwu-Sheng Hu Room: Guosheng

15:30 - 15:50 15:50 - 16:10

Embedding Biometric Watermark on Document Image Quality Assessment Based on Theil Image using Discrete Wavelet Transform Inequality Coefficient and Discrete Wavelet Loi-Tun Lam and Chi-Man Pun Transform Junfeng Li, Wenzhan Dai and Haipeng Pan In this research, signatories biometric fingerprint in digital binary format as a watermark message will be em- A novel image quality assessment based on the char- bedded into a gray level document image by discrete acteristics of the wavelet coefficients of images and the wavelet transform. correlativity is proposed. The algorithm makes full use of perfect integral comparison mechanism of the correlativity and the well matching of discrete wavelet transform with multi-channel model of human visual system.

16:10 - 16:30 16:30 - 16:50

An Improved OFDM Phase Noise Cancellation Non-Synchronized H-Infinity Estimation of Method Discrete-Time Piecewise Affine Systems: An LMI Jinlin Fu, Chunping Hou, Ke Li, Lei Yan and Shanlin Sun Approach Yahui Gao, Zhiyuan Liu and Hong Chen A novel ICI self-cancellation method is proposed. Data symbol are mapped onto pairs of adjacent subcarri- This paper designs an H estimator for discrete-time ers for the middle subcarriers and mapped onto pairs piecewise affine systems in the presence of external dis- of symmetric subcarriers for the two end subcarri- turbance. The issue considered is that the transitions of ers. Compared with other ICI self-cancellation method, actual system state and its estimate may not be syn- BER performance of the proposed method is much bet- chronized due to output noise and estimation errors. ter. The results are formulated as LMIs.

16:50 - 17:10

Speech Enhancement for Mobile Phones Based on the Imparity of Two-Microphone Signals Jwusheng Hu and Mingtang Lee

We propose a speech enhancement system for mobile phones using pair microphones. The gain diﬀerences of the sources between the two microphones are used to obtain the speech absence probability. The results are substituted into an MMSE estimator in loudness domain. The performance is evaluated under two noise cases.

Guosheng

24 Session: M3-7 Monday, June 22, 15:30 - 17:10 Poster Session III: Automation and Mechanisms Chairs: Yangmin Li Room: Guowang

15:30 - 17:10 15:30 - 17:10

Simulation and Implementation of A Large Inertia Algorithm of Variable Forward Step Size Planning Electro-hydraulic position control system in Freeform Surface Machining Jian Pan and Guanglin Shi Shitian Zhao, Dongbiao Zhao and Yingying Fu

A new algorithm for curve of tool path discretization is presented to improve the precision of the forward step size. Results showed that the maximum CDE is not locate on the middle point of the two adjacent points and the conventional simpliﬁed mid-point method is not accurate.

15:30 - 17:10 15:30 - 17:10

A New Adaptive Motion Estimation Algorithm Shape and Area Computation of Cooperative Lei Meng and Hang Li Workspace of Dual-Arm Robot Yi Cao, Shijun He and Xiujuan Li Based on ﬁnite element method and genetic algorithms dynamic mathematical model is established, and the A robot of a dual arm in two-dimension was illus- simulation of stress distribution around the defects of trated. The common region of both arm workspaces single crystal nickel-based superalloysis also established was viewed as the cooperative workspace, generated by with ANSYS. Monte Carlo method and computer graphics. The area of the cooperative workspace was estimated by probability and statistics.

15:30 - 17:10 15:30 - 17:10

Design and Impacting Capability Research on SLCO and DLCO:Two Ontologies for Detecting Driving Device of Puncturing Mud Robot and Resolving Schema and Data-Level Semantic Zhonglin Zhang, Xiufen Ye and Liquan Wang Conflicts Jing Wen, Shidong Zhang and Zhongmin Yan The driving device of robot was designed and work principle is recounted and virtual assembly was fin- Despite the critical importance of semantic interoper- ished. Parameter equation was educed and effect to ability between heterogeneous databases, current ap- output capability was analyzed. Testing of impacting proaches have not been sufficiently effective and com- capability was put up and impacting capability was val- prehensive. We propose an Ontology-Based solution, idated. which use two kinds of ontologies called Schema-level Conflict Ontology and Data-level Conflict Ontology (SLCO and DLCO).

Guowang

25 Session: M3-7 Monday, June 22, 15:30 - 17:10 15:30 - 17:10 15:30 - 17:10

Virtual Prototyping of the New Type Design Optimization of a Geneva Mechanism for Hypocycloid Energy Transformation Mechanism Internal Combustion Engine Application Yunfeng Xue, Qungui Du, Xiaodong Huang and Junpeng Dan Zhang, Mike Reed, Beizhi Li, Zhen Gao and Yunjian Zhu Ge

For proposing a new type hypocycloid mechanism to The Geneva mechanism has been used for timing ap- actually realize motion transformation between the rec- plications such as clocks, watches and ﬁlm projectors tilinear motion to rotary motion, the 3D virtual proto- so using the great timing features it possesses would type, the kinematics and dynamics model were set up. be ideal. This research explores a totally diﬀerent in- It is conformed that calculation results are correct. The ternal combustion design in automotive industry which analytical models could be applied for intelligent con- revolves around the Geneva mechanism. trol strategies.

15:30 - 17:10 15:30 - 17:10

Multidisciplinary Joint Simulation Technology for Irradiation Degradation of Chloramphenicol, Servo Mechanism Analysis Thiamphenicol and Florfenicol with Electron Xufeng Tong, Jin Huang and Dongxia Zhang Beam Jiaxin Zhou, Minghong Wu, Gang Xu, Ning Liu and The key technique of multidisciplinary joint simula- Qunli Zhou tion system is introduced. A novel multidisciplinary joint simulation platform for servo performance analy- Electron beam irradiation of chloramphenicol, thi- sis is established. The data exchange and integration amphenicol and florfenicol was studied and the main of servo system dynamics, finite element and control radiolysis products were determined. The degradation analysis are realized. Finally, the application of joint of chloramphenicol, thiamphenicol and florfenicol were simulation platform is demonstrated. above 98% at the dose of 20kGy. The concentration of ions in aqueous solution increased and the pH value decreased. The degradation pathway was studied.

15:30 - 17:10 15:30 - 17:10

Experiments and Results of the Silicon Research and Implementation of Mesh Mergence Micromachined Gyroscope from Multi-View Point Cloud Fuxue Zhang, Q. W. Yan, W. Zhang and L. F. Wu Wenqiang He

This paper reports a multifunctional silicon microma- Reconstruct 3D object shapes from multi-view point chined gyroscope for determining attitude of the rotat- cloud is one important task. A mesh mergence al- ing carrier. Both the principle and the experiment of gorithm is presented. First, meshes are part-merged the gyroscope are presented to explain the multifunc- easily using zippering; second, the triangles in pontes tion. This article explains the way to determine the expand and degenerate to stitch the gap; at last, the deflecting direction and deflecting position of the ro- mesh is optimized to delete redundant triangles. tating carrier in the gravitation field. In the final part, the influence of temperature on determining attitude is discussed.

Guowang

26 Tuesday June 23, 2009

2009 IEEE International Conference on Information and Automation ICIA 2009

27 Tuesday, June 23, 2009

Time Room Session Session Title Page

10:20 - 12:00 Guoxing T1-1 Automation IV 29

Guoyun T1-2 Control Applications IV 30

Guoxiang T1-3 Mobile Robots I 31

Guocui T1-4 Mechatronic Systems I 32

Guose T1-5 Computer Vision IV 33

Guosheng T1-6 Information and Signal Processing II 34

13:30 - 15:10 Guoxing T2-1 Automation V 35

Guoyun T2-2 Control Applications V 36

Guoxiang T2-3 Mobile Robots II 37

Guocui T2-4 Mechatronic Systems II 38

Guose T2-5 Sensors I 39

Guosheng T2-6 Information and Signal Processing III 40

15:30 - 17:30 Guoxing T3-1 Automation VI 41

Guoyun T3-2 Control Applications VI 42

Guoxiang T3-3 Mobile Robots III 43

Guocui T3-4 Pattern Recognition I 44

Guose T3-5 Sensors II 45

Guosheng T3-6 Information and Signal Processing IV 46

28 Session: T1-1 Tuesday, June 23, 10:20 - 12:00 Automation IV Chairs: Juing-Shian Chiou, Hong Bae Park Room: Guoxing

10:20 - 10:40 10:40 - 11:00

Robust and Non-Fragile Fuzzy H-Inﬁnity Control The Optimization of the Application of Fuzzy Ant of Radar Gimbal Stabilization System with Colony Algorithm in Soccer Robot Time-Delay Juing-Shian Chiou and Kuo-Yang Wang Seung Taek Park, Hyoung Ho Lee, Jun Ki Kim and Hong Bae Park This article provides a theory which is based on the Fuzzy Ant Colony Optimization, and then uses this We describe the controller design method for nonlinear theory to design an optical speed for the football robots, radar gimbal stabilization system with time-delay and and then we also apply Ant Colony Optimization to polytopic uncertainty. We show that the resulting fuzzy design its routes to avoid obstacles. controller guarantees the asymptotic stability and disturbance attenuation of the closed-loop system in spite of controller gain variations within a resulted polytopic region.

11:00 - 11:20 11:20 - 11:40

A Delay-Range-Dependent Approach to Robust An Automatic Incremental Update Solution for H-Infinity Control for Uncertain Linear Systems Multi-Scale Spatial Database with Time-Varying Delays Yaqin Ye, Bo Chen, Bo Wan and Shunping Zhou Huaicheng Yan, Max Q.-H. Meng and Hao Zhang In order to maintain real-time data in spatial database, Delay-range-dependent robust Hinfty control for un- a multi-method updating solution is presented based on certain systems with time-varying delays and param- MMS-IU updating model. The paper also proposed a eter uncertainties is investigated. Some new criteria set of technology routes about incremental updating, on stabilization and the existence of Hinfty controller such as automatic matching, versions comparison and are proposed in terms of LMI. Numerical examples are conflict detect. provided to demonstrate the effectiveness and the advantages of the proposed method.

11:40 - 12:00

Analysis of System and Process Based Quality Management System and Evaluation Model Genbao Zhang, Haifeng Zeng, Guoqiang Wang and Gengbao Huang

This paper proposes a quality system evaluation methods based on the system and the process method. Qual- ity management system (QMS) is break down into three-layered structure. A model for evaluation of effectiveness of QMS is established based on the three- layered structure of QMS. GAHP method is adopted for evaluation of QMS.

Guoxing

29 Session: T1-2 Tuesday, June 23, 10:20 - 12:00 Control Applications IV Chairs: Wen Jung Li, Ming Shao Room: Guoyun

10:20 - 10:40 10:40 - 11:00

Adjacent Grids Algorithm and Dynamics Surface Spline Based Constructing Method for Programming Realization for Minimum Geomagnetic Reference Map Time-to-Climb Trajectories Yukun Qiao, Shicheng Wang, Jinsheng Zhang, Lihua Yali Chen, Xinmin Dong and Enlin Zu Chen and Qi Zhang

This paper deals with the minimum time-to-climb Precise geomagnetic reference map is needed for geo- problem. The relationship between consumption time magnetic navigation and surface spline method is used and other states is obtained by disposing the aircraft to construct small-scale geomagnetic reference map and equations of dynamics and motion. The time inter- two common-used interpolation methods are also used val between adjacent grids in the vertical plane is ﬁg- to do comparisons. Results show that the constructing ured out. The minimum time cost is calculated by DP method of geomagnetic reference map based on surface method. spline is feasible.

11:00 - 11:20 11:20 - 11:40

A Method of Controlling MTC Solidification Identifications of Quality Parameters in Process by Cooling Threshold Paper-Making Industry Dongdong You, Wenfang Li, Ming Shao and Yuanyuan Li Wenhao Shen, Xiaoquan Chen, Hongbin Liu and Jinxing Liu A method of controlling MTC solidification process by cooling threshold was presented based on FEM simula- The work focuses on the multivariable and closed- tion and experiments research. The 3D transient heat loop identification of paper-making industrial pro- transfer simulation was done to analyze the influence cesses. Through different noise-to-signal ratios, the of the cooling threshold on the workpiece temperature paper gives a conclusion that pre-filtration can im- field. The outcome provides a basis for selecting MTC prove the precision of closed-loop identification model. parameters. Proposition of a novel criterion to evaluate the identification model is another conclusion.

11:40 - 12:00

Robust and Non-Fragile Fuzzy H-Inﬁnity Controller Design for Discrete-Time Systems with Parameter Uncertainties and Time Delay June Won Lee, Hyung Ho Lee, Joon Ki Kim and Hong Bae Park

In this paper, we show a controller design method for a class of discrete-time nonlinear systems described in T-S fuzzy model, which has uncertainties in state and input. The robust and non-fragile fuzzy H controller is designed based on Lyapunov function theory, PDC and PLMI method.

Guoyun

30 Session: T1-3 Tuesday, June 23, 10:20 - 12:00 Mobile Robots I Chairs: Chien-Chou Lin, Jianda Han Room: Guoxiang

10:20 - 10:40 10:40 - 11:00

Path Planning and Tracking for Autonomous Multiple Robots Formation Control Based On Underwater Vehicles Receding Horizon Optimization Bo He, Hongge Ran, Ke Yang, Luyue Huang and Yuqing He and Jianda Han Chunyun Ren A new two-level receding horizon multiple robot for- This paper discusses path planning and path tracking mation control strategy is proposed in this paper. This for an AUV. The proposed path planning algorithm can new algorithm presents some attracting advantages, in- produce optimal safe path and has good real-time per- cluding the suboptimal formation behavior based on formance as well. Path tracking algorithm is to solve the receding horizon optimization, the convergence en- problem how AUV tracks a variety of shaped path. sured by the GPMN structure, the good real time per- Simulation results show the algorithms are eﬀective. formance, and the reduced communicational burden.

11:00 - 11:20 11:20 - 11:40

The Structure and Defects Recognition Algorithm A Hierarchical Path Planning of Manipulators of an Aircraft Surface Defects Inspection Robot Using Memetic Algorithm Zhiwei Xing, Muhua Chen and Qingji Gao Chien-Chou Lin

The structure of mechanical and control system are A 2-stage memetic algorithm (MA) is proposed for the proposed in part II. And a trajectory tracing control path planning of manipulators. The first stage, a MAK- algorithm is given next. The rivets cracks identifica- LINK based global planner, plans a trajectory which tion algorithm is proposed in part IV. The experiment the end-effector of a manipulator should follows. The result and the conclusion are provided at last. second stage, a memetic algorithm with a non-random initial population plans a series of configurations.

11:40 - 12:00

Design and Modeling of Unmanned Trimaran Surface Vehicles Yan Peng and Jianda Han

The design, development, modeling and sea trials of the Unmanned Trimaran Surface Vehicles (UTSV) are presented in this paper. A control system was developed based on backstepping to guide the vessel to track desired trajectories based on the input of the sensors. Physical experiments were conducted to determine the maneuvering property of UTSV.

Guoxiang

31 Session: T1-4 Tuesday, June 23, 10:20 - 12:00 Mechatronic Systems I Chairs: Dan Zhang, Yunjiang Lou Room: Guocui

10:20 - 10:40 10:40 - 11:00

Design and Analysis of a Piano Playing Robot Topology Optimization of a Linear Motor Dan Zhang, Jianhe Lei, Beizhi Li, Daniel Lau and Craig Actuated Parallel XY Stage Cameron Jian Shen and Yunjiang Lou

This paper presents the development of a piano-playing Topology optimization technique is used to design a robot in order to provide people a mean of entertain- high-performance XY stage for next generation of semi- ment. The design and development of this research conductor manufacturing equipments. Instead of con- include two parts: the design of a dexterous hand for sidering single part’s performance, a topology optimiza- manipulating a piano and a linear motion control sys- tion for parts with respect to performance of the overall tem. mechanical system is proposed. A prototype was man- ufactured for veriﬁcation.

11:00 - 11:20 11:20 - 11:40

A Measurement System Based on Virtual FEM Analysis and Experimental Veriﬁcation of Instrumentation for Field Dynamic Balancing of the Ultrasonic Transducer for Thermosonic Rotors Flip-Chip Bonding Machine Shulin Chen, Xiaopeng Xie and Peitian Cong Yi-Cheng Huang and Fu-Sheng Hsiao

A network system for measuring the vibration caused Improving bonding efficiency of ultrasonic transducers by unbalance in the rotor is designed based on virtual plays an important role. Analysis of transducer in me- instrumentation. The influence coefficient method and chanical vibration and electrical performance is con- mode-balancing method are used for balancing of the cerned. Commercial ATILA software is used. Best rigid and flexible rotors. We developed a field dynamic resonance frequency of the transducer was determined balancing instrument consisting of hardware and soft- with impedance and laser Doppler meter. In-laboratory ware components. thermosonic bonding machine and characteristics of transducer are presented.

11:40 - 12:00

Evaluation of Energy Harvesting by Using Piezoelectric Unimorph Ceramics Yung Ting, Hariyanto Gunawan, Bing-Kuan Hou and Chong-Yu Huang

By using the piezoelectric direct eﬀect, piezoelectric energy harvesters hold the promise of providing an alternative power generating device. Also, ambient vibration is the focus to provide the amount of available mechanical energy resource that can be converted into electricity by piezoelectric ceramics. Design and analysis of the piezoelectric unimorph ceramic and electric converter as well as eﬃciency of electromechanical conversion and energy storage are studied.

Guocui

32 Session: T1-5 Tuesday, June 23, 10:20 - 12:00 Computer Vision IV Chairs: Sergej Fatikow, Xiaojun Wu Room: Guose

10:20 - 10:40 10:40 - 11:00

A New Method for Visual Hull Computation from An Adaptive Weight Values Updating Mean Shift Image Sequences Tracking Algorithm Peng Song, Xiaojun Wu and Michael Yu Wang Sen Guo, Wei Liu, Xin Lu and Yongsen Liang

A roubst visual hull computaion method is addressed A novel adaptive weight values updating mean shift which is based on the polygonization of octree construc- tracking algorithm is proposed, weight value of every tion. The approach use a new projection test when pixel is updated according to variation of motion state building octree construction and deﬁne an isofunction calculated by a group of Kalman ﬁlters. The result of whose value represents the 3D distance to the visual experiments show it has advantage on reliability and hull to extract very smooth mesh with MC. robustness.

11:00 - 11:20 11:20 - 11:40

Measuring Structure Parameters and Pulse A New Method for Selecting Gradient Weight in Equivalents of a Double-Chained Visual Incremental Eigen-Background Modeling Mechanism on a Circular Orbit XiaoLong Lv, GuoLiang Zhao and Hao Meng Liqiang Zhao, Lingfu Kong, Rong Jing and Yanhong Zhou Background modeling is an important approach used Double-chained visual mechanism on a circular orbit in motion detection. The background model should is a novel binocular visual platform. Measuring struc- adapt to dynamic change of the environment and up- ture parameters and pulse Equivalents of motors is a date quickly. In this paper, some improvements on in- key question to ensure the accuracy of metric recon- cremental eigen-background modeling are made. A new struction of the scene. This paper describes an indirect method of selecting weight according to reconstruction strategy based on vision measurement for it. error is proposed. Compared with existing means, this method can not only model background eﬀectively but also more eﬃciently.

11:40 - 12:00

Vision Feedback for Automated Nanohandling Sergej Fatikow, Christian Dahmen, Tim Wortmann and Robert Tunnell

This paper presents diﬀerent image processing methods and algorithms, which are needed to enable the reliable automation of nanohandling processes. The imaging sensor used is the scanning electron microscope (SEM). Tasks on image data from the SEM include object recognition, object tracking and depth estimation. All the algorithms are discussed.

Guose

33 Session: T1-6 Tuesday, June 23, 10:20 - 12:00 Information and Signal Processing II Chairs: Yong Yu, Huiyuan Wang Room: Guosheng

10:20 - 10:40 10:40 - 11:00

Graph Transformation with Variables for A Novel Information Fusion Algorithm for Formalizing Delegation Authorization of Workflow GPS/INS Navigation System Yonghe Wei Xiaochuan Zhao, Qingsheng Luo, Baoling Han and Xiyu Li This article presents specification formalisms for workflow delegation policies using graph transformation This paper proposes a novel second order fuzzy self- with variables. In this research, authorization states adaptive filter algorithm for GPS/INS navigation sys- are represented by graphs and state transition by graph tem. Choosing the differences of location and velocity transformation with variables. We present an algo- information provided by GPS receiver and INS device rithm to automatically check and eliminate conflicts as the inputs, this filter modifies the regulation factor between rules and constraints. based on the residual sequence statistical information and PDOP (Position Dilution of Precision )provided by GPS receiver to correct the outputs of INS device using fuzzy logic

11:00 - 11:20 11:20 - 11:40

Batch Algorithms of Matching Pursuit and Sensing Information Forecasting for Power Assist Orthogonal Matching Pursuit with Applications Walking Legs Based on Time Series Analysis to Compressed Sensing Zhaojun Sun, Yong Yu and Yunjian Ge Huiyuan Wang, Jose Vieira, Paulo Ferreira, Bruno Jesus and Isabel Duarte In order to improve the dynamic response of the Power Assist Walking Legs (PAWL), we propose a novel sens- Batch algorithms of matching pursuit (MP) and or- ing information forecasting algorithm based on the time thogonal matching pursuit (OMP) are proposed . In series analysis. The forecasting algorithm is designed both algorithms, the original iteration procedures are to be used on-line to ensure the real-time quality of the modified in the following way. Instead of finding a sin- whole system. gle best-matched atom in each iteration, we find a number of best-matched atoms to speed up the convergence, - a batch version. Then optimized coefficients are computed based on these atoms. Numerical simulations in the application to compressed sensing show that the proposed algorithms are much faster than the original ones, while similar reconstruction precision is obtained.

11:40 - 12:00

A New Public Watermarking Algorithm for RGB Color Image Based on Quantization Index Modulation Jie Nie and Zhiqiang Wei

This paper proposes a novel watermarking algorithm which chooses the margins of corresponding DCT coefficients selected from any two of the three color channel as the signal constellation and embeds binary watermark image into it. The openness of algorithm is en- sured by the alternate selections of different color DCT coefficients

Guosheng

34 Session: T2-1 Tuesday, June 23, 13:30 - 15:10 Automation V Chairs: Yisheng Guan, Zhenqiang Yao Room: Guoxing

13:30 - 13:50 13:50 - 14:10

Modelling for Athwartships Trim of Ship Balance A Revised B Spline Interpolation Algorithm of and Actuator with Transferring Liquid Among CNC Machining Tanks Lei Luo, Jun Hu, Fang Liu and Zhenqiang Yao Meng Tang and Wenshang Nong An revised algorithm of cubic B spline curve interpo- In the paper, a model of ship balance for athwartships lation is discussed. The tangential vectors are used to trim is established, the actuator based on the trans- establish the curve equations. The trajectory and fee- ferring Liquid among Tanks for ship balance control drate proﬁle can be generated simultaneously and the is also involved and built. According to those system simulation results show that the algorithm has high cal- models, the ship balance performance and dynamic bal- culation eﬃciency and meet the demands of feedrate ance process are investigated and analyzed with theory smoothing. calculation and simulation.

14:10 - 14:30 14:30 - 14:50

A Versatile Automatic Welding System and Design of Human-Machine Interaction Module Application of Train Hook Buildup Welding and the Communication of Control System Hongxin Shi, Jinhong Zhu, Lianmei Song, Xiaoping Zou Xin Guo, Xiuyun wang and Xiaoyun Xu and Jian Han This paper mainly introduces the design of the Human- This paper designed a versatile automatic welding ma- machine interaction module in a control system based chine. Its mechanical system includes workbench mech- on CAN (Controller Area Network) bus, and the com- anism, adjusting mechanism of welding gun and revolu- munication of the control system with CAN bus. The tion mechanism. There are two choices for the control advanced AVR microcontroller is used to transmit and system, based on PLC or IPC separately. Experiments handle the data in the Human-machine interaction showed that reasonable welding was achieved, and it module, in which ARM microprocessor and LED screen can improve work conditions. are used to achieve the show of data and the result from the controlled parts.

14:50 - 15:10

Optimization Design of Lather-Beds Based on FEA Dongmei Li and Yisheng Guan

In this paper, we present three-dimensional modeling and ﬁnite element analysis methods for the optimization design of CNC lathes. We use PRO/E and PRO/MECHANICA to build three-dimensional modeling and to optimize the structure of lathe-beds. The ﬁnal modal analysis shows that the presented optimal design is feasible and can produce a better structural performance.

Guoxing

35 Session: T2-2 Tuesday, June 23, 13:30 - 15:10 Control Applications V Chairs: Fan Yu, Rudiger Dillmann Room: Guoyun

13:30 - 13:50 13:50 - 14:10

Research on Accuracy Improvement of INS with Two Classes of Useful Order Reduction Continuous Rotation approaches in Engineering Practice Qi Nie, Xiaoying Gao and Zhun Liu Wei Tang, Xi Wang, Yuyan Chao and Lifeng He

The INS rotation in this paper as an important tech- In terms of the basic principles of step response model- nique is presented to remarkably improve the perfor- ing and moment modeling, graphical and moment or- mance of navigation system. Simulation results indi- der reduction approaches are proposed. The parameter cate that, compared with the static state, the proposed determination procedures of the low-order approximat- method attenuates the navigation errors caused due to ing models are illustrated and comparisons are done by inertial sensor and greatly enhances the navigation ac- simulations to verify the approximating abilities of the curacy. proposed method.

14:10 - 14:30 14:30 - 14:50

Optimal Model Following Control of Four-Wheel Segmentation and Approximation of Objects in Active Steering Vehicle Pointclouds using Superquadrics Bin Li and Fan Yu Marcus Strand and Rudiger Dillmann

Four-wheel active steering (4WAS) is investigated in The abstraction from raw pointclouds to high level rep- this paper. A model following control structure is resentations is a necessity in real world robotic applica- adopted in which feedback controller is designed us- tions. This concerns the semantic description of house- ing optimal control theory to minimize the tracking er- hold objects as well as the handling of complex ob- rors between vehicle model and reference model. The jects (like grasping). This paper describes a method computer simulations are performed to evaluate the ef- for the manual segmentation of objects from scenes fectiveness of proposed controller. and the automated approximation of objects with high level descriptors. For both tasks solutions based on superquadrics are presented.

Guoyun

36 Session: T2-3 Tuesday, June 23, 13:30 - 15:10 Mobile Robots II Chairs: Hanxu Sun, Huaqing Min Room: Guoxiang

13:30 - 13:50 13:50 - 14:10

Motion Control of a Novel Spherical Robot Virtual Simulator with Mobile Robot Rapid Equipped with a Flywheel Prototyping for Navigation Systems Qingxuan Jia, Hanxu Sun, Yili Zheng, Hongyu Cao and Leonimer Flavio de Melo and Jose Fernando Mangili Hongyi Li Junior

A spherical robot equipped with a high-rate flywheel This paper presents the virtual environment implemen- (BYQ-V) is presented, the gyroscopic effects of the fly- tation for project simulation and conception of supervi- wheel can enhance the stability of the robot. The me- sion and control systems for mobile robots, that are ca- chanical structure, control system and simplified dy- pable of operate and adapting in different environments namic model are given. A LQR controller and PD and conditions. The purpose of this virtual system is controller are designed. The controllers are validated to facilitate the development of embedded architecture through experiment. systems.

14:10 - 14:30 14:30 - 14:50

A Component-Based Hybrid Testbed for Multi-Ultrasonic-Sensor Grid Map Building Based Multi-Mobile Robots on D-S Evidence Theory Jinhui Zhu, Qilun Zheng, Yingju Liang, Mingjie Liang Hongyu Cao, Hanxu Sun, Qingxuan Jia and Yili Zheng and Huaqing Min A method of unstructured unknown environment This paper describes a component-based hybrid testbed grid map building using ultrasonic sensors based on for multi-mobile robots. On the testbed, real and vir- Dempster-Shafer evidence theory is proposed. The tual robots operate together in an augmented reality problem that evidence theory can’t be applied to in- environment. The simulation server and robot soft- formation fusion under certain circumstances and ev- ware clients are built by assembling diﬀerent kinds of idence theory has counter-intuitive behaviors in some components. Experiments show the tesbed is ﬂexible cases is avoided by an approximate process algorithm. and suitable for multi-mobile robots.

14:50 - 15:10

Vision-Based Ball Recognition for Soccer Robots without Color Classiﬁcation Huimin Lu, Hui Zhang, Shaowu Yang and Zhiqiang Zheng

A novel method is proposed to recognize the FIFA ball for soccer robots. The ball can be recognized by detecting the ellipse imaged by the ball after deriving the imaging character of omni-directional vision. A perspective camera is added to assist recognizing the ball by Sobel ﬁlter and Hough Transform.

Guoxiang

37 Session: T2-4 Tuesday, June 23, 13:30 - 15:10 Mechatronic Systems II Chairs: Aiguo Ming, Wei-Hsin Liao Room: Guocui

13:30 - 13:50 13:50 - 14:10

A Component Model and Layered System Fault Diagnosis of Gearbox by Fast ICA and Architecture for Reconfigurable CNC Systems Residual Mutual Information Based Feature Shaohua Du, Dong Yu, Yi Hu and Yan Huang Extraction Weidong Jiao In order to solve the growing complexity of CNC systems, this paper presents a component model and The ICA was applied to fusion of multi-channel mea- layered system architecture for reconfigurable CNC surements by sensors. Furthermore, statistical features systems, which addresses the functional and non- higher than second order, which embedded into the functional requirements of CNC systems. The proposed measurements, were captured. Then, certain typical model improves the reusability of system software. The neural classifier was trained for the final pattern clas- layered architecture also facilitates the implementation sification. The experimental results show effectiveness of some advanced functions. of the proposed method.

14:10 - 14:30 14:30 - 14:50

EPS Control Technology Based on Road Surface Development of a Small Tracking Camera System Conditions for Mobile Platforms Yan Zhao, Yi Cheng and Hong Wang Tomohisa Aruga, Naoyuki Wada, Aiguo Ming, Norio Kurakane, Motoo Satoh and Hideno Takeuchi Information regarding road surface conditions can be separated by frequency. These frequencies can be uti- A small tracking camera system has been developed lized in designing an EPS system more eﬀectively in by authors. The purpose of the tracking camera sys- comparison to a conventional HPS system. A means of tem is both to stabilize the camera and to track the combining EPS design with information based on road target simultaneously. This paper describes the sys- surface conditions to create a robust EPS system has tem conﬁguration, the design of controller and sensor been achieved. systems, and the experimental results on the tracking performance.

14:50 - 15:10

An Improved Self-Powered Switching Interface for Piezoelectric Energy Harvesting Junrui Liang and Wei-Hsin Liao

In piezoelectric energy harvesting, by using the nonlinear technique named synchronized switching harvesting on inductor (SSHI), the harvesting eﬃciency can be greatly enhanced. In this article, a modiﬁed cir- cuitry and an improved analysis for the self-powered SSHI are proposed. They lead to better design and understanding to this switching interface.

Guocui

38 Session: T2-5 Tuesday, June 23, 13:30 - 15:10 Sensors I Chairs: Xianmin Zhang, Shuanghui Hao Room: Guose

13:30 - 13:50 13:50 - 14:10

Lubricant Film Thickness Measurement Using An Effective Binocular Vision-Based Sensing Fiber-Optic Michelson Interferometer and Approach for IAUV Fiber-Optic Displacement Sensor Xinqian Bian, Xiaojuan Wang and Wei Zhang Yuping Chen, Xiaodong Zhang, Ping Zhang and Chunxiang Liu A binocular sensing approach for IAUV (Intervention Class AUV) is proposed using texture-control based This paper focus on a new detection approach using a pyramid NCC to extract target region or outline, and fiber-optical Michelson Interferometer combined with a target range. A series of sub-methods were used to fiber-optical displacement sensor for the lubricant film quicken the approach and improve its accuracy. Sim- thickness measurement. ulative and water tank experiments were conducted to validate the approach.

14:10 - 14:30 14:30 - 14:50

Distributed Uncorrelated Optimal Fusion A High Speed AOI Algorithm for Chip Algorithm and Its Application in Estimation of Component Based on Image Diﬀerence Paper Basis Weight Hongwei Xie, Yongcong Kuang and Xianmin Zhang Xuebo Jin and Yuesong Lin The paper uses a SAM technique to get the template In practice, the state supervision of paper machine is of a component. A high speed alignment method is generally obtained by the same kind of sensors. For proposed to adjust the positionof component. Based this special multisensor system, distributed uncorre- on image diﬀerences, some inspection rules were given lated optimal fusion algorithm is received by avoiding to determine the defect type. The study is useful for computing correlated estimation covariance based on practical applications. the matrix operation and is applied in estimation of paper basis weight system.

Guose

39 Session: T2-6 Tuesday, June 23, 13:30 - 15:10 Information and Signal Processing III Chairs: Zesheng Tang, Guanghua Zong Room: Guosheng

13:30 - 13:50 13:50 - 14:10

Application of Wavelet and Hilbert Transform in An Improved Self-Adaptive Tracking the Detecting Parameter Recognition of Box Milk Diﬀerentiator Quality Guohui Qiao, Minglei Sun, Guanghua Zong and Xianjiang Shi, Qiang Jing and Xinjie Zhao Shouzhong Li

Application of Wavelet and Hilbert Transform in the The performance of traditional Tracking Diﬀerentiator Detecting Parameter Recognition of Box Milk Quality will decline when tracking great changing signals. This Xianjiang Shi, Qiang Jin and Xinjie Zhao AbstractThe paper presents a novel self-adaptive second-order TD. wavelet denoising principle combined with the Hilbert The result showed this algorithm could eﬀectively re- transform principle is applied in the detecting param- strain oscillations when input signals changed in a low eter recognition of box milk quality under the noise, rate, and guarantee a small phase shift when the input which can improve the detection accuracy and make signals varied rapidly. the boxed liquid milk quality accuracy close to the theoretical value with the noise.

14:10 - 14:30 14:30 - 14:50

An Algorithm of Small and Dim Target Detection Identiﬁcation of Multi-Layered Structure in Deep Space Background Properties Using Wavelet-Fractal Dimension of Hong Zhang and Yicheng Bai Ultrasonic Data Dun Yi, Jianhui Chen, Guanglong Wang, Xiaohong Shi In this article, a method of image registration based and Zhangsui Xu on Feature Space of Distance (FSD) between points is ﬁrstly introduced into dim and small target detection This paper present a wavelet-fractal dimension ap- in deep space background. This algorithm uses fea- proach for extracting feature from ultrasonic non- ture space to calculate the transform parameters and destructive evaluation (NDE) data of a test multilayer realizes the detection through the suppression of the adhesive structure specimen. It is believed that the fea- background. tures extracted via the method outlined in this paper provide considerable promise in the area of the test of multilayered structure.

14:50 - 15:10

A Non-Uniform Rectangular Partition Coding of Digital Image and its Application Kin Tak U, Zesheng Tang and Dongxu Qi

In this paper, a novel method for image coding based on non-uniform rectangular partition is proposed. Based on it, an eﬀective scheme of information disguise is implemented and some experimental examples are illustrated to prove that the quality of the re-constructed image and the coding speed are all satisfactory.

Guosheng

40 Session: T3-1 Tuesday, June 23, 15:30 - 17:30 Automation VI Chairs: Alexander Lebedev, Qingke Yuan Room: Guoxing

15:30 - 15:50 15:50 - 16:10

Safety Monitoring and Management System for Multi-Channel Adaptive VSS with the Sliding Fluid Catalytic Cracking (FCC) Process Surfaces Adjustment for the Control of Laihua Fang and Zongzhi Wu Nonstationary Dynamic Object Alexander Lebedev and Vladimir Filaretov Procedures of Hazard identiﬁcation, risk evaluation of the FCC process are presented for the design and de- The method of the synthesis of multi-channel adap- velopment of a safety monitoring and management sys- tive variable structure system with the sliding mode tem. A novel structure of the system is proposed. De- for the centralized control of spatial motion of the non- sign of functions, which cover parameters monitoring, stationary linear object is developed in this paper. The safety analysis, video monitoring, early-warning, safety conditions of the existences of stable sliding mode are management, etc, is explored. obtained and strictly proved. The new law of the adaptive adjustment of the position of sliding hyper-surfaces in each control channel is proposed and mathematically substantiated.

16:10 - 16:30 16:30 - 16:50

A New Mechanism for Boring of Noncircular Hole Theoretical and Experimental Study of Silicon and its Performance Simulations Micromachined Gyro for Coning Motion of Kai Zhang, Quan Yang and Jun Yu Spinning Projectile Qingwen Yan, W. Zhang, L. F. Wu and F. X. Zhang A revolving magnetic mechanism composed of a stator and rotor has been designed. The simulations show AbstractMany theoretical studies prove that the rate the magnetic force is little while there are only bias gyro can be used for navigation system of the spinning currents. The inﬂuences of bias currents to magnetic projectile, but these studies are insuﬃcient experimen- forces have been simulated and calculated theoretically, tal proofs under condition of the coning motion of the and this would be useful to design such mechanism. spinning projectile. In this paper, the motion equation of spinning projectile including coning motion and its numerical results are obtained. The silicon micromachined rate gyro is developed to sense the rotation frequency.

16:50 - 17:10

A Products Integrated and Collaborative Design Methodology Based on Virtual Product Prototypes Qingke Yuan, Fengyang Xu and Dahui Liu

A Product Integrated & Collaborative Design methodology based on virtual product prototypes (PICD) is explored. In PICD, a product master model is used as a shared information database and a virtual product prototype is used to detect the products performance by simulating the products working process and interactive using process.

Guoxing

41 Session: T3-2 Tuesday, June 23, 15:30 - 17:30 Control Applications VI Chairs: Xuedong Chen, Wei Ji Room: Guoyun

15:30 - 15:50 15:50 - 16:10

A Light-Weight Car Navigation Algorithm for Cascade Servo Control for LOS Stabilization of High Speed Agents using Wireless Landmark Opto-Electronic Tracking Platform -Design and Mersedeh Sanjabi, Somayyeh Maabi, Ali Jahanian and Self-Tuning Sirvan Khalighi Wei Ji, Qi Li, Bo Xu, Junjun Tu and Dean Zhao

In this paper, a lightweight wireless landmark-based A dual speed loop cascade control is presented in opto- car navigation algorithm (LWCN) is presented which electronic stabilized system. The system performance can be efficiently used in real-time systems. We imple- is compared with single loop structure. The inner loop mented the LWCN on a real-time MIPS-based embed- adopts PI and a time optimal self-tuning PID is devel- ded system and analyzed its accuracy and efficiency in oped in outer loop. Experimental results indicate that various states, especially for high speed movements in the proposed method can achieve higher precision and real roads. is effective.

16:10 - 16:30 16:30 - 16:50

Design of an Intelligent SMS-based Remote Investigation on Controllability of a Metering System Magnetorheological Gun Recoil Damper Md. Wasi-ur- Rahman, Mohammad Tanvir Rahman, Hongsheng Hu, Jiong Wang, Suxiang Qian and Xuezheng Tareq Hasan Khan and S. M. Lutful Kabir Jiang

AMR is a state-of-the art technology for reading elec- At present, a systematic architecture has still not tric, gas or water meter readings automatically from been formed, including its structure design, dynamic- remote places without any human intervention. In this modeling and controlling method of a MR damper sub- paper, a technique for remotely reading electricity me- jected to impact load. Its primary purpose of this study ter readings using SMS has been illustrated. Existing is to provide a comprehensive investigation on the con- GSM networks have been used for sending and receiv- trollability of a Magnetorheological (MR) gun recoil ing SMS. damper.

16:50 - 17:10

Dynamic Characteristics of Aerostatic Bearings in Nano-Precision Stage Yixi Ye, Xuedong Chen and Xin Luo

In this paper, the dynamical performance of precision stage with an annular aerostatic bearing is investigated numerically and experimentally. It is discussed that how diﬀerent design and working condition of the aerostatic bearing aﬀects the dynamical performance of nano-precision stage.

Guoyun

42 Session: T3-3 Tuesday, June 23, 15:30 - 17:30 Mobile Robots III Chairs: Huosheng Hu, Yan Meng Room: Guoxiang

15:30 - 15:50 15:50 - 16:10

Adaptive Unscented Kalman Filter for Deep-Sea Probabilistic Localization Methods of a Mobile tracked Vehicle Localization Robot Using Ultrasonic Perception System Hongqian Zhu, Huosheng Hu and Weihua Gui Lei Zhang and Rene Zapata

Abstract This paper presents an integrated navigation We propose three probabilistic approaches to solve the method based on adaptive unscented Kalman filters global localization problem and the kidnapped robot (AUKF). Taking into account the influence of measure- problem. They are the hybrid Grid-MCL algorithm, ment data delay, AUKF fuses the information from a sampling in Similar Energy Regions (SER) and the long base line (LBL) sonar localization system and the combination approach with adaptive samples. The va- dead-reckoning data to perform the state estimation. lidity of our approaches is verified through extensive Experimental results show that AUKF has better lo- simulations employing ultrasonic perception system. calization accuracy than a normal UKF for a deep-sea tracked vehicle (DTV).

16:10 - 16:30 16:30 - 16:50

Coal Mine Detect and Rescue Robot Technique Terrain Feature Localization for Mobile Robots in Research Outdoor Environments Junyao Gao, Xueshan Gao, Jianguo Zhu, Wei Zhu, Boyu Xiaorui Zhu and Mark Minor Wei and Shilin Wang A novel terrain feature localization technique is pro- This paper introduces a coal mine detect and rescue posed in this paper to allow the robot to identify its robot. It goes into explosion environment and detects location relative to measurable terrain characteristics. gas content, temperature, and carry some food and In the example of a two-axle wheeled mobile robot, a medicine to people pin down in disaster. The main terrain inclination map is extracted from a given topo- problem of it is weight than ordinary robot, communi- graphical map along a speciﬁc path. An EKF is used cate in turn tunnel, explosion-proof structure. to fuse the measurement data with the robot motion based on the extracted terrain map. Simulations validate the proposed terrain localization technique.

16:50 - 17:10 17:10 - 17:30

Dynamic Multi-Robot Task Allocation for Active Particle in MCL: an Evolutionary View Intruder Detection Huaqing Min, Huan Chen and Ronghua Luo Yuyang Zhang and Yan Meng This paper develops an eﬃcient algorithm which In this paper, we propose a decentralized multi- puts the process of Monte Carlo Localization in the robot/multi-sensor system for intruder detection in CLONAL framework, and utilizes Particle Swarm Op- perimeter defense. Fiber optic sensors are used as cue- timization to improve the mutation process. The key ing sensors to robots. A shame-level based dynamic idea is to carry out a heuristic searching step on the task allocation algorithm is proposed for intruder track- particles generated in MCL. ing, and a gap-based algorithm is proposed for self- deployment of the remaining robots.

Guoxiang

43 Session: T3-4 Tuesday, June 23, 15:30 - 17:30 Pattern Recognition I Chairs: Zuyuan Wang, Qing He Room: Guocui

15:30 - 15:50 15:50 - 16:10

Unusual Pattern Detection Based on Hyper Mean Shift Segmentation Applied into ADS40 Surface and Minimum Spanning Tree Data for Automatic Tree-Layer Detection Qing He, Jincheng Li, Weizhong Zhao and Zhongzhi Shi Zuyuan Wang, Ruedi Boesch, Lars Waser and Christian Ginzler In this paper, we propose an approach for discover- ing unusual observations. We firstly apply an unsuper- Our research aim is to interpret the objective and vised version of Hypersurface classification algorithm to measurable NFI forest definition by using automatic gain the separating hypersurface. In the case of local computer-vision based methods. Preliminary experi- density, we additionally search the Minimum Spanning mental results show the ability of mean-shift segmen- Tree. The subdividing is proceeded according to the tation method combining with curvature feature from domain knowledge. ALS for automatic forest detection.

16:10 - 16:30 16:30 - 16:50

A New Fast Chinese Visible Human Brain Skull Application of Support Vector Machine to Apple Stripping Method Recognition Using in Apple Harvesting Robot Yunjie Chen, Jianwei Zhang and Sunfeng Wang Jinjing Wang, Dean Zhao, Wei Ji, Junjun Tu and Ying Zhang We use adapted Gauss Mixture model as a promising starting point for a sophisticated segmentation frame- For improve recognition accuracy and efficiency, Clas- work of color images within 3-dimensions. For the effect sification method based on support vector machine is of the fake grey matters in CVH brain data, a proper developed for recognition of fruit in apple harvesting image preprocessing strategy turned out to be neces- robot. Images segmentation based on region growing sary for accurate and robust segmentation results. and color properties is done. Experimental results indicate that the proposed method is effective in classification performance and recognition rate of apple.

16:50 - 17:10

Image Retrieval of Wood Species by Color, Texture, and Spatial Information Haipeng Yu, Jun Cao, Wei Luo and Yixing Liu

A method that integrates the color, textural and spatial information is presented for wood images retrieval. Hue, saturation, value, contrast, angular second moment, sum of variances, long run emphasis, fractal dimension and wavelet energy proportion are extracted, and used to retrieve species. The results show that retrieval eﬀectiveness can be improved.

Guocui

44 Session: T3-5 Tuesday, June 23, 15:30 - 17:30 Sensors II Chairs: Zude Zhou, Yunjian Ge Room: Guose

15:30 - 15:50 15:50 - 16:10

An Improved Harmonic Detection Optical Fiber A Novel Ultrasonic Ranging System Based on the Gas Sensor Self-Correlation of Pseudo-Random Sequence Jiming Sa, Zude Zhou, Gang Zhang and Youping Chen Xiaochuan Zhao, Qingsheng Luo, Baoling Han and Xiyu Li Mathematical model of optical ﬁber gas sensor based on diﬀerence-harmonic detection was presented and an- A novel ultrasonic ranging system based on the self- alyzed, and structure of the sensor was designed. By correlation of pseudo-random sequence is designed. using this method, systems ability of detecting 2nd har- Modular design is applied in this ultrasonic ranging monic component is enhanced, and systems resolving system, which can measure the ultrasonic propagation power is increased too. velocity and transit time accurately, and then calcu- lates the obstacles distance. Low power consumption and high performance TMS320VC5509A DSP is used as the ultrasonic ranging systems signal processor.

16:10 - 16:30 16:30 - 16:50

An Information Theoretic Approach Based A Novel Thin Six-Dimensional Wrist Kullback-Leibler Discrimination to Multiple Force/Torque Sensor with Isotropy Target Tracking Qiaokang Liang, Yunjian Ge, Quanjun Song and Yu Ge Yifan Xu, Yuejin Tan, Zhenyu Lian and Renjie He Aim to decrease the additional torque originated from This paper applies the Kullback-Leibler divergence for the height of the sensors, we design a thin six- myopic sensor resource allocation. By taking the ex- dimensional force senor which is only 15mm high. The pected Kullback-Leibler discrimination as the informa- sensor has a simple geometry and possesses the advan- tion gain, the best sensor action is decided by maxi- tages of conﬁgurational simplicity, isotropic and high mizing the expected information gain. The proposed sensitivity. algorithm is compared with several other methods in the experiments.

16:50 - 17:10

Design of Networked Control System Based on Wireless Sensor Networks Hongjun Li, Xun Li, Shen Jie and Hongxu Ma

Serving as backbone of control applications, WSNs will enable an unprecedented degree of NCS. In the paper we analyze and design a networked control system where communication between sensors, controller, and actuator takes place over WSNs. A state predictive and state estimation based on the Extended Kalman Filter is presented.

Guose

45 Session: T3-6 Tuesday, June 23, 15:30 - 17:30 Information and Signal Processing IV Chairs: Jwu-Sheng Hu, Chi-Man Pun Room: Guosheng

15:30 - 15:50 15:50 - 16:10

Invariant Shape Representation by Radon and High-Resolution Imaging using a Wideband Wavelet Transforms for Complex Inner Shapes MIMO Radar System Wenli Yao and Chi-Man Pun Dangwei Wang, Niejing Duan, Xiaoyan Ma and Yi Su

This paper proposes a novel and effective invariant In this paper we propose an imaging method via wide- shape representation by Radon and stationary wavelet band multiple-input multiple-output radar to reduce transforms for images with complex inner shapes. The the hardware complexity of the system. Compared to proposed method is invariant to general geometrical the narrowband MIMO imaging system, every array transformations. element transmits and receives simultaneously in our array configuration, and therefore, the hardware complexity can be significantly reduced.

16:10 - 16:30 16:30 - 16:50

Signal Pattern Analysis of High Speed Rotational Speech Enhancement Using Transfer Function Arc Sensor in GMAW Ratio Beamformer and Matched Filter Array Yonghua Shi, Songsheng Zeng and Guorong Wang Jwu-Sheng Hu and Chia-Hsing Yang

A geometry model of weld bead profile and torch rotat- This paper develops a speech enhancement approach to ing has been developed. The simulated current wave- extract desired speech signal from the corrupt observa- forms are consistent with welding experimental current tions. The proposed method uses transfer function ra- waveforms. The results show that the deviation of the tio beamformer, H infinite adaptive filter algorithm and welding torch is in proportion with the asymmetry of matched filter array to perform speech enhancement as the current waveform in each corresponding arc rota- well as dereverberation at two stages. tional cycle.

16:50 - 17:10

An Image Enhancement Algorithm for Screening Mammograms in the Multiscale Laplacian Pyramid Xiaoming Liu, Jinshan Tang, Zhilin Feng and Zhaohui Wang

A multiscale contrast enhancement algorithm based on Laplacian Pyramid is developed to enhance the contrast of the mammograms. An image is ﬁrst decom- posed into a multi-level Laplacian Pyramid and a multiscale contrast measure is used to modify the coeﬃ- cients iteratively level by level and the enhanced image is obtained at the lowest level.

Guosheng

46 Wednesday June 24, 2009

2009 IEEE International Conference on Information and Automation ICIA 2009

47 Wednesday, June 24, 2009

Time Room Session Session Title Page

10:20 - 12:00 Guoxing W1-1 Intelligent Control I 49

Guoyun W1-2 Intelligent Systems I 50

Guoxiang W1-3 Mobile Robots IV 51

Guocui W1-4 Pattern Recognition II 52

Guose W1-5 Sensors III 53

Guosheng W1-6 Information and Signal Processing V 54

13:30 - 15:10 Guoxing W2-1 Intelligent Control II 55

Guoyun W2-2 Intelligent Systems II 56

Guoxiang W2-3 Parallel Robots II 57

Guocui W2-4 Pattern Recognition III 58

Guose W2-5 Sensors IV 59

Guosheng W2-6 Information and Signal Processing VI 60

15:30 - 17:10 Guoxing W3-1 CAD/CAM I 61

Guoyun W3-2 Intelligent Systems III 62

Guoxiang W3-3 Bio-Robots 63

Guocui W3-4 Mechanisms 64

Guose W3-5 Human Robot Interaction 65

Guosheng W3-6 CAD/CAM II 66

48 Session: W1-1 Wednesday, June 24, 10:20 - 12:00 Intelligent Control I Chairs: Wen-Jer Chang, Lifu Li Room: Guoxing

10:20 - 10:40 10:40 - 11:00

Neural Network Adaptive Control of Nonlinear Internal Model Control Using Neural High-Precision Flight Simulator: Theory and Networks for Gas Collectors of Coke Oven Experiments Hongxing Li, Yinong Zhang and Xuetao Wu Hongjie Hu, Ping Zhan and Dedi Li An internal model control using neural networks for This paper developed a control scheme of neural net- the pressure system of gas collectors of coke oven is work based on feedforward and PD control for high- presented in this paper. The neural model of the sys- precision flight simulator.A RBFNN controller was tem is identified by genetic algorithm. Another neural used,and the iterative algorithm of RBFNN parameters network is trained to learn the inverse dynamics of the is got by Lyapunov stability theory.The effectiveness of system as a nonlinear controller. the proposed control scheme is evaluated by simulation and experiments.

11:00 - 11:20 11:20 - 11:40

Multi-Objective Flexible Job Shop Schedule Hardware-in-Loop Simulation Method for Based on Improved Ant Colony Algorithm Electronic Stability Program Based on Virtual Li Li and Keqi Wang Integrated Technology Lifu Li and Jing Hong A method for solving multi-objective flexible job shop scheduling problem based on improved ant colony algo- Aiming at the development of ESP, HILS method rithm is presented in this paper. The algorithm we pre- based on virtual integrated technology, which combines sented is validated by practical instances. The results virtual model by ADAMS/Car, virtual controller by obtained have shown the proposed approach is feasible Simulink, and LabVIEW platform, is introduced. The and effective for the multi-objective flexible job shop principle and structure of this method are explained. scheduling problem. The HILS system for ESP is developed. Experiments results are analyzed and compared.

11:40 - 12:00

Passive Fuzzy Controller Design for a Model Car via Discrete T-S Fuzzy Model with Multiplicative Noise Wen-Jer Chang, Min-Wei Chen and Cheung-Chieh Ku

This paper deals with steering control problem of a computer simulated model car with fuzzy control approach. For simulating the real environment, the stochastic behavior of system is considered as multiplicative noise term. In addition, the external disturbance eﬀect on system is also discussed for achieving attenuation performance by applying passivity theory.

Guoxing

49 Session: W1-2 Wednesday, June 24, 10:20 - 12:00 Intelligent Systems I Chairs: Xiaobu Yuan, Xin Wang Room: Guoyun

10:20 - 10:40 10:40 - 11:00

Zero Phase Error Tracking Control with Friction Multi-Agent Based System Architecture for Agile Compensation Based Motion Control System Manufacturing System and its Learning Xin Wang, Nengfeng Liu, Zhiqiang Liu and Maobin Wang Algorithm with CMAC (Cerebellar Model Articulation Controller) AbstractTo reduce the tracking error caused by the Fuqing Zhao and Yahong Yang friction and servo lag, zero phase error tracking con- trolZPETCusing traditional PID controller and friction A multi-agent system based system architecture for ag- compensation is proposed. The friction model is based ile manufacturing systems which include agent architec- on LuGre model. Simulation and experimental results tures, communication interface between agents in the show that the controller has positive eﬀect. manufacturing system, agent data module, knowledge module are proposed. A agent learning model and its mapping algorithm for CMAC are presented to make the agent system have self learning ability.

11:00 - 11:20 11:20 - 11:40

Implementing a No-Loss State in the Game of Wireless Sensor Network for Community Tic-Tac-Toe using a Customized Decision Tree Intrusion Detection System Based on Classify Algorithm Support Vector Machine Sivaraman Sriram, Rajkumar Vijayarangan, Saaisree Jingwen Tian, Meijuan Gao and Shiru Zhou Raghuraman and Xiaobu Yuan Wireless Sensor Network for Community Intrusion De- The game of Tic-Tac-Toe is one of the most commonly tection System Based on Classify Support Vector Ma- known games. This game does not allow one to win all chine Jingwen Tian, Meijuan Gao, Shiru Zhou Intro- the time and a signiﬁcant proportion of games played duction Community Intrusion Detection System Face results in a draw. This study is aimed at evolving of Recognition Method Study 1. The Principle of SVM 2. no-loss strategies in the game using Decision Tree Al- Multi-classify SVM Application 1. Characteristic Pa- gorithm and comparing them with existing methodolo- rameters 2. Conﬁrmation Parameters of Classify SVM gies, mainly focused on the implementation of the game 3. Application Study Conclusion using the Minimax algorithm.

Guoyun

50 Session: W1-3 Wednesday, June 24, 10:20 - 12:00 Mobile Robots IV Chairs: Dong Sun, Howard Li Room: Guoxiang

10:20 - 10:40 10:40 - 11:00

A Decentralized Local Constraint Path Planner Mechanical Design and Control System of a for Multiple Mobile Robots Miniature Surveillance Robot Shuang Liu, Dong Sun, Changan Zhu and Wen Shang Change Zheng

This paper presents a decentralized motion planning Secret surveillance in tightly constrained spaces is de- methodology for multiple mobile robots. A novel three- manded in many military and civilian activities. How- step Local-Constraint-Path Planner (LCPP) is pro- ever, the crucial problem is the diﬃculty of packing posed to perform path planning for each robot while locomotion, sensing, computing subsystems into con- considering kinematic constraint and online implement strained space. This paper presents the mechanical eﬃciency. A priority-based strategy is employed in the design, the control system of a miniature autonomous planning to avoid mutual collisions amongst the robots. surveillance robot for indoor reconnaissance tasks.

11:00 - 11:20 11:20 - 11:40

On-Line Affective Cognitive Learning and Fusion of Automation and Teleoperation for Decision-Making for Autonomous Navigation of Person-Following with Mobile Robots Mobile Robots Hemin Omer Latif, Nasser Sherkat and Ahmad Lotfi Huidi Zhang and Shirong Liu A novel taxonomy for Person-Following, which presents A new autonomous navigation control framework is the tasks that are believed to exist in any Person- presented for mobile robots by integrating affective cog- Following system, is introduced. A number of likely cy- nitive learning and decision making (ACLDM) model cles of tasks based on real life scenarios are introduced with behavior-based robot system. Rational strate- too. Then, fusion of automation and teleoperation for gies for behaviors coordination are developed by on- Person-Following is achieved using TeleGaze which was line affective cognitive learning. This control strategy developed as a means of natural HRI for teleoperation can make the mobile robot navigate autonomously and through eye gaze. safely in unknown environment.

11:40 - 12:00

A Non-Time Based Action Executor for the Coordinated Hybrid Agent Framework Howard Li

In this paper, a non-time based action executor is proposed for the Coordinated Hybrid Agent (CHA) framework for the control of multi-agent systems. The non- time based agent is designed for multiple intelligent vehicles. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force and impact control, robotic teleoperation and manufacturing automation.

Guoxiang

51 Session: W1-4 Wednesday, June 24, 10:20 - 12:00 Pattern Recognition II Chairs: Huiyuan Wang, Chunmei Wang Room: Guocui

10:20 - 10:40 10:40 - 11:00

Multiple Dictionaries-Based Radar Target Robust Path Based Semi-Supervised Identiﬁcation via a Likelihood Ratio Test Dimensionality Reduction Dangwei Wang, Ning Wu and Xiaoyan Ma Guoxian Yu, Hong Peng, Qianli Ma and Jia Wei

In this paper, we present an iteration procedure to op- Similarity matrix is crucial for graph base dimension- timize the size of the undercomplete dictionary when ality reduction algorithm. we construct a robust path multiple dictionaries are used to characterize the scat- based similarity matrix, which is superior to the sim- tering signatures of a complex target. Furthermore, we ilarity matrix derived from the traditional k nearest extend the signature reconstruction and decision crite- neighborhood, besides we use side-information in the rion with only single undercomplete dictionary to the semi-supervised learning style to get a transformation case with multiple dictionaries. matrix for dimensionality reduction.

11:00 - 11:20 11:20 - 11:40

Face Recognition Based on Circularly Automatic Detection of Epileptic Sharp-Slow by Symmetrical Gabor Transform Wavelet and Approximate Entropy Huiyuan Wang, Jinjun Wang, Xiaojuan Wu, Jose Vieira Chunmei Wang, Junzhong Zou, Jian Zhang and Zhisuo and Paulo Ferreira Zhang

We propose a face recognition approach using circu- A new scheme is based on the characteristic of a multi- larly symmetrical Gabor transform (CSGT). The tra- resolution and approximate entropy (ApEn) analysis ditional Gabor transform is replaced by CSGT. All the of EEG signals. The EEG signals are detected by face images are transformed by CSGT ﬁrst and then Neyman-Pearson criteria. The optimal detection rule face recognition is performed in CSGT feature space. of detecting sharp-slow is achieved. Detailed theoretical analysis is presented and simulation results on Yale, AR and ORL face databases are given.

11:40 - 12:00

Gene Expression Pattern Extraction Based on Wavelet Analysis Xinping Xie and Xuanhao Ding

Gene expression data are highly redundant and noisy,and hidden gene correlation patterns play more important roles to cancer classiﬁcation than any single gene or simple combinations of genes. CWT can more eﬀciently detect the consistent correlation signature than DWT due to the availability of more detail information.

Guocui

52 Session: W1-5 Wednesday, June 24, 10:20 - 12:00 Sensors III Chairs: Anping Qiu, Jie Zhang Room: Guose

10:20 - 10:40 10:40 - 11:00

The Study on Photo Mask Pre-Alignment The Signal Interrogation Technology of MEMS Approach Based on Optical Fiber Pressure Sensor Four-Quadrant-Photo-Detectors Congfei Wang, Guanglong Wang, Jianhui Chen and Yi Yun Liu Dun

An analysis was made on the characteristics of voltage This paper describes the MEMS optical ﬁber pressure signals from Four-Quadrant-Photo-Detectors (FQPDs) sensor signal interrogation systems. The white-light in- used in photo mask pre-alignment. A pre-alignment terferometry system, component test system and self- approach was proposed. The validity of the presented calibrated interferometric intensity based system are pre-alignment approach was illustrated by the perfor- introduced. With the system the cavity of the MEMS mance indexes of time cost in pre-alignments, and re- optical ﬁber pressure sensor is measured with high res- peatiblity of photo masks. olution by fringe analysis.

11:00 - 11:20 11:20 - 11:40

Bulk-Micromachined Silicon Resonant Design and Realization for High Dynamic Silicon Accelerometer Micromahined Gyroscope Anping Qiu, Yan Su, Xinhua Zhu and Qin Shi Wei Zhang, Qingwen Yan and Fuxue Zhang

SRA consists of DETF, proof mass and micro lever This paper reports a design and realization method mechanism. DETF is modeled with the Bernoulli- for the high dynamic silicon micromachined gyroscope. Euler beams theory and simulatednatural frequencies The gyroscope is used in control technology ﬁeld to of DETF. Ampliﬁcation factor of micro leverage is de- measure pose of a rotating carrier with high self-rolling rived. SRA was fabricated by dissolved wafer process. velocity up to 14400/s. The roll angular velocity, the Under static measurements with (1g, the scale factor yawing and pitching angle velocity of the rotating car- of DEFT I is 14.35Hz/g, and DETF II13.95Hz/g. rier are sensed and outputted by the gyroscope, and the output signal of the gyroscope can be obtained by the signal processing technology which is consisted of hardware circuits, software arithmetic and compensation technique.

11:40 - 12:00

Modelling and Experimental Study on the Fiber-Optic Ice Sensor Wei Li, Jie Zhang, Lin Ye, Hong Zhang and Wenjun Yang

The model of ﬁber-optic ice sensor are presented on the basis of a single ﬁber pair model. The characteristics of various parameters are simulated and compared. Moreover, an experiment is carried out. It is demonstrated that the results obtained enable to predict the performances of sensor with various parameters.

Guose

53 Session: W1-6 Wednesday, June 24, 10:20 - 12:00 Information and Signal Processing V Chairs: Lizhen Wang, Matthew Greytak Room: Guosheng

10:20 - 10:40 10:40 - 11:00

A Game Method for Multiple Attribute Speciﬁc Radar Emitter Recognition Based on Decision-Making without Weight Information Wavelet Packet Transform and Probabilistic SVM Lihua Zhou, Weiyi Liu, Yufeng Xu and Lizhen Wang Lin Li, Hongbing Ji and Lei Wang

A game model for solving multiple attribute decision Radar emitter recognition plays an important role in making without weight information is proposed. Each military automated command and control system. It is attribute is a player whose strategy is to choose a value a composite task that involves radar signal interception, to endow its attribute weight, and whose utility is modulation recognition, features extraction and classi- matching degree between alternative order produced by ﬁcation. In this paper, speciﬁc radar emitter recogni- decision making and one produced by attribute magni- tion is achieved by wavelet packet transform probabilis- tude. tic SVM (PSVM).

11:00 - 11:20 11:20 - 11:40

Inversion of Eddy Current NDE Signals Using an A Method for Spectrum Correction of Damped Artiﬁcial Neural Network Based Forward Model Free Vibration Response Based on Complex and Particle Swarm Optimization Algorithm Analytic Band-Pass Filter Siquan Zhang Lede Chen, Kang Ding and Zhijian Yang

An inversion algorithm for the reconstruction of nat- This paper presents a spectrum correction method ural crack shape from eddy current testing signals is based on complex analytic band-pass filter. This developed by using an artificial neural network based method can improve the precision of spectrum cor- forward model and particle swarm optimization algo- rection of damped free vibration response,and reduce rithm. The reconstruction results verified the scheme the spectral leakage of negative frequency component is promising in natural crack shape inversion. caused by FFT.

11:40 - 12:00

Economical Simulation in Particle Filtering using Interpolation Josh Taylor and Franz Hover

We present a method by which to replace the most computationally expensive component of sampling the importance density in particle filtering with an efficient approximation. The modification is implemented within auxiliary and regularized particle filters in a numerical example based on the Kraichnan-Orszag system.

Guosheng

54 Session: W2-1 Wednesday, June 24, 13:30 - 15:10 Intelligent Control II Chairs: Hugh Liu, Ming Xie Room: Guoxing

13:30 - 13:50 13:50 - 14:10

Multivariable PID Neural Network Based Flight Symbolic Reachability Computation of a Class of Control for Small-Scale Unmanned Helicopter Second-Order System Guangping Qi, Ping Song and Kejie Li Ming Xu, Liangyu Chen and Zhibin Li

One multi-model ﬂight control system based on Multi- Reachability is an important safety property. We variable PID Neural Network (MPIDNN) was designed present the ﬁrst known family of second-order systems for small-scale unmanned helicopter in this paper. The with the decidable symbolic computation problem of its hardware, software and algorithm were designed. The reachable state space at the best of our knowledge. We result of simulation indicates that the maximum error extend the approach that reducing reachability compu- magnitude of control system is about 1%. tation into semi-algebraic system solving and analyzing the systems carefully.

14:10 - 14:30 14:30 - 14:50

Investigating the Possibility of a Truly Cognitive Observer-Based H-infinity Fuzzy Control Design and Intellectually Autonomous Robot for Discrete-Time Stochastic T-S Fuzzy Model Sainyam Gautam and Ming Xie with Multiplicative Noise Wen-Jer Chang, Wen-Yuan Wu and Cheung-Chieh Ku Investigation of of Truly Cognitive and Autonomous Robots Abstract AI still cannot develop a truly intel- This paper introduces an observer-based H-infinity ligent robot. Understanding the true meaning of in- fuzzy control design method for discrete-time nonlinear telligence and development of neural networks are cru- systems with multiplicative noise. The stability condi- cial for realising this goal but proposed models suffer tions are derived via Lyapunov function to analyze the from fundamental limitations. In the paper, answers stability and H-infinity performance of system. The are sought, proposals are made and a promising model, standard two-step method is adopted to separately ob- Fractal Neural Network, is analysed. tain the controller gain matrices and the observer gain matrices by solving two sets of Linear Matrix Inequal- ities.

14:50 - 15:10

A Multi-Objective Control Approach for Nonlinear Systems Chen Gao, Hugh Liu and Ping Zhang

Analytical parameter multi-objective design is extended to nonlinear systems through Controlled Lya- punov Function(CLF). The potential beneﬁts are two fronts. One is CLF guarantees the stability. The other is the cost functions adopted from AMPOS may lead to better design. A nonlinear benchmark problem is then used to demonstrate its eﬀectiveness.

Guoxing

55 Session: W2-2 Wednesday, June 24, 13:30 - 15:10 Intelligent Systems II Chairs: Wen Jung Li, Chi Man Vong Room: Guoyun

13:30 - 13:50 13:50 - 14:10

Research on Work Mechanism of Intelligent A Hierarchical Pedestrians Motion Planning CAPP Model for Heterogeneous Crowds Simulation Zhongbin Wang, Yuliu Chen and Qing Li Dan Guo, Cheng Wang and Xulei Wang

System architecture and the work mechanism of an in- The paper has proposed a hierarchical method for telligent CAPP system based on multi-agent system heterogeneous pedestrian motion planning in com- were investigated, and conflict resolution mechanism plex dynamic environments. It extends the Mini- based on knowledge was represented. The conflicts mum link paths (MLPs) in a constraint-based algo- which intelligent CAPP generated were resolved by use rithm.Simultaneously, it uses a modified social force of rule-based reasoning and case-based reasoning, the model to capture local crowd dynamics under varying relevant agents were developed, investigation achieve- interactive situations for heterogeneous crowds. ment was applied in the process of producing shearer.

14:10 - 14:30 14:30 - 14:50

Development of Entertaining Robots: A Study The Similarity Measure between Interval Type-2 into Intelligent Acquisition of Human Language in Fuzzy Sets based on Triangles Robots Zehua Lv, Hai Jin and Pingpeng Yuan Rui Li and Ming Xie A novel method to represent IT2 FS by a series of lin- This paper proposes a new way for robots to acquire hu- ear functions is given, the similarity between IT2 FSs man language, improving on imperfections discovered is proposed and the validity of this method is proven. in ELIZA, A.L.I.C.E. and Jabberwacky. A skeletal de- Several numerical examples are given to show that the sign plan is drawn up, with rudimental illustrations us- similarity measure is reasonable and better than any ing simple examples. The idea of this theoretical study existing methods. is to explore possibilities of building intelligent robots

14:50 - 15:10

Case-Based Reasoning for Automotive Engine Electronic Control Unit Calibration Chi-Man Vong, Pak-Kin Wong and He Huang

This paper brieﬂy reviews the methodology of CBR. Then the application of CBR to ECU calibration is described. By applying CBR, the eﬃciency of calibrating an automotive ECU becomes higher. Furthermore, expert and novice automotive engineers may use this system as an assistant when calibrating an ECU.

Guoyun

56 Session: W2-3 Wednesday, June 24, 13:30 - 15:10 Parallel Robots II Chairs: Bing Li, Yuefa Fang Room: Guoxiang

13:30 - 13:50 13:50 - 14:10

Development of Motion Type Reconfigurable Structural Synthesis of Serial-Parallel Hybrid Modular Robot for Multi-Task Application Mechanisms via Group Theory and Hailin Huang and Bing Li Representation of Logical Matrix Qiang Zeng and Yuefa Fang This paper aims to provide the theoretical design of a special type of modular reconfigurable robot system This contribution presents different type of serial- with locally chain-based topology: the motion type re- parallel hybrid mechanisms. A novel representation configurable robot. A novel motion type reconfigurable and logical operation of spatial mechanisms are devel- robotic architecture is introduced. Using this architec- oped. The hybrid mechanisms can be categorized into ture, the printed circuit board assembly can be totally two types, closed-type and opened-type hybrid mecha- automatization. nisms. Finally, two examples of hybrid mechanisms are illustrated based on the given logical operations.

14:10 - 14:30 14:30 - 14:50

Trajectory Control of the Cable-Based Parallel Computer Vision Based Calibration of the Purely Mechanism Based on Dynamics Translational Orthopod Manipulator Bin Zi and Zhencai Zhu Yunjiang Lou, Tieniu Chen, Yuanqing Wu and Guanfeng Liu This paper is concerned with trajectory control of cable-based parallel mechanisms (CPM). Firstly, the Kinematic calibration was achieved for the purely dynamic formulation of CPM was established. Sec- translational Orthopod parallel mechanism via a flexi- ondly, a decentralized control approach is proposed, ble measuring system. Intrinsic parameters of the cam- and an immune proportional-integral-derivative con- era were first identified. Results were verified using troller is developed for each subsystem of the CPM. a simple yet practical experiment. Manipulator cal- Finally, simulation results validate properties of the ibration was conducted using its inverse kinematics proposed control strategy. model. Experiment data verifies the proposed calibration method.

14:50 - 15:10

Dynamics Modeling for a Novel 3-DOF Dual Parallel Manipulator Considering the Flexibility of Compliant Components Yuan Yun and Yangmin Li

This paper is concerned with the design and modeling of a 3-DOF dual parallel robot with ﬂexure hinges. Based on our previous research experiences, a dynamic modeling has been performed by using Kanes method. The investigations may make contributions to the research on dynamic characteristics based on novel parallel manipulators.

Guoxiang

57 Session: W2-4 Wednesday, June 24, 13:30 - 15:10 Pattern Recognition III Chairs: Feng Wan, Lizhen Wang Room: Guocui

13:30 - 13:50 13:50 - 14:10

Comparison of Different Classification Methods SubTree Augmented Naive Bayesian Classifier for EEG-Based Brain Computer Interfaces: A Based on the Fuzzy Equivalence Partition of Case Study Attribute Variables Boyu Wang, Chi Man Wong, Feng Wan, Peng Un Mak, Hongmei Chen, Lizhen Wang, Weiyi Liu and Hao Chen Pui In Mak and Mang I Vai SubTree Augmented Na?ve Bayesian classifier (STAN) The performances of different off-line methods for two is proposed in this paper. It adopts the fuzzy equiva- different Electroencephalograph (EEG) signal classifi- lence partition approach to partition attribute variables cation tasks C motor imagery and finger movement, into several subsets and admits the structure of at- are investigated in this paper. The main purpose of tribute variables to be several subtrees. Na?ve Bayesian this paper is to provide a fair and extensive compari- classifier and Tree Augmented Na?ve Bayesian classifier son of some commonly employed classification methods can be easily simulated by STAN. Experiments demon- under the same conditions. strate STAN is effective and efficient.

14:10 - 14:30 14:30 - 14:50

Application of Particle Swarm Optimization to Segmentation of fMRI Based on Graph Space Credit Risk Assessment Construction Chengan Li, Jing Xu and Heyong Wang Hongyi Zhang, Jiexin Pu and Yongping Lin

In this paper, we apply particle swarm optimization In this paper, based on phase space construction, the (PSO) to solve credit risk assessment problems by com- proposed activation lags between pictures are estimated bining with feature subset selection and nearest neigh- by minimum mutual information. Then, the image as bor classiﬁers. The experimental results demonstrate the activation reach to stability is obtained for cluster- that our proposed method lets to achieve better perfor- ing analysis. Finally, an image segmentation algorithm mance than the existing methods in terms of solution based on pulse-coupled neural network (PCNN) is pre- quality and computational eﬃciency. sented in this paper.

14:50 - 15:10

Quality Assessment of Aluminum Alloy Resistance Spot Welding Based on Wavelet and Statistic Analysis Cunhai Pan, Peng Zhao, Sumei Du and Jingkai Wang

The quality real-time monitoring of aluminium alloy resistance spot welding is realized by distributed multiple-sensor synchronous collection system. Dis- placement signal time-frequency domain wavelet analysis and further Butterworth band-pass ﬁlter statistic analysis show that the range of the electrode displacement signal of the expulsion welding spots can reach about 0.5mm, which far exceeds the normal and un- dersize welding spots, at between 40 to 80Hz.

Guocui

58 Session: W2-5 Wednesday, June 24, 13:30 - 15:10 Sensors IV Chairs: Ting Yu, Haibin Yu Room: Guose

13:30 - 13:50 13:50 - 14:10

Modeling and Compensation for Temperature Investigation of Thermal Stress Influence on Errors of Fiber Optic Gyroscope CMUT in Standard CMOS Process Chunlei Zhou, Qi Zhang, Shuhua Yan, Lei Gao and Xinqiang Lu, Ting Yu, Fengqi Yu and Yuchun Feng Guochao Wang A CMUT structure with a square micro-bridge mem- Based on temperature experiment, the temperature brane is modeled, and some finite element analysis characteristic of IFOGs bias was studied. The Step- (FEA) is carried out using ANSYS 11.0 to study the in- wise regression was used in analyzing the relationship fluence of thermal stress on the performance of CMUT, between IFOG’s bias and temperature.A new tempera- such as collapse voltage, resonant frequency, coupling ture compensation model was established. The exper- coefficient, sensitivity, and bandwidth for the worst- iment results shows that the compensation model was case design effective and stable.

14:10 - 14:30 14:30 - 14:50

Two-Phase Unequal-Pitch Time-Grating Soft-Sensor Modeling of Product Particle Size in Displacement Sensor Based on Harmonic Wave Ball Milling Circuits Based on Particle Swarm Correcting Method Optimization Fuzzy Neural Networks Xianquan Wang, Min Wu and Ge Zhu Xinggang Wu, Mingzhe Yuan and Haibin Yu

Firstly ,a new type of displacement sensor is proposed. By combining particle swarm optimization algorithm It greatly enhanced the number of pole-pairs and sensor (PSO) with fuzzy neural networks (FNN), a PSO fuzzy precision. Secondly, the new error correction method is neural networks (PSO-FNN) was proposed. Then PSO- proposed. its sampling points is less than else. Finally FNN was applied in soft-sensor modeling of product experiments validated that it can greatly enhance the particle size in ball milling circuits. Experiment results accuracy of the sensor. show that the model based on PSO-FNN has higher precision and better performance than the model based on BPNN.

14:50 - 15:10

Non-Conduct Steering Sensor for Electric Power Steering Xiaoling Wang, Yan Zhao and Hong Wang

It is needed not only steering torsion sensor but also steering angle sensor for EPS and ESP. Magneto- resistance (MR) steering sensor is a substitute for steering sensor which can measure steering torsion as well as steering angle. The sensor consists of sensitive magnetic elements and signal disc.

Guose

59 Session: W2-6 Wednesday, June 24, 13:30 - 15:10 Information and Signal Processing VI Chairs: Kang Ding, Jian Li Room: Guosheng

13:30 - 13:50 13:50 - 14:10

Study on the IQA Method for Polarization Image A New Secure Video Watermarking for Copyright Based on Degree of Noise Pollution Protection Congli Li, Xiushun Yang, Wenbing Chen and Wei Lu Xiaoju Li, Guo Lin and Li Liu

This paper presents a novel no-reference IQA (image For resisting copy attack and preventing an adversary quality assessment) method based on the degree of edits a watermark to be embedded, a secure and robust noise pollution from the angle of noise detectation for video watermarking method for copyright protection is polarization image. The experiment results show that proposed. The proposed algorithm is used in the proof this method has the properties of no-reference, less of ownership of video chunks. complex computation and consisting with the result of subjective quality assessment.

14:10 - 14:30 14:30 - 14:50

Noise Influence on Frequency Estimation Electromyogram Signal Analysis and Movement Accuracy from Energy Centrobaric Correction Recognition Based on Wavelet Packet Transform Method for Discrete Spectrum Lingling Chen, Peng Yang, Linan Zu and Xiaoyun Xu Chunsong Zheng, Kang Ding and Zhijian Yang For recognizing the movement intent of amputee, This paper investigates noise influence on the frequency wavelet packet transform was applied to analyze the estimation performance of Energy Centrobaric Correc- electromyogram signal, extract its frequency feature tion Method. Some measures have been proposed to and recognize movement transition. Experimental overcome the drawbacks. Simulations results verify the results show that the movement transition between corrections of theoretical derivations and demonstrate standing and sitting can be recognized with a higher that the improved method has superior estimation ac- identification rate. curacy and better anti-noise performance.

14:50 - 15:10

An Automatic Flaw Classiﬁcation Method of Ultrasonic Nondestructive Testing for Pipeline Girth Welds Jian Li, Xianglin Zhan and Shijiu Jin

An automatic identification of flaw type based on Lifted Wavelet Transform (LWT) and BP neural network (BPN) is introduced. LWT is proposed to extract flaw feature. A feature library is constructed. A modified BPN is followed as a classifier, whose output is the input flaw signals type.

Guosheng

60 Session: W3-1 Wednesday, June 24, 15:30 - 17:10 CAD/CAM I Chairs: Tianbiao Yu, Jianjun Peng Room: Guoxing

15:30 - 15:50 15:50 - 16:10

Research on Simulation of Multi-Axis Machining Research of Three-Dimensional Parametric Design Based on Three Dimensions Grid Representation System based on Personalization and Jianjun Peng, Ruifeng Guo, Shimin Zhang, Zhixiang Shao Customization and Wanfu Ding Kai Zhao, Jing Zhou, Yang Zhang, Tianbiao Yu and Wanshan Wang This paper researches on the machining simulation of the multi-axis numerical control system, and proposes For enduing the business enterprise capacity to respond a new algorithm of intersection calculation and collision to customers need more accurately and quickly, this detection based on Three Dimensions Grid Represen- text puts forward a technique route that would develop tation. The test has proved that the simulation system a three-dimensional parametric design system which is can display the machining process with fast computa- based on individual product customization under the tion and less memory consumption. network environment, meanwhile it makes a research on the key techniques.

16:10 - 16:30 16:30 - 16:50

A Novel Priority-Number-System-Based A Slack-Based Method to Clamping Force Approach to Locator Configuration Formulization Optimization for Fixture Design for Fixture Design Guohua Qin, Dong Lu and Shiping Sun Guohua Qin, Shiping Sun and Dong Lu This paper presents a mechanistic model for optimally This paper deep investigates the fixture locator con- determining the clamping forces. The model solution figuration and its corresponding dimensions. Thus, a is proposed as a constrained quadratic optimization by priority-number-system-based method is proposed to applying the minimum norm principle. In order to ef- formulate the function relationship among all dimen- ficiently compute the clamping forces, the constrained sions. This research work can supply the theoretical quadratic optimization is feasibly slacked into the con- basis to realize automated fixture design (AFD). strained linear programming problem.

Guoxing

61 Session: W3-2 Wednesday, June 24, 15:30 - 17:10 Intelligent Systems III Chairs: Pak Kin Wong, Xiaojun Wu Room: Guoyun

15:30 - 15:50 15:50 - 16:10

Multi-Agent Based Early-Warning for Monitoring A Hybrid Particle Swarm Optimization Algorithm of Major Hazard Installations and its Application in Hydrogen Management Jianfeng Zhou and Guohua Chen Jinsong Zhang and Zhaoxia Wang

The multi-agent group (MAG) model for monitor- The hybrid PSO algorithm overcomes the basic PSO ing and control of hazard installations is proposed. algorithm’s disadvantage of easily getting into the local The Feature Extraction Agent (FEA) and the Early- extremum in the later evolution period and keeps the warning Analysis Agent (EAA) perform the early warn- rapidity in the previous period. It was used to resolve ing function of hazard installation monitoring. The the static scheduling model of hydrogen balance in a structures, main functions and working processes of the reﬁnery and good eﬀect was got. FEA and the EAA are analyzed.

16:10 - 16:30 16:30 - 16:50

Improved RSSI Based Localization Algorithm for Computer-Supported Software Development with Park Lighting Control and Child Location BPsim Products Family-Integration of Multiple Tracking System Approaches Jia Chen, Xiaojun Wu, Feng Ye, Ping Song and Jianwei Konstantin Aksyonov, Irina Spitsina, Eugene Bykov, Liu Elena Smoliy and Olga Aksyonova

Base on ZigBee, park lighting control and child loca- Paper focuses on actual problem of development of tion tracking system is researched in this paper, where methods and tools for processes simulation and soft- an improved RSSI-based distributed localization algo- ware engineering, that automate whole development rithm is introduced. As a goal of our system, the process. Most of current tools lack structural and new method, unlike commercial digital-hardware-block object-oriented approaches integration and design pro- based strategy used in CC2431, can be implemented by cess intelligence. Keeping this in mind a multi-agent using ordinary 8-bit MCU. resource conversion processes based CASE tool was en- gineered.

16:50 - 17:10

Incremental Modelling of Automotive Engine Performance using LS-SVM Chi-Man Vong, Pak-Kin Wong and Rui Zhang

Modern automotive engines are controlled by electronic control unit (ECU). The engine performance referred to as output torque is significantly affected by the setup of control parameters in the ECU. Traditional ECU tune- up is done by trial-and-error method through repeated dynamometer tests. In the paper, online LS-SVM is presented and used for estimating the engine torque functions so that the number of dynamometer tests can be significantly reduced.

Guoyun

62 Session: W3-3 Wednesday, June 24, 15:30 - 17:10 Bio-Robots Chairs: James Mills, S. Q. Xie Room: Guoxiang

15:30 - 15:50 15:50 - 16:10

Development of a Multifingered Robotic Hand Research on Biologically Inspired Hexapod L. Q. Tan, S. Q. Xie, I. C. Lin and T. Lin Robot’s Gait and Path Planning Qingsheng Luo, Hui Zhang, Baoling Han and Xiaochuan A multi-fingered robotic hand is developed using hy- Zhao draulic actuation with fluidic actuators. A miniaturised hydraulic system is designed with all components in- We mainly adopt Solidworks as well as MSC.ADAMS trinsically placed inside the palm. The hand is de- to simulate and analyze the prototype model of the signed to be under-actuated with only five degrees of robot. By the simulations on our design, the applica- controlled motion. the hand can be operated under bility of the tripod gait is validated, and the scheme either automatic or manual mode. which uses cubic spline curve as the endpoint of foots path is feasible

16:10 - 16:30 16:30 - 16:50

Research and Development of PMA in Music A Novel Clustering Method for Chernoﬀ Faces Robot Based on V-System Anmin Xi, Peng He and Xu Wang Ruixia Song, Zhaoxia Zhao and Meifang Ou

This paper presents the application of the pneu- The Chernoff face is a classical method in Multivari- matic artificial muscle (PMA) in Hulusi musical ate Statistics. Based on the V-system, a class of com- robot.Through the establishment of PMAs static and plete orthogonal function, a new programmed cluster- dynamic test model to study and analyze the charac- ing method for Chernoff faces is proposed. This self- teristics. Therefore we can grasp its working character- adaptive clustering technique can avoid misjudgment istics and make contributions to future applications in caused by human eyes. When the number of samples robots finger-driven. is larger, its advantage is more obviou

16:50 - 17:10

Robotic Manipulation of Adhesive Droplets for Applications in Microassembly Lidai Wang, James Mills and William Cleghorn

We present a novel approach to manipulate micron size adhesive droplets for the use in robotic microassembly. A micro-probe is developed to pick and place micro adhesive droplets. Surface energy is utilized to control the size of manipulated adhesive droplet. Exper- iments were conducted to assemble three-dimensional high-aspect-ratio micro-mirrors.

Guoxiang

63 Session: W3-4 Wednesday, June 24, 15:30 - 17:10 Mechanisms Chairs: G. B. Zhang, Wu Xin Room: Guocui

15:30 - 15:50 15:50 - 16:10

Kinematics Analysis and Simulation of a New Bolt and Screw Assemblage through Collaborative Parallel Mechanism with Two Translational and Kinematics Operation of Two Modular Robots One Rotational Outputs Based on the Position Feedback Xin Wu, Meili Chen and Yanbin Zhang Liying Su, Lei Shi and Yueqing Yu

Based on the single-opened-chain unit theory, a new A cooperative robot system is set up with two modular parallel mechanism with two translational and one ro- robots and a dynamic optical meter-OptoTrak. With tational degrees of freedom is put forward. The kine- OptoTrak, the position of the end actuators is mea- matics of the mechanism is analyzed, the simulation sured as the optical position feedback. A tri-layered of the virtual prototype indicate that kinematic output motion controller is designed. With the kinematics con- characteristic and position inverse solutions derived are straints of the two robots they can cooperate well. correct. The singularity of the mechanism is analyzed.

16:10 - 16:30 16:30 - 16:50

Research and Implementation of Quality Control Complete Solution of the Five-Points Path System of Product Design Synthesis for Planar Four-Bar Linkages G. B. Zhang, G. Q. Wang, H. F. Zeng and X. L. Ren Xiguang Huang, Guangping He, Qizheng Liao and Shimin Wei SOA technology is used in research of Quality Control of Product Design. An architecture for SOA based ap- The problem of synthesizing a planar four-bar linkages plication supportive platform is proposed. How to or- whose curve passes through ﬁve prescribed precision ganize design quality information with design quality points based on elimination methods has been a diﬃ- BOM is discussed in detail. The development and ap- cult problem in kinematics because it is of high polyno- plication of the system demonstrated that the solution mial degree and highly nonlinear. A new elimination is feasible. method to solve the problem is presented. Based on the presented method, a 36th degree univariate poly- nomial of the problem is derived from the determinant of a Sylvesters matrix, which is relatively small in size, without factoring out or deriving the greatest common divisor. Conclusion shows that there are generically 36 non-degenerate solutions of the problem. To verify the obtained conclusion, the completely same result can be obtained using continuation method.

Guocui

64 Session: W3-5 Wednesday, June 24, 15:30 - 17:10 Human Robot Interaction Chairs: Dikai Liu, Hongyi Li Room: Guose

15:30 - 15:50 15:50 - 16:10

Research on Autonomous Interaction of Virtual An Optimized Distributed Real-Time Simulation Avatar During its Master’s Operation Silence Framework for High Fidelity Flight Simulator Period Research Zhixiao Yang and Zhengying Yang Shupeng Zheng, Jingfeng He, Jun Jin and Junwei Han

An adaptive time window based algorithm is proposed In this paper, an optimized distributed real-time sim- to decide if a user falls into operation silence or not ulation framework for ﬂight simulator is presented. It in a remote interaction. Operation silence is explained successfully uses the mediator and data bus design pat- as that the user loses interest to interaction topic. It tern. The mediator design pattern provides object de- results to sleepy. Sleepy state is expressed by avatar in coupling and minimizes component interdependencies. virtual environment. Meanwhile, the data bus design pattern decreases the communication latency. This results in more maintain- able and extensible software.

16:10 - 16:30 16:30 - 16:50

Information Transformation-Based Tele-Robotic A High Performance CMOS Vibration Sensor Systems with Extended Floating Gate Jianning Hua, Wei Ding, Hongyi Li, Yuechao Wang and Benxian Peng, Ting Yu, Fengqi Yu and Yuchun Feng Ning Xi A novel CMOS vibration sensor with extended ﬂoating Relative posture between end-eﬀector and the object gate is developed to realize high sensitivity, linearity, to be grasped is what we concern about in telerobotic and manufacturability. A method to enhance linear- systems. Since visual information results in low perfor- ity in large displacement range by varying capacitance mance, a method based on information transformation coupling ratio is proposed. The sensor can achieve a is presented to cope with this problem and guide the resolution of 0.05g, and ultra low power of 824.3 uW . continuous completion of grasping task.

16:50 - 17:10

Workspace Mapping and Force Control for Small Haptic Device Based Robot Teleoperation Pholchai Chotiprayanakul and Dikai Liu

This paper presents a small haptic workspace spanning control method for large tele-environment. A force ﬁeld method is also presented to manipulate the robot arms motion in complex 3D environments. Experimental results achieve accurate positioning and provide the op- erator with eﬃcient touch sensing.

Guose

65 Session: W3-6 Wednesday, June 24, 15:30 - 17:10 CAD/CAM II Chairs: Bing Li, Xin Wang Room: Guosheng

15:30 - 15:50 15:50 - 16:10

The Research of Shipbuilding Schedule Based on A Multi-Agent Model for the Order Driven Agile Genetic Algorithm Manufacturing Systems and Order Form Selection Duanyang Zhao, Jiaquan Gao and Qingxiang Xu Algorithm Fuqing Zhao, Qiuyu Zhang and Yahong Yang The overall arrangement in shipbuilding project is a strategic and optimal scheme with the shortest days A multi-agent model for the order driven agile manu- and the best economic benefits for construction. A mul- facturing systems and order form selection algorithm tiobjective model and a new genetic algorithm based on are provided. Shop floor activity and its corresponding vector group encoding are proposed. Numerical results control flow are given. Particle Swarm Optimization show the algorithm is better than the common genetic (PSO) algorithm for the order driven system is used to algorithm. intelligently select the suitable order for the system.

16:10 - 16:30 16:30 - 16:50

The Application of Aspectual Feature Module in Velocity Control of Transfer Points in Hardware Description Language - A Perspective Non-Smoothing Segment Trajectory for CNC Jun Ye, Tun Li and Qingpin Tan Machining Xin Wang, W. B. Zhang and X. C. Ye Aspectual Feature Module (AFM) is a newly proposed methodology for the development of software product In this paper a simple and practical method of velocity lines. Considering the similar problems of product line control is put forward. Based on linear velocity ac- development in hardware (e.g. how to exploit the sim- celeration and deceleration, the non-smoothing trans- ilarity between products in product line), this paper fer point is predicted. Optimized transition velocity is suggests the application of AFM in Hardware Descrip- given by considering velocity limitation conditions and tion Languages (HDL). kinematic theory. Smooth transfer and continuous trajectory interpolation are realized.

16:50 - 17:10

A B-Spline Surface Interpolator for Precision Machining of Free-Form Surfaces Yue Du, Bing Li, Weiyang Lin and Xiaojun Yang

This paper presents a B-Spline surface interpolator for generating tool paths for free-form surfaces. To address problem of degradation in machining precision associated with non-constant scallop heights generated when using iso-parametric machining method, an on-line or oﬀ-line CC path scheduling algorithm is developed to ensure desired machining precision.

Guosheng

66 Thursday June 25, 2009

2009 IEEE International Conference on Information and Automation ICIA 2009

67 Workshops on Robotics

Automated Robot-based Nanohandling

Sergej Fatikow Division for Microrobotics and Control Engineering (AMiR) University of Oldenburg, Germany

“What I want to talk about is the problem of manipulating and controlling things on a small scale” stated Richard P. Feynman at the beginning of his visionary talk “There’s Plenty of Room at the Bottom”, given on December 29th 1959 at the annual meeting of the American Physical Society at the California Institute of Technology. Today, half a century after this first insight into unlimited opportunities on the nanoscale, we still have to talk about the same issue. The problem identified by Feynmann turned out to be a very difficult one because of a lack of understanding of the underlying phenomena of the nanoworld and because of a lack of suitable nanohandling methods. The talk by Prof. Sergej Fatikow addresses the latter issue. The handling of micro- and nano-scale objects with an accuracy in the nanometer range is an important current trend in robotics. It is often referred to as nanohandling and is primarily understood as manipulation of objects, which may include their finding, grasping, moving, tracking, releasing, positioning, pushing, pulling, cutting, bending, twisting, etc. Addi- tionally, many other technologies requiring tool/probe positioning with an accuracy in the nanometer range are also regarded as nanohandling, e.g. material nanocharacterization methods like indentation or scratch- ing; mechanical or electrical measurements on nanoscale objects; nanostructuring of surfaces by deposition or removal of materials, and others. Automated nanohandling is one of the key challenges of microsystem technology and nanotechnology. It will enable high-throughput manufacturing of novel products and open up new application fields. Current research activities in AMiR include, amongst others, the development of new nanohandling robots; the investigation of novel automated nanohandling strategies; the development of advanced control methods; as well as the investigation of suitable real-time sensing technologies on the nanoscale. In his talk, Prof. Fatikow introduces main approaches for handling objects on the nanoscale. He especially addresses his current work of an automated robot-based nanohandling station inside a scanning electron microscope (SEM). The latter serves as a powerful vision sensor and a work space for nanohandling robots integrated into the vacuum chamber and equipped with application-specific tools. Different research aspects of this work regarding the implementation of the main system components C the piezo-driven nanohandling robots, the control system, the vision-feedback approaches, and the force/tactile sensors C are discussed. Finally, current research projects and applications being pursued in AMiR are outlined. They include automated nanoassembly of AFM supertips inside SEM, handling and characterization of carbon nanotubes (CNT), electron beam induced deposition (EBiD) as a bonding and nanostructuring technology, automation issues in AFM-based nanohandling, characterization of biological objects by AFM/nanorobots, and others.

A Synchronization Approach to Formation Control of Multiple Mobile Robots

Dong Sun Department of Manufacturing Engineering and Engineering Management City University of Hong Kong, China In this talk, we present a synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations. The main idea is to control each robot to track its desired trajectory while synchronizing its motion with those of other robots to keep relative kinematics relationship as required by the formation. First, we pose the formation control problem as a synchronization control problem, and identify the synchronization control goal according to the formation requirement. The formation error is measured by the position synchronization error, which is deﬁned based on the established robot network. Second, we develop a synchronous controller for each robot’s translation to guarantee both position and synchronization errors to approach zero asymptotically. The rotary controller is also designed to ensure the robot to be always oriented towards its desired position. Both translational and rotary controls are

68 supported by a centralized high level planer for task monitoring and robot global localization. Finally, we perform simulations and experiments to demonstrate the eﬀectiveness of the proposed synchronization control approach in the formation control tasks.

A Novel Type of Microrobots for Biomedical Applications

Shuxiang Guo Intelligent Mechanical System Engineering Department Kagawa University, Japan It is purpose to develop a novel type of microrobots in pipe that has the characteristics of ﬂexibility, driven by wireless, good response and safety in body. Up to now, some kinds of microrobots in pipe have been developed. However, the power supply with cable and the friction power with the inner wall were the problem of research conventionally in this research. We have reported a novel prototype model of microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion. We propose an improved novel prototype model of microrobot, the running experiments have been carried out, and the operating characteristic was evaluated both in horizontal direction and in vertical direction. It shows that the proposed microrobot can correspond to the dirt adhering to the inner wall, or long distance movement even if in vertical direction by the experiment results, and moving speed control can be easily performed by frequency adjustment of the alternate magnetic ﬁeld. It will play an important part in industrial application and microsurgery.

From Biological Systems to Intelligent Robots

Huosheng Hu University of Essex, UK After recent advancement of computing and robotics technologies, intelligent robots are soon ready to serve us in our home, hospital, office and everywhere. They are mobile, autonomous and interactive, inspired from behavior demonstration of biological systems. A number of new application areas have currently received significant interests in the robotics community, including service robots, medical robots, education robots and entertainment robots, etc. However, these robots face a number of challenges. Firstly, they have to deal with uncertainty within the systems, such as sensor noise, actuator inaccuracy, and components failure. Secondly, they have to handle a huge uncertainty in the real world, which is dynamically changing over time. To catch up these changes in real time is very difficult since no sensor is able to work in all the situation and circumstances. Thirdly, inspiration from biological systems is an important issue to be addressed in the design of intelligent robots since it could provide some guidance to solve the problem. Finally, human-robot interaction is a key for success, including communicating with and navigation around humans. In this talk, I will briefly overview the current state of art robotics technologies, and present our current research work toward the development of advanced theory and technologies for intelligent robots, based on inspiration from biological systems. More specifically, bio-mimetic system modeling, head gesture based control of a wheelchair, and human motion tracking are discussed respectively, and some preliminary results are demonstrated.

Research & Development of Parallel Kinematics Machine in Harbin Institute of Technology

Bin Li Harbin Institute of Technology, China Parallel robot which was well established as handling and positioning devices, have recently attracted attention as machine tools because of their potential merits in high motion dynamics and accuracy combined

69 with high structural rigidity due to their closed kinematic loops. The world ﬁrst prototypes of Parallel Kinematics Machine(PKM) have been introduced to public at the IMTS show 1994 Chicago. The machines were intended for complex 5-axis milling operations and were realized as Stewart platform. Within the following years, many new prototypes for milling and other processes have been developed in industry and research institutes, however, most of the existing work intended to study the fundamentals of this new technology rather than as market products apart from few successful example, such as Tricept. In addition, a large number of patents related to PKM have been applied. The research and development of PKM in Harbin Institute of Technology, China was dated from 1995, the ﬁrst prototype BJ-1 based on Stewart platform mechanism was completed in 1998, after 5-year hard working the BJ-series PKM could reach the same accuracy level as the traditional milling machine, the key involved techniques such as servo-control, calibration, CAM interface, etc. have been developed. The Parallel Machining Center (PMC) which is tailored for turbine blade machining has been developed and successfully used in industry in 2005, the cost of the PMC is only one third of the imported Swiss-made Starlarg machine tool but could achieve same machining accuracy. In HIT Shenzhen campus the work on research and development on PKM are still continued, a novel Hybrid Platform-based PKM was patented and developed in 2007, which include a 4-DOF parallel mechanism as the worktable of the machining part, and the electric spindle could provide one translational DOF, so that the machine tool is capable of implementing 5-axis machining. Some of the related research work on parallel robot is also introduced in the talk.

Advances in High Performance Robotic Machine Tools

Dan Zhang Faculty of Engineering and Applied Science University of Ontario Institute of Technology, Canada Research and development of various parallel mechanism applications in engineering are now being performed more and more actively in every industrial field. High performance robotic machine tools development is considered a key technology of robot applications in manufacturing industry in the future. In this talk, first, the basic concepts and definitions of serial robot, parallel robot and parallel robotic machines are introduced. Then the examples of serial/parallel robots and serial/parallel machines are illustrated, and their comparisons are conducted. The rational of using parallel robots for machine tools is analysed. A comparative study is carried out on some successful robotic machine tools and conventional machine tools including Tricept, Delta robot etc. Finally, the conceptual design and synthesis of high performance robotic machine is introduced.

Motion Trajectory Description and Recognition

Youfu Li Department of Manufacturing Engineering and Engineering Management City University of Hong Kong, China Motion trajectory description plays an important role in characterizing human or robot actions and behaviors. However, eﬀective descriptors are currently lacking that can fully depict spatial trajectories in 3D. In this work, we propose a novel signature for free form trajectory description in Euclidean space. The signature admits rich invariants due to the computational locality. By implementing the approximate signature, the noise-sensitive high order derivatives are avoided. The trajectory can then be recognized based on the customized signatures similarity metric. Experiments are conducted to verify the signature’s eﬀectiveness and robustness in 3-D trajectory description and recognition.

70 Workshops on Mechatronics

Distributed Multipole Modeling Method for Design and Control of Multi-DOF Electromagnetic Actuators

Kok-Meng Lee Georgia Institute of Technology, USA

Design and control of multi degrees of freedom (DOF) electromagnetic actuators require a good understanding of the magnetic fields, and involve real-time calculation of magnetic forces. This talk discusses a new method to derive closed-form solutions for characterizing the magnetic field of permanent magnets (PM), and their uses in modeling the magnetic torque of PM-based actuators and sensing systems. The method, referred here as distributed multi-pole (DMP) model, inherits many advantages of the dipole model originally conceptualized in the context of physics, but provides an effective means to account for the shape and magnetization of the physical magnet. The DMP models have been validated by comparing the calculated fields and magnetic forces against numerical and experimental results. The comparisons show excellent agreement. We also illustrate the application of the DMP model in developing an accurate torque model to faithfully simulate the transient response of a spherical motor, and as a basis for deriving a closed-form inverse torque model for its real-time motion control.

Dynamic Visual Servoing of Robotic Systems

Yun Hui Liu Department of Engineering The Chnese University of Hong Kong, China Dynamic visual servoing is a problem of designing visual servo controllers for robotic systems while considering its nonlinear dynamics. Most existing visual servoing methods do not consider the nonlinear dynamics. This talk will introduce our recent eﬀorts on dynamic visual servoing of robotic systems for both calibrated and uncalibrated cameras. In particular, we will introduce the concept of depth-independent interaction matrix to map the image errors onto the actuator space of the robotic systems. The conditions will be derived under which the depth-independent interaction matrix can be linearly parameterized by the unknown camera and geometric parameters so that an adaptive algorithm can be developed for on-line estimation of the unknown parameters. The asymptotic stability of the system will be proved by the Lyapunov theory and the experiments will be demonstrated.

Energy Harvesting from Vibration for Wireless Sensor Networks

Wei-Hsin Liao The Chinese University of Hong Kong, China Wireless sensor networks (WSNs) have drawn signiﬁcant attention in monitoring plants, resources, and infrastructures. Traditional electrochemical batteries are usually used in powering the WSNs. But replacing batteries, due to their limited lifetime, is very inconvenient. The labor and cost associated with changing hundreds or thousands of batteries would be troublesome and expensive in maintaining the networks. Moreover, in many cases, the WSNs are installed in the remote areas, thus it is diﬃcult to retrieve for battery replacement. Without replacing batteries, the WSNs will stop working as soon as the power runs out. Therefore, it is desired that the WSNs can acquire energy from the ambient environment to have a perpetual power supply. Considering the needs, to harvest the power from the vibration environment would be a convenient means to supply the power for the sensor network. While there are several options for harvesting the ambient vibrational power, piezoelectric materials have been of great interest and promise. As an alternative to renewable energy, energy harvesting from vibration using piezoelectric materials were investigated. Piezoelectric power generators are used to transfer the mechanical energy from vibration

71 into electrical energy. Power generators were designed with piezoelectric materials, integrated with efficient energy harvesting circuits and energy storage devices. Power generating abilities were evaluated. Experi- mental efforts were carried out to implement the synthesized systems with piezoelectric power generators. The results of our studies are beneficial for advancing the remote sensing technology of various systems such as wireless sensor networks. The application of piezoelectric materials to the development of self-powered technique would be advantageous as batteries could be replaced to supply power for mobile and wireless microsystems. Without using batteries, the self-powered systems will be more environmentally friendly by utilizing the otherwise wasted mechanical energy from the vibration sources.

An In-pipe Inspection Robot based on Adaptive Mobile Mechanism: Mechanical Design and Basic Experiments

Shugen Ma A robot has been developed for the purpose of performing the internal inspection tasks of pipelines. Adaptability and eﬃciency are the basic considerations for this robot. The proposed adaptive mobile mechanism equipped with one actuator can perform two working modes, a normal working mode and an assistant enhanced mode. Robot under the normal working mode is used for moving in pipe or monitoring the inner surface of the pipe. On the other hand, robot under the assistant enhanced mode will produce a larger torque to help itself surmount an obstacle in the pipe without any other driving actuator. This special feature is achieved by applying a power transmission mechanism.

Development of Flapping and Underwater Robots using Piezoelectric Fiber Composite

Aiguo Ming Piezoelectric fiber composite is a new flexible smart material with large displacement. Compared with conventional artificial muscles, the piezoelectric fiber composite can be used for composing powerful flapping and underwater robots with a very simple and compact structure. The development of flapping and underwater robots is given in the talk. By pasting the thin and flexible composite on to a structure, flapping and meandering motions observed in creatures such as birds and fishes can be realized. The mechanism design, control method and experimental results of the robots using piezoelectric fiber composite based on the principle of creatures are introduced.

72 Author Index

A Chen, Youping ...... 45 Chen, Yuan ...... 9 Agapitos, Alexandros ...... 22 Chen, Yuliu ...... 56 Aksyonov, Konstantin ...... 62 Chen, Yunjie ...... 44 Aksyonova, Olga ...... 62 Chen, Yuping ...... 39 Aruga, Tomohisa ...... 38 Chen, Zhenyu ...... 19 B Cheng, Danny ...... 23 Cheng, Hongli ...... 17 Bai, Yicheng ...... 40 Cheng, Wei ...... 16 Bi, Sheng ...... 5 Cheng, Yi ...... 38 Bi, Shusheng ...... 19 Cheng, Yongmei ...... 3 Bi, Zhuming ...... 9 Chiou, Juing-Shian ...... 29 Bian, Xinqian ...... 39 Chotiprayanakul, Pholchai ...... 65 Boesch, Ruedi ...... 44 Cleghorn, William ...... 63 Bykov, Eugene ...... 62 Cong, Peitian ...... 32 C Cui, Rongxin ...... 19 Cui, Yongzhi ...... 7 Cai, Yanfei ...... 22 Cameron, Craig ...... 32 D Cao, Didi ...... 17 Cao, Hongyu ...... 37 Dahmen, Christian ...... 33 Cao, Jun ...... 44 Dai, Shuguang ...... 15 Cao, Yi ...... 25 Dai, Wenzhan ...... 24 Chang, Wen-Jer ...... 49, 55 Dai, Xianzhong ...... 8 Chao, Yuyan ...... 36 Dai, Xiaoling ...... 16 Chen, Bo ...... 29 de Melo, Leonimer Flavio ...... 37 Chen, Dan ...... 23 Di, Haiting ...... 17 Chen, Guohua ...... 62 Dillmann, Rudiger ...... 36 Chen, Hao ...... 58 Ding, Kang ...... 54, 60 Chen, Hong ...... 24 Chen, Hongmei ...... 58 Ding, Wanfu ...... 61 Chen, Huan ...... 43 Ding, Wei ...... 65 Chen, Jia ...... 62 Ding, Xuanhao ...... 52 Chen, Jianhui ...... 40, 53 Ding, Yuhan ...... 8 Chen, Jiankui ...... 12 Dissanayake, Gamini ...... 21 Chen, Jingdong ...... 9 Dong, Xinmin ...... 12, 30 Chen, Lede ...... 54 Dong, Zaili ...... 7 Chen, Liangyu ...... 55 Dorrah, Hassen ...... 4 Chen, Lihua ...... 30 Du, Jiguang ...... 17 Chen, Lingling ...... 60 Du, Qungui ...... 25 Chen, Meili ...... 64 Du, Shaohua ...... 38 Chen, Min-Wei ...... 49 Du, Sumei ...... 58 Chen, Muhua ...... 31 Du, Xiaozhi ...... 6 Chen, Shulin ...... 32 Du, Yue ...... 66 Chen, Tieniu ...... 57 Duan, Niejing ...... 46 Chen, Weifeng ...... 6 Duarte, Isabel ...... 34 Chen, Wenbing ...... 60 Chen, Xi ...... 9 Dun, Yi ...... 53 Chen, Xiaoquan ...... 30 Chen, Xuechao ...... 5 E Chen, Xuedong ...... 42 Chen, Yali ...... 30 Chen, Yaowu ...... 9 F

73 Fan, Yichen ...... 21 Haemmerle, Enrico ...... 23 Fang, Chun-Hsiung ...... 4 Han, Baoling ...... 34, 45, 63 Fang, Huajing ...... 12 Han, Guangping ...... 7 Fang, Laihua ...... 41 Han, Jian ...... 35 Fang, Yuefa ...... 57 Han, Jianda ...... 31 Fatikow, Sergej ...... 33 Han, Junwei ...... 65 Fei, Zhigen ...... 9 Han, Rongcang ...... 8 Feng, Ding ...... 9 Han, Songchen ...... 20 Feng, Fang ...... 13 Hao, Minghui ...... 17 Feng, Yuchun ...... 59, 65 Hao, Shuanghui ...... 17 Feng, Zhilin ...... 46 Hao, Yingming ...... 9 Ferreira, Paulo ...... 34, 52 He, Bin ...... 7 Filaretov, Vladimir ...... 41 He, Bo ...... 31 Foissotte, Torea ...... 5 He, Guangping ...... 64 Fu, Jinlin ...... 24 He, Jingfeng ...... 65 Fu, Yili ...... 17 He, Kejing ...... 19 Fu, Yingying ...... 25 He, Lifeng ...... 36 He, Peng ...... 63 G He, Qing ...... 44 He, Renjie ...... 45 Gabr, Walaa ...... 4 He, Shijun ...... 25 Gai, Yuxian ...... 9 He, Wenqiang ...... 25 Gao, Bo ...... 17 He, Yong ...... 8 Gao, Chen ...... 55 He, Yuqing ...... 31 Gao, Jiaquan ...... 3, 66 Hoai, Nghia Duong ...... 20 Gao, Junyao ...... 9, 43 Hong, Jing ...... 49 Hong, Li ...... 17 Gao, Lei ...... 59 Hong, Shiliang ...... 23 Gao, Meijuan ...... 50 Hou, Bing-Kuan ...... 32 Gao, Qingji ...... 31 Hou, Chunping ...... 24 Gao, Xiaoying ...... 36 Hou, Di ...... 6 Gao, Xueshan ...... 9, 43 Hou, Ligang ...... 17 Gao, Yahui ...... 24 Hover, Franz ...... 3, 54 Gao, Yan ...... 17 Hsiao, Fu-Sheng ...... 32 Gao, Zhen ...... 25 Hu, Chao ...... 11, 21 Gao, Zheng ...... 20 Hu, Hongjie ...... 49 Gautam, Sainyam ...... 55 Hu, Hongsheng ...... 42 Ge, Peinan ...... 5 Hu, Huosheng ...... 22, 43 Ge,Yu ...... 45 Hu, Jun ...... 35 Ge, Yunjian ...... 11, 25, 34, 45 Hu, Jwu-Sheng ...... 46 Gibson, R...... 9 Hu, Jwusheng ...... 24 Ginzler, Christian ...... 44 Hu, Yi ...... 38 Gong, Na ...... 17 Hu, Ying ...... 15 Gong, Zhiguo ...... 16 Hua, Guoran ...... 15 Greytak, Matthew ...... 3 Hua, Jianning ...... 65 Guan, Yisheng ...... 35 Huang, Chaobin ...... 9 Gui, Weihua ...... 43 Huang, Chong-Yu ...... 32 Gunawan, Hariyanto ...... 32 Huang, Donghai ...... 19 Guo, Dan ...... 56 Huang, Gengbao ...... 29 Guo, Junjie ...... 9 Huang, Hailin ...... 57 Guo, Ruifeng ...... 61 Huang, He ...... 56 Guo, Sen ...... 11, 33 Huang, Jian ...... 6 Guo, Shuxiang ...... 14 Huang, Jin ...... 25 Guo, Xin ...... 35 Huang, Luyue ...... 31 Huang, Qiang ...... 5 H Huang, Shaoping ...... 9

74 Huang, Shiqi ...... 7 Le, Fuliang ...... 5 Huang, Shoudong ...... 21 Lebedev, Alexander ...... 41 Huang, Weida ...... 8 Lee, Hyoung Ho ...... 29 Huang, Xiaodong ...... 25 Lee, Hyung Ho ...... 30 Huang, Xiguang ...... 64 Lee, June Won ...... 30 Huang, Xin-Yuan ...... 4 Lee, Mingtang ...... 24 Huang, Yan ...... 38 Lei, Jianhe ...... 32 Huang, Yi-Cheng ...... 32 Li, Baopu ...... 23 Hui, Weihua ...... 7 Li, Beizhi ...... 25, 32 Huo, Yingyu ...... 19 Li, Bin ...... 21, 36 Li, Bing ...... 9, 57, 66 I Li, Changyou ...... 17 Li, Cheng ...... 8 J Li, Chengan ...... 58 Li, Chun ...... 7 Jahanian, Ali ...... 42 Li, Congli ...... 60 Jesus, Bruno ...... 34 Li, Dedi ...... 49 Ji, Hongbing ...... 54 Li, Deqiang ...... 23 Ji, Wei ...... 42, 44 Li, Dongmei ...... 35 Ji, Zhe ...... 17 Li, Hang ...... 25 Jia, Qingxuan ...... 37 Li, Hongjun ...... 45 Jiang, Liqun ...... 14 Li, Hongxing ...... 49 Jiang, Xuezheng ...... 42 Li, Hongyi ...... 37, 65 Jiao, Weidong ...... 38 Li, Howard ...... 51 Jie, Shen ...... 45 Li, Jian ...... 60 Jin, Hai ...... 56 Li, Jiangang ...... 20 Jin, Jun ...... 65 Li, Jincheng ...... 44 Jin, Shijiu ...... 60 Li, Jinyun ...... 17 Jin, Xuebo ...... 39 Li, Junfeng ...... 24 Jin, Y...... 9 Li, Ke ...... 24 Jing, Qiang ...... 40 Li, Kejie ...... 5, 55 Jing, Rong ...... 33 Li, Li ...... 49 Junior, Jose Fernando Mangili ...... 37 Li, Lifu ...... 49 Li, Lin ...... 54 K Li, Manhua ...... 4, 16 Li, Qi ...... 42 Kabir, S. M. Lutful ...... 42 Li, Qing ...... 56 Kanchi, Saroja ...... 22 Li, Rui ...... 56 Kang, Jiayu ...... 17 Li, Shaofa ...... 15 Kau, Shih-Wei ...... 4 Li, Shouyong ...... 9 Khalighi, Sirvan ...... 42 Li, Shouzhong ...... 40 Khan, Tareq Hasan ...... 42 Li, Teng ...... 17 Kheddar, Abderrahmane ...... 5 Li, Tun ...... 66 Kim, Joon Ki ...... 14, 30 Li, Wei ...... 53 Kim, Jun Ki ...... 29 Li, Wenfang ...... 30 Kong, Lingfu ...... 33 Li, Wenlong ...... 3 Ku, Cheung-Chieh ...... 49, 55 Li, Xiaoju ...... 60 Kuang, Yongcong ...... 39 Li, Xiujuan ...... 25 Kurakane, Norio ...... 38 Li, Xiyu ...... 34, 45 L Li, Xun ...... 45 Li, Y. F...... 15 Lam, Loi-Tun ...... 24 Li, Yanan ...... 20 Lang, Xianpeng ...... 9 Li, Yangmin ...... 21, 57 Latif, Hemin Omer ...... 51 Li, Yi ...... 13 Lau, Daniel ...... 32 Li, Yong ...... 19 Lau, Haye ...... 21 Li, Yuanyuan ...... 30

75 Li, Zexiang ...... 9 Liu, Zhun ...... 36 Li, Zhibin ...... 13, 55 Lotﬁ, Ahmad ...... 51 Lian, Zhenyu ...... 45 Lou, Yunjiang ...... 13, 32, 57 Liang, Bin ...... 8 Lu, Chi-Chiuan ...... 4 Liang, Huawei ...... 6 Lu, Dong ...... 61 Liang, Junrui ...... 38 Lu, Huacai ...... 4, 16 Liang, Mingjie ...... 37 Lu, Huimin ...... 37 Liang, Peng ...... 15 Lu, Wei ...... 60 Liang, Qiaokang ...... 45 Lu, Xin ...... 33 Liang, Yan ...... 3 Lu, Xinqiang ...... 59 Liang, Yingju ...... 37 Lucas, Simon ...... 22 Liang, Yongsen ...... 33 Luo, Lei ...... 35 Liang, Zhenjun ...... 6 Luo, Qingsheng ...... 34, 45, 63 Liao, Kaijun ...... 12 Luo, Ronghua ...... 43 Liao, Qizheng ...... 64 Luo, Wei ...... 44 Liao, Wei-Hsin ...... 38 Luo, Xin ...... 42 Lin, Chien-Chou ...... 31 Lv, XiaoLong ...... 33 Lin, Guo ...... 60 Lv, Zehua ...... 56 Lin, I. C...... 63 Lin, T...... 63 M Lin, Weiyang ...... 66 Ma, Chunmiao ...... 8 Lin, Yongping ...... 58 Ma, Hongxu ...... 45 Lin, Yuesong ...... 39 Ma, Long ...... 23 Lin, Zijing ...... 6 Ma, Qianli ...... 52 Liu, Chunxiang ...... 39 Ma, Shugen ...... 21 Liu, Dahui ...... 41 Ma, Xiaoyan ...... 46, 52 Liu, Dikai ...... 21, 65 Maabi, Somayyeh ...... 42 Liu, Fang ...... 35 Mak, Peng Un ...... 58 Liu, Guanfeng ...... 57 Mak, Pui In ...... 58 Liu, Hongbin ...... 30 McTotal, P...... 9 Liu, Houde ...... 8 Mei, Jiangpin ...... 13 Liu, Hugh ...... 55 Meng, Dezhi ...... 11 Liu, Huiying ...... 9 Meng, Hao ...... 33 Liu, Jian ...... 17 Meng, Lei ...... 25 Liu, Jianwei ...... 62 Meng, Max Q.-H...... 6, 11, 21, 23, 29 Liu, Jin ...... 9 Meng, Yan ...... 43 Liu, Jinxing ...... 30 Mi, Linan ...... 17 Liu, Li ...... 21, 60 Mills, James ...... 63 Liu, Limei ...... 5 Min, Huaqing ...... 5, 37, 43 Liu, Nengfeng ...... 50 Ming, Aiguo ...... 38 Liu, Ning ...... 25 Minor, Mark ...... 43 Liu, Qifeng ...... 5 Liu, Shirong ...... 51 N Liu, Shuang ...... 51 Liu, Sining ...... 23 Na, Wenbo ...... 12 Liu, Wei ...... 11, 33 Ngok, Patrick ...... 16 Liu, Weiyi ...... 54, 58 Ni, Yunfeng ...... 17 Liu, Xiaoming ...... 46 Nie, Jie ...... 34 Liu, Yixing ...... 7, 44 Nie, Qi ...... 36 Liu, Yong ...... 17 Niu, Dongxiao ...... 17 Liu, Yun ...... 53 Nong, Wenshang ...... 35 Liu, Yunhui ...... 12 O Liu, Zhiqiang ...... 50 Liu, Zhiyong ...... 21 Ou, Meifang ...... 63 Liu, Zhiyuan ...... 24 Liu, Zhuangzhi ...... 17 P

76 Pagac, Daniel ...... 21 Sherkat, Nasser ...... 51 Pan, Cunhai ...... 58 Shi, Guanglin ...... 25 Pan, Haipeng ...... 24 Shi, Haiqing ...... 7 Pan, Jian ...... 25 Shi, Hongxin ...... 35 Pan, Quan ...... 3 Shi, Jun ...... 9 Pan, Yinzi ...... 21 Shi, Lei ...... 64 Park, Hong Bae ...... 14, 29, 30 Shi, Qin ...... 53 Park, Seong-Bae ...... 22 Shi, Xianjiang ...... 40 Park, Seung Taek ...... 29 Shi, Xiaohong ...... 40 Peng, Benxian ...... 65 Shi, Yonghua ...... 46 Peng, Chao ...... 6 Shi, Zhelin ...... 23 Peng, Hong ...... 52 Shi, Zhongzhi ...... 44 Peng, Hui ...... 22 Shiu, Sheng-Yu ...... 4 Peng, Jianjun ...... 61 Smoliy, Elena ...... 62 Peng, Xiaohong ...... 17 Song, Haige ...... 8 Peng, Yan ...... 31 Song, Lianmei ...... 35 Pratley, Tim ...... 21 Song, Peng ...... 33 Pu, Jiexin ...... 58 Song, Ping ...... 55, 62 Pun, Chi-Man ...... 24, 46 Song, Quanjun ...... 45 Song, Ruixia ...... 63 Q Song, Zhangjun ...... 13 Spitsina, Irina ...... 62 Qi, Dongxu ...... 40 Sriram, Sivaraman ...... 50 Qi, Guangping ...... 55 Stasse, Olivier ...... 5 Qi, Lin ...... 21 Strand, Marcus ...... 36 Qi, Yong ...... 6 Su, Chun-Yi ...... 23 Qian, Huanyan ...... 14 Su, Liying ...... 64 Qian, Suxiang ...... 42 Su, Yan ...... 53 Qiao, Guohui ...... 19, 40 Su, Yi ...... 46 Qiao, Yukun ...... 30 Sun, Dong ...... 51 Qin, Guohua ...... 61 Sun, Hanxu ...... 37 Qiu, Anping ...... 53 Sun, Minglei ...... 19, 40 Quan, Jianzhou ...... 12 Sun, Ruying ...... 8 R Sun, Shanlin ...... 24 Sun, Shiping ...... 61 Raghuraman, Saaisree ...... 50 Sun, Yafei ...... 8 Rahman, Md. Wasi-ur- ...... 42 Sun, Yanli ...... 22 Rahman, Mohammad Tanvir ...... 42 Sun,Ye ...... 6 Ran, Hongge ...... 31 Sun, Zhaojun ...... 34 Reed, Mike ...... 25 Ren, Chunyun ...... 31 T Ren, Hongliang ...... 21 Takeuchi, Hideno ...... 38 Ren, X. L...... 64 Tan, Jindong ...... 9 S Tan, L. Q...... 63 Tan, Qingpin ...... 66 Sa, Jiming ...... 45 Tan,Wei ...... 3 Sanjabi, Mersedeh ...... 42 Tan, Yuejin ...... 45 Satoh, Motoo ...... 38 Tang, Jinshan ...... 46 Shang, Wen ...... 51 Tang, Meng ...... 35 Shao, Kang ...... 17 Tang, Wei ...... 11, 36 Shao, Ming ...... 30 Tang, Xinmin ...... 20 Shao, Zhixiang ...... 61 Tang, Xusheng ...... 23 Shen, Jian ...... 32 Tang, Zesheng ...... 40 Shen, Wenhao ...... 30 Taylor, Josh ...... 54 Sheng, Wanxing ...... 17 Theodoridis, Theodoros ...... 22 Sheng, Weihua ...... 22 Tian, Jingwen ...... 50

77 Tian, Longqiang ...... 11 Wang, Shilin ...... 9, 43 Tian, Yantao ...... 5 Wang, Sun’an ...... 15 Ting, Yung ...... 32 Wang, Sunfeng ...... 44 Tong, Xufeng ...... 25 Wang, Wancheng ...... 16 Tu, Junjun ...... 42, 44 Wang, Wanshan ...... 61 Tunnell, Robert ...... 33 Wang, Wensheng ...... 16 Wang, Xi ...... 11, 36 U Wang, Xianquan ...... 59 Wang, Xiaojuan ...... 39 U, Kin Tak ...... 40 Wang, Xiaoling ...... 59 V Wang, Xiaonan ...... 14 Wang, Xiaoping ...... 12 Vai, Mang I ...... 58 Wang, Xin ...... 50, 66 Vieira, Jose ...... 34, 52 Wang, Xinyu ...... 9 Vijayarangan, Rajkumar ...... 50 wang, Xiuyun ...... 35 Vong, Chi-Man ...... 56, 62 Wang, Xu ...... 63 Wang, Xulei ...... 56 W Wang, Yintao ...... 19 Wang, Yuechao ...... 21, 65 Wada, Naoyuki ...... 38 Wang, Zhaohui ...... 46 Wan, Bo ...... 29 Wang, Zhaoxia ...... 62 Wan, Feng ...... 58 Wang, Zhongbin ...... 56 Wan, Peng ...... 9 Wang, Zhongli ...... 12 Wang, Boyu ...... 58 Wang, Zuyuan ...... 44 Wang, Cheng ...... 15, 56 Waser, Lars ...... 44 Wang, Chunmei ...... 52 Wei, Boyu ...... 9, 43 Wang, Congfei ...... 53 Wang, Dangwei ...... 46, 52 Wei, Jia ...... 52 Wang, Feng ...... 15 Wei, Shimin ...... 64 Wang, G. Q...... 64 Wei, Yangjie ...... 7 Wang, Guanglong ...... 40, 53 Wei, Yonghe ...... 34 Wang, Guochao ...... 59 Wei, Zhiqiang ...... 34 Wang, Guoqiang ...... 17, 29 Wei, Zuo ...... 20 Wang, Guorong ...... 46 Wen, Hui ...... 16 Wang, Heyong ...... 58 Wen, Jing ...... 25 Wang, Hong ...... 7, 38, 59 Weng, Xiaoxiong ...... 22 Wang, Huiyuan ...... 34, 52 Wieber, Pierre-Brice ...... 5 Wang, Jingguo ...... 21 Wong, Chi Man ...... 58 Wang, Jingkai ...... 58 Wong, Pak-Kin ...... 56, 62 Wang, Jinhui ...... 17 Wortmann, Tim ...... 33 Wang, Jinjing ...... 44 Wu, Changhua ...... 22 Wang, Jinjun ...... 52 Wu, Chengdong ...... 7 Wang, Jinkuan ...... 11 Wu, Huihui ...... 23 Wang, Jiong ...... 42 Wu, Jianhua ...... 7 Wang, Keqi ...... 49 Wu, L. F...... 25, 41 Wang, Kuo-Yang ...... 29 Wu, Lingfei ...... 6 Wang, Lei ...... 54 Wu, Min ...... 59 Wang, Lidai ...... 63 Wu, Minghong ...... 25 Wang, Liquan ...... 25 Wu, Ning ...... 52 Wang, Lizhen ...... 54, 58 Wu, Qingxiao ...... 9 Wang, Lujia ...... 11 Wu, Shandong ...... 15 Wang, Maobin ...... 50 Wu, Wen-Yuan ...... 55 Wang, Mengxiao ...... 11 Wu, Wuchen ...... 17 Wang, Michael Yu ...... 33 Wu, Xiaojuan ...... 52 Wang, Peng ...... 9 Wu, Xiaojun ...... 33, 62 Wang, Sen ...... 17 Wu, Xin ...... 64 Wang, Shicheng ...... 30 Wu, Xinggang ...... 59

78 Wu, Xinyu ...... 5 Yan, Weisheng ...... 19 Wu, Xuetao ...... 49 Yan, Zhongmin ...... 19, 25 Wu, Yuanqing ...... 57 Yang, Bo ...... 17 Wu, Zongzhi ...... 41 Yang, Chia-Hsing ...... 46 Yang, Feng ...... 16 X Yang, Ke ...... 31 Yang, Peng ...... 60 Xi, Anmin ...... 63 Yang, Quan ...... 41 Xi, Ning ...... 65 Yang, Quanfa ...... 17 Xia, Xiaohu ...... 11 Yang, Seung Hyeop ...... 14 Xiao, Debao ...... 14 Yang, Shaowu ...... 37 Xie, Hongwei ...... 39 Yang, Wenjian ...... 9 Xie, Min ...... 7 Yang, Wenjun ...... 53 Xie, Ming ...... 55, 56 Yang, Xia ...... 17 Xie, Nengfu ...... 16 Yang, Xiaojun ...... 66 Xie, S. Q...... 63 Yang, Xiushun ...... 60 Xie, Shane ...... 23 Yang, Xuan ...... 17 Xie, Wen-Fang ...... 23 Yang, Xusheng ...... 17 Xie, Xiaopeng ...... 32 Yang, Yahong ...... 50, 66 Xie, Xinping ...... 52 Yang, Yanna ...... 17 Xing, Zhiwei ...... 31 Yang, Zhengying ...... 65 Xiong, Xiaofeng ...... 13 Yang, Zhijian ...... 54, 60 Xiong, Youlun ...... 3, 12 Yang, Zhixiao ...... 65 Xu, Aidong ...... 14 Yao, Wenli ...... 46 Xu, Bo ...... 42 Yao, Xifan ...... 3 Xu, Chongan ...... 6 Yao, Zhenqiang ...... 35 Xu, Demin ...... 17 Ye, Feng ...... 62 Xu, Fengyang ...... 41 Ye, Jun ...... 66 Xu, Gang ...... 25 Ye, Lin ...... 53 Xu, Haili ...... 15 Ye, X. C...... 66 Xu, Hui ...... 14 Ye, Xiufen ...... 25 Xu, Huosheng ...... 9 Ye, Xuehui ...... 20 Xu, Jing ...... 58 Ye, Yaqin ...... 29 Xu, Ming ...... 55 Ye, Yixi ...... 42 Xu, Qingxiang ...... 66 Yi, Dun ...... 40 Xu, Rui ...... 11 Yin, Zhouping ...... 3, 12 Xu, Shunjie ...... 17 You, Dongdong ...... 30 Xu,Wei ...... 5 Yu, Dong ...... 38 Xu, Wenfu ...... 8 Yu,Fan ...... 36 Xu, Xiaohong ...... 20 Yu, Fengqi ...... 59, 65 Xu, Xiaoyun ...... 35, 60 Xu, Yangsheng ...... 5 Yu, Guoxian ...... 52 Xu, Yifan ...... 45 Yu, Haibin ...... 14, 59 Xu, Yuetong ...... 16 Yu, Haipeng ...... 7, 44 Xu, Yufeng ...... 54 Yu, Jingjun ...... 19 Xu, Zhangsui ...... 40 Yu, Jun ...... 41 Xuan, Bac Nguyen ...... 20 Yu, Shiqi ...... 5 Xue, Yunfeng ...... 25 Yu, Shumei ...... 21 Yu, Tianbiao ...... 61 Y Yu, Ting ...... 59, 65 Yu, Yong ...... 34 Yan, Heping ...... 11 Yu, Yueqing ...... 64 Yan, Huaicheng ...... 23, 29 Yu, Zhangguo ...... 5 Yan, Lei ...... 24 Yuan, Kui ...... 20 Yan, Q. W...... 25 Yuan, Mingzhe ...... 59 Yan, Qingwen ...... 41, 53 Yuan, Pingpeng ...... 56 Yan, Shuhua ...... 59 Yuan, Qingke ...... 41

79 Yuan, Shuai ...... 21 Zhang, Wei ...... 39, 53 Yuan, Xiaobu ...... 50 Zhang, Xianmin ...... 23, 39 Yun, Yuan ...... 57 Zhang, Xiaodong ...... 39 Zhang, Xiaotao ...... 11 Z Zhang, Yanbin ...... 64 Zhang, Yang ...... 61 Zapata, Rene ...... 43 Zhang, Ying ...... 44 Zeng, Fucen ...... 7 Zhang, Yinig ...... 22 Zeng, H. F...... 64 Zhang, Yinong ...... 49 Zeng, Haifeng ...... 29 Zhang, Yuyang ...... 43 Zeng, Lingli ...... 20 Zhang, Zhisuo ...... 52 Zeng, Qiang ...... 57 Zhang, Zhonglin ...... 25 Zeng, Songsheng ...... 46 Zhao, Dean ...... 42, 44 Zeng, Zhixin ...... 19 Zhao, Dongbiao ...... 25 Zhan, Ping ...... 49 Zhao, Duanyang ...... 66 Zhan, Xianglin ...... 60 Zhao, Fuqing ...... 50, 66 Zhang, Aiqing ...... 12 Zhao, GuoLiang ...... 33 Zhang, Bin ...... 5 Zhao, Huibo ...... 3 Zhang, Dan ...... 25, 32 Zhao, Jindong ...... 6 Zhang, Dengpan ...... 8 Zhao, Kai ...... 61 Zhang, Dongxia ...... 25 Zhao, Liqiang ...... 33 Zhang, F. X...... 41 Zhao, Peng ...... 58 Zhang, Fubin ...... 17 Zhang, Fuxue ...... 25, 53 Zhao, Shitian ...... 25 Zhang, G. B...... 64 Zhao, Weizhong ...... 44 Zhang, Gang ...... 45 Zhao, Xiaochuan ...... 34, 45, 63 Zhang, Genbao ...... 29 Zhao, Xinjie ...... 40 Zhang, Hao ...... 29 Zhao, Yan ...... 38, 59 Zhang, Hong ...... 40, 53 Zhao, Yumeng ...... 19 Zhang, Hongyi ...... 58 Zhao, Zhaoxia ...... 63 Zhang, Hui ...... 37, 63 Zhao, Zixin ...... 14 Zhang, Huidi ...... 51 Zheng, Change ...... 51 Zhang, Jian ...... 52 Zheng, Chunsong ...... 60 Zhang, Jianwei ...... 13, 15, 44 Zheng, Qilun ...... 37 Zhang, Jie ...... 53 Zheng, Shupeng ...... 65 Zhang, Jinsheng ...... 30 Zheng, Xijing ...... 5 Zhang, Jinsong ...... 62 Zheng, Yaqing ...... 4 Zhang, Kai ...... 41 Zheng, Yili ...... 37 Zhang, Kaisheng ...... 11 Zheng, Zhiqiang ...... 37 Zhang, Kunhua ...... 17 Zhong, Hanru ...... 11 Zhang, Lei ...... 43 Zhong, Yingying ...... 13 Zhang, Li ...... 17 Zhong, Yong ...... 19 Zhang, Liang ...... 9 Zhou, Chunlei ...... 59 Zhang, Liangan ...... 13 Zhou, Jianfeng ...... 62 Zhang, Lin ...... 7 Zhou, Jiaxin ...... 25 Zhang, Liwei ...... 15 Zhou, Jing ...... 61 Zhang, Ping ...... 39, 55 Zhou, Kui ...... 9 Zhang, Qi ...... 30, 59 Zhou, Lihua ...... 54 Zhang, Qiuyu ...... 66 Zhou, Qunli ...... 25 Zhang, Quanhu ...... 7 Zhou, Shiru ...... 50 Zhang, Rengui ...... 19 Zhou, Shuming ...... 6 Zhang, Rui ...... 62 Zhou, Shunping ...... 29 Zhang, Shidong ...... 19, 25 Zhou, Yanhong ...... 33 Zhang, Shimin ...... 61 Zhou, Zude ...... 45 Zhang, Siquan ...... 54 Zhu, Changan ...... 51 Zhang, W...... 25, 41 Zhu, Feng ...... 9 Zhang, W. B...... 66 Zhu, Ge ...... 59

80 Zhu, Hongqian ...... 43 Zhu, Zhiping ...... 20 Zhu, Jianguo ...... 9, 43 Zhuang, Jian ...... 15 Zhu, Jinhong ...... 35 Zhuang, Wei ...... 9 Zhu, Jinhui ...... 37 Zi, Bin ...... 57 Zhu, Junpeng ...... 25 Zong, Guanghua ...... 40 Zhu, Min ...... 11 Zou, Fengxing ...... 20 Zhu, Wei ...... 43 Zou, Junzhong ...... 52 Zhu, Xiaorui ...... 9, 43 Zou, Xiaoping ...... 35 Zhu, Xinhua ...... 53 Zu, Enlin ...... 30 Zhu, Xinping ...... 20 Zu, Linan ...... 60 Zhu, Zhencai ...... 57 Zuo, Lei ...... 17