2009 IEEE International Conference on Automation and Logistics
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2009 IEEE International Conference on Automation and Logistics August 5-7, 2009 Shenyang, China Cosponsored by Institute of Electrical and Electronics Engineers, Inc. Shandong University, China IEEE Robotics and Automation Society Technically cosponsored by: Northeastern University The ASME Dynamics Systems & Control division Chinese Mechanical Engineering Society Federation of Logistics and Purchasing of China Chinese University of Hong Kong Logistics Engineering Institute of China 2009 IEEE International Conference on Automation and Logistics August 5 – 7, 2009 Northeastern University, Shenyang, China Conference Program Digest Sponsored by Institute of Electrical and Electronics Engineers, Inc. IEEE Robotics and Automation Society Shandong University Technically Sponsored by Northeastern University The ASME Dynamics Systems & Control division Chinese Mechanical Engineering Society Federation of Logistics and Purchasing of China Chinese University of Hong Kong IEEE ICAL 2009 CD-ROM Proceedings Additional Copies may be ordered from: IEEE Service Center 445 Hoes Lane P.O. Box 1331 Piscataway, NJ 08855-1331 U.S.A. IEEE Catalog Number: CFP09CAL ISBN: 978-1-4244-4795-4 Library of Congress: 2009905379 Copyright and Reprint Permission: Copyright and Reprint Permission: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume tha carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Operations Center, 445 Hoes Lane, P.O.Box 1331, Piscataway, NJ 08855-1331. All rights reserved. Copyright © 2009 by the Institute of Electrical and Electronics Engineers, Inc. 2 Welcome It is our great pleasure to welcome you to the 2009 IEEE International Conference on Automation and Logistics (IEEE ICAL 2009), which takes place from August 5 to 7, 2009 at the Hanqing Conference Hall of Northeastern University in Shenyang, China. IEEE ICAL 2009 marks the third event of the IEEE ICAL annual conference series. We have received 903 paper submissions from 20 countries and regions. After a rigorous full-paper peer-review process, 409 papers were accepted for oral or poster presentation at the conference in 28 technical sessions, resulting in an acceptance rate of 45%. These papers reflect the dynamism of the research and development activities in automation and logistics, as well as the emergence of new research and development topics in addressing the ever increasing challenges from the related industrial and societal needs. The conference program is highlighted by six invited plenary speeches to be delivered by Prof. David D. Yao of Columbia University, USA, Prof. Kazuhiro Kosuge of Tohoku University, Japan, Prof. Zhongtuo Wang of Dalian University of Technology, China, Prof. Warren B. Powell of Princeton University, USA, Prof. Yoshimi Takeuchi of Osaka University, Japan, and Prof. Mengchu Zhou of New Jersey Institute of Technology, USA. The main objective of the IEEE ICAL conference series is to provide a forum for researchers, educators, engineers, and government officials involved in Automation and Logistics to disseminate their latest research results and exchange views on the future research directions of the related fields. IEEE ICAL 2009, hosted in the famous historical city of Shenyang, China, promises to be a great event for participants from all over the world, with an excellent technical program as well as social activities. We wish to express our gratitude to all of our sponsoring societies and organizations and to all the individuals who have contributed to the organization of this conference. Special thanks are extended to our colleagues in the Program Committee for their thorough review of all the submitted papers, which is vital to the success of this conference. We must also extend our thanks to our Organizing Committee and our volunteers who have dedicated their time toward ensuring the success of this conference. Last but not least, we thank all the contributors from 20 countries and regions for their support and participation in making this conference a great success. Finally, if your travel plans permit, we encourage you stay beyond your meeting to enjoy visiting Shenyang and China. We wish you a great conference experience and enjoyable stay in Shenyang, China. Tianyou Chai Tzyh-Jong Tarn Toshio Fukuda Huaguang Zhang General Co-Chair General Co-Chair Program Co-Chair Program Co-Chair 3 Table of Contents Welcome ······························································································· 3 Organization Committees ············································································ 5 Program Committee ·················································································· 8 General Information ················································································ 10 Transportation Information ········································································ 12 Program Schedule ··················································································· 15 Floor Plan of Conference Venue ·································································· 16 Plenary Talks ························································································· 18 NEU 111 Project Panel Automation and Logistics Forum ····································· 30 Symbols for Sessions and List for Session Titles and Session Chairs ······················· 31 Session IDs, Titles & Chairs ······································································· 32 Oral Sessions Wednesday Sessions ······································································ O-1 Thursday Sessions ······································································· O-11 Friday Sessions ·········································································· O-16 Poster Sessions Wednesday Sessions ······································································ P-1 Thursday Sessions ······································································· P-13 Friday Sessions ·········································································· P-25 Session Chair Index ················································································ S-1 Author Index ······················································································· A-1 4 Organization Committees Advisory Committee CHAI Tianyou, Northeastern University, China CHEN Hanfu, Chinese Academy of Sciences, China DAI Ruwei, Chinese Academy of Sciences, China DE SILVA Clarence, U. of British Columbia, Canada FUKUDA Toshio, Nagoya University, Japan GUO Lei, Chinese Academy of Sciences, China LUH Peter B., University of Connecticut, USA SICILIANO Bruno, University of Naples, Italy TARN Tzyh Jong, Washington University, USA XU Yangsheng, Chinese University of HK, China General Chairs CHAI Tianyou, Northeastern University, China TARN Tzyh Jong, Washington University, USA General Co-Chairs JIA Lei, Shandong University, China KOSUGE Kazuhiro, Tohoku University, Japan LIU Jianchang, Northeastern University, China VOSS Stefan, University of Hamburg, Germany WANG Yuechao, SIA, CAS, China ZHOU Xunyu, University of Oxford, UK Program Chairs FUKUDA Toshio, Nagoya University, Japan ZHANG Huaguang, Northeastern University, China Regional Program Co-Chairs CHEN Ben M., National U. of Singapore, Singapore KERSTEN W., Technical U. of Hamburg, Germany LIU Derong, University of Illinois at Chicago, USA TANG Lixin, Northeastern University, China WANG Zhidong, Chiba Institute of Tech., Japan YAN Houmin, Chinese University of HK, China 5 Organizing Chair MENG Q.-H. Max, The Chinese University of HK, China Organizing Co-Chairs CHEN Tongwen, University of Alberta, Canada DUAN Guangren, Harbin Institute of Tech., China FU Minyue, University of Newcastle, Australia MA Shugen, Ritsumeikan University, Japan TANG Jiafu, Northeastern University, China WANG Hong, University of Manchester, UK WU Yaohua, Shandong University, China XIE Lihua, Nanyang Tech. University, Singapore Organized & Focused Session Chairs ASAMA Hajime, University of Tokyo, Japan CHIAVERINI Stefano, University di Cassino, Italy FENG Gang Gary, City Univ. of Hong Kong, China GE Shuzhi Sam, Nat’l U. of Singapore, Singapore HU Huosheng, University of Essex, UK KWON Dong Soo, KAIST, Korea LIN Wei, Case Western Reserve University, USA SU Chunyi, Concordia University, Canada ZHANG Jianwei, University of Hamburg, Germany ZHOU Mengchu, New Jersey Inst. of Tech., USA Tutorial & Workshop Chairs HUANG Jie, Chinese University of HK, China QIN Sizhao Joe, U. of Southern California, USA YANG Guanghong, Northeastern Univ., China Panel Organizing Chairs CHEN Guanrong Ron, City University of HK, China GU Jianjun Jason, Dalhousie University, Canada JIANG Zhongping, Polytechnic University, USA Poster Session Chairs TIAN Guohui, Shandong University, China WANG Dingwei, Northeastern University, China YANG Xianyi Simon, University of Guelph, Canada 6 Publicity Chairs CHEN Jie, University of California, Riverside, USA GUO Shuxiang, Kagawa University, Japan GUAN Xinping, Yanshan University & SJTU, China LIN Zongli, University of Virginia, USA LIU Xiaoping Peter, Carleton University, Canada PARK Jong Hyeon, Hanyang University, Korea SUN Dong, City University