Program Digest

IEEE ICIA & ISBE 2012

Program Digest

Sheraton Hotel Floor Plan

Second Floor

Third Floor 2012 IEEE International Conference on Information and Automation & 2012 International Symposium on Biomedical Engineering

June 6-‐8, 2012 Sheraton Shenyang Lido , Hotel Shenyang , China

Conference Program Digest

Co-‐Sponsored by

IEEE Robotics and Automation Society Northeastern University The Chinese University of Hong Kong Shandong University Henan University of Science and Technology CAS/CUHK Shenzhen Institute of Advanced Technology

Technically Co-‐Sponsored by

The Chinese Association of Automation IEEE Hong Kong Section CSRA Joint Chapter The Robotics Society of Japan The Japan Society of Mechanical Engineers The Society of Instrument and Control Engineers

IEEE ICIA 2012 USB Memory Stick Proceeding

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IEEE Catalog Number: CFP12833-‐ART ISBN: 978-‐1-‐4673-‐2236-‐2

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WELCOME

On behalf of the IEEE ICIA 2012 Conference Organizing Committee, we are very pleased to welcome you Shenyang for the 2012 IEEE International Conference on Information and Automation the 2012 International Symposium on Biomedical Engineering. The conference topics cover the growing interests in the research areas and their applications in information, automation, biomedical engineering, and the combinations of them, among many others. Of the 286 initial paper submissions, 188 papers representing 18 countries and regions are accepted for presentation at the conference after a rigorous full-‐paper review process, achieving an acceptance rate of 65%. These papers reflect the dynamism of research activities in information, automation, and biomedical engineering and the emergence of new research topics in addressing the ever increasing challenges from the related industrial and societal needs.

The conference is highlighted by three distinguished plenary speeches to be delivered by Professor Manfred Morari of ETHZ, Switzerland, Professor Kevin Lynch of Northwestern University, USA, and Professor Bart ter Haar Romeny of Eindhoven University of Technology, The Netherlands. main objective of the IEEE ICIA conference series is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of information and automation to disseminate their latest research results and exchange views on the future research directions of the related fields. IEEE ICIA 2012 and ISBE 2012, hosted in the famous historical city of Shenyang, China, promises to be a great event and experience for researchers and scholars in information, automation, and biomedical engineering from all over the world, with excellent technical as well as social programs.

We wish to express our gratitude to all of our sponsoring societies and organizations, in particular, the IEEE Robotics and Automation Society, Northeastern University, The Chinese University of Hong Kong, Shandong University, Henan University of Science and Technology, and Chinese Academy of Sciences Shenzhen Institute of Advanced Technology. We thank 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 paper submissions, which is vital to the success of this conference. We must extend our thanks to the Organizing Committee and the volunteers who have dedicated their time toward ensuring the success of this conference. Last but not least, we thank all the participants from some 18 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 the rest of China. We wish you a great conference experience and enjoyable stay and visit in Shenyang, China.

Tianyou Chai T.-‐J. Tarn Max Q.-‐H. Meng Yan Kang General Chair Program Chair Organizing Chair ISBE Chair

Table of Contents

Welcome ...... 4

Organization Committees ...... 6

General Information ...... 13

Transportation Information ...... 15

Program Schedule ...... 18

Floor Plan of Sheraton Hotel ...... 19

Plenary Talk ...... 22

Symbols for Technical Sessions ...... 28

Session IDs, Session Titles & Session Chairs ...... 29

Oral Sessions

Wednesday Session……………………………………...…………………………...………………...………………………………… T-‐1

Thursday Session…………………………………………………...………………...………………….....…..…………………….. T-‐13

Friday Session………………………………………………...……………………...……………….....…..…………………….. T-‐25

Session Chair Index …………………………..……………………………………………………….…………………………………...…... S-‐1

Author Index …………………..……………………………………………………………………………………………….…………………… A-‐1

Organization Committees

International Advisory Committee

CAI Hegao Harbin Institute of Technology, China CHAI Tianyou Northeastern University, China CHING Pak Chung Chinese Univ. of HK, China DARIO Paolo Scuola Superiore Sant’Anna, Italy DE SILVA Clarence UBC, Canada FUKUDA Toshio Nagoya University, Japan LU Wu-‐Sheng University of Victoria, Canada LUH Peter B. Univ. of Connecticut, USA MILLS James K. University of Toronto, Canada PATEL Rajni University of Western Ontario, Canada SUN Youxian Zhejiang University, China TARN Tzyh-‐Jong Washington University, USA TOMIZUKA Masayoshi UC Berkeley, USA XIONG Youlun Huazhong U. of Science & Tech, China XU Yangsheng Chinese Univ. of HK, China

General Chair

CHAI Tianyou Northeastern University, China

General Co-‐Chairs

CHU jian Zhejiang University, China DARIO Paolo Scuola Superiore Sant’Anna, Italy HUANG Tian Tianjin University, China NELSON Brandley ETH-‐Zürich, Switzerland WANG Yuechao Chinese Academy of Science, China

Program Chair

TARN Tzyh-‐Jong Washington University, USA

Program Co-‐Chairs

DING Han Huazhong U. of Science & Tech, China HUANG Qiang Beijing Institute of Technology, China WANG Tianmiao Beihang University, China YU Haibin Shenyang Institute of Automation, China ZHAO Jie Harbin Institute of Technology, China

Regional Program Co-‐Chairs

ASAMA Hajime University of Tokyo, Japan Gu Jason J. Dalhousie University, Canada TANG Lixin Northeastern University, China WANG Hong University of Manchester, UK ZHANG Jianwei University of Hamburg, Germany ZHU Xiangyang Shanghai Jiaotong University, China

Organizing Committee Chair

MENG Max Q.-‐H. Chinese University of HK, China

Organizing Committee Co-‐Chairs

CHEN Tongwen University of Alberta, Canada DUAN Guangren Harbin Inst. Of Technology, China GAO Feng Shanghai Jiaotong University, China GUO Shuxiang Kagawa University, Japan LIU Jianchang Northeastern University, China ZHANG Huaguang Northeastern University, China

Awards Committee Co-‐Chairs

LI Yibin Shandong University, China YUE Heng Northeastern University, China ZHANG Hong University of Alberta, Canada Organized Session Co-‐Chairs

CHEN Yangquan Utah State University, USA CHIAVERINI Stefano University of Cassino, Italy GE Sam S. National Univ. of Singapore, Singapore GUAN Yisheng South China U. of Technology, China HAN Jianda Shenyang Institute of Automation, China LIU Yunhui Chinese University of HK, China MA Shugen Ritsumeikan University, Japan QIN Joe Sizhao Univ. of Southern California, USA SU Chunyi Concordia University, Canada SUN Dong City University of Hong Kong, China TIAN Guohui Shandong University, China XU Lisheng Northeastern University, China YAN Houmim City University of Hong Kong, China YANG Guanghong Northeastern University, China YANG Huayong Zhejiang University, China

Publicity Committee Co-‐Chairs

CHEN Ben National Univ. of Singapore, Singapore CHEN Weidong Shanghai Jiaotong University, China FENG Gary City University of Hong Kong, China FU Minyue University of Newcastle, Australia HUANG Jie Chinese University of HK, China LIU Derong Univ. of Illinois at Chicago, USA LIN Wei Case Western Reserve University, USA PU Jiexin Henan U. of Science & Tech., China REN Hongliang Harvard University, USA TANG Jiafu Northeastern University, China XI Ning City University of Hong Kong, China XIE Lihua Nanyang Tech. University, Singapore 8

Publications Co-‐Chairs

HU Chao Zhejiang University Ningbo College, China SONG Shuang CAS/CUHK SIAIT, CAS SIAT, China

Finance Chair

ZHANG Chengjin Shandong University, China

Local Arrangement Co-‐Chairs

FAN Songtao Northeastern University, China LU Shaowen Northeastern University, China ZHENG Xiuping Northeastern University, China Secretariat

CHEN Jimmy Chinese Univ. of HK, China LIU Wei CAS/CUHK SIAIT, CAS SIAT, China

2012 International Symposium on Biomedical Engineering

Sponsored by Sino-‐Dutch Biomedical and Information Engineering School Northeastern University

ISBE Chair

KANG Yan Northeastern University, China

ISBE Co-‐Chairs

HAACKE E. Mark Wayne State University, USA LI Kuncheng Capital Medical University, China ZHENG Hairong Shenzhen Inst. Of Adv. Tech., China

Program Committee

Program Chair

TARN Tzyh-‐Jong Washington University, USA

Program Co-‐Chairs

Regional Program Co-‐Chairs

Committee Members

Bi Zhuming Chang Chunqi Cao Yang

Chen Dongming Chen Weidong Chen Weihai

Chen Yang quan Chi Chong-‐Yung Dai Wenzhan

Deng Yuanlong Ding Xilun Duan Hai-‐Bin

Feng Gary Fu Quanhai Fu Yili

Fung Wai-‐Keung Gao Xueshan Gu Jason J.

Guan Yisheng Guo Maozu Guo Yi

Hou Zeng-‐Guang Hu Chao Hu Huosheng

Hu Jwu-‐Sheng Hu Qingmao Huang Qingjiu

Huang Qiang Ji Ping Kang Yan

Ke Li Li Guanglin Li Bin

Li Qiang Li Yangmin Li Youfu

Lian Feng-‐Li Liao Jing sheng Liao Wei-‐Hsin

Liu Guangyu Liu Jingguo Liu Peter X.

Liu Wei Liu Yugang Lou Yunjiang

Meng Max Meng Yan Mills James K.

Park Jong Hyeon Qi Shouliang Qiao Yu

Qi Xiaojun Shen Yantao Sheng Weihua

Su Chun-‐Yi Sun Dong Tan Jingdong

Tan Min Tan Wenjun Tian Guohui

Vai M. I. Wan Feng Wang Guoli

Wang Jiandong Wang Minghu Wang Xin

Wang Zhidong Wong Pak Kin Wu Xiaojun

Wu Xinyu Wu Zhengbin Wu Zhongcheng

Xu Guoqing Xu Lisheng Xu Qingsong

Yan Huaicheng Yang Shi Yang Simon X.

Zhang Dan Zhang Youmin

General Information

Conference Venue Sheraton Shenyang Lido Hotel 386 Qingnian Street, Heping District, Shenyang, Liaoning, China Tel: +86 (24) 2318 8888 Fax: +86 (24) 2318 8000 Web: www.sheraton.com/shenyangcn Language The conference and all its activities will be conducted in English.

Conference Secretariat Jimmy Chen CUHK Wei Liu CAS SIAT Tingfang Yan Shandong University

Contact E-‐mail: 2012@ieee-‐icia.org Contact Tel: +86(755) 8639-‐2430, +86(531) 8839-‐9867, +86 15069115620

Dietary Needs Conference delegate or partner with special dietary needs etc. is invited to indicate his/her special dietary needs to the organizing committee at the Registration Desk.

Conference Registration Tuesday, June 5th, 2012, 14:00-‐20:00 Venue: Sheraton Shenyang Lido Hotel

Wednesday, June 6th, 2012, 08:00-‐17:00 Thursday, June th 7 , 2012, 08:00-‐17:00 Friday, June 8th, 2012, 08:00-‐12:00 Venue: Sheraton Shenyang Lido Hotel

Welcome Reception Date: June th 6 , 2012 Time: 18:00-‐20:30 Venue: Ballroom 1, 2nd Floor, Sheraton Hotel

Award Banquet Date: June th 7 , 2012 Time: 18:30-‐20:00 Venue: Lido Ballroom 1, 3rd Floor, Sheraton Hotel

Farewell Party Date: June th 8 , 2012 Time: 18:00-‐20:00 Venue: Ballroom 1, 2rd Floor, Sheraton Hotel

Oral Presentation and Additional Equipment Please note that each session room will be equipped with a projector, screen, laser pointer, and microphone. Laptop and/or desktop computers will be provided. General software presentation package are preinstalled, such as Microsoft Powerpoint, Adobe Acrobat reader. If you plan to use specific software presenting packages other than stated above, you are required to bring your own computer and install them before your presentation. Please include your paper number in all correspondence. Each presentation is allocated 20 minutes including question and answer period.

Conference Proceedings Conference registration fee includes a copy of the Conference Proceedings on USB Key. Additional copies are available at a cost of US$50.00 (人民币￥325,HK$390) each. Please enquire at the registration Desk.

Internet Access Free wireless access will be provided for all delegates at the conference venue and in all presentation rooms on Wednesday, Thursday and Friday.

Transportation Information

The main airport in Shenyang is the Shenyang Airport(SHE). It is the largest airport of northeast China offering direct flights to cities around China including countries such as Japan, Russia and Korea.

By Plane The city is served by the Shenyang Taoxian International 沈 Airport ( 阳桃仙国际机场, airport code SHE), as well as by several smaller, regional airports. Direct flights from Shenyang to Beijing, Changsha, Chaoyang, Chengdu, Chongqing, Dalian, Fuzhou, Guangzhou, Haikou, Hangzhou, Harbin, Hefei, Hong Kong, Jinan, Kunming, Lanzhou, Nanjing, Ningbo, Qingdao, Qiqihar, Sanya, Shanghai, Shantou, Shenzhen, Shijiazhuang, Taiyuan, Tianjin, Wuromqi, Wenzhou, Wuhan, Xiamen, Xian, Xuzhou, Yanji, Yantai, Zahuang, Zhengzhou, and Zhuhai.

Direct international flights go to Seoul and Cheongju, South Korea; Pyongyang, North Korea; Irkutsk and Khabarovsk, Russia; Osaka and Tokyo, Japan with connections to Frankfurt, Germany, Sydney, Australia, Los Angeles, USA and other cities. The airport is located 30km south of the city. An airport shuttle runs from the airport to the main China Northern Airlines ticket office (Zhonghua Lu 117) and back frequently.

By Car Shenyang is connected by a major expressway, the Jing-‐shen 6-‐lan Expresseay, to the city of Beijing, some 658km away. Expressways also link Shenyang with Jilin and Heilongjiang provinces. The Shen-‐Da Expressway connecting Shenyang and Dalian was the first expressway ever built in China. It is the fastest highway linking one of the largest port cities to Shenyang.

By Train Train service is provided through two train stations, the north train station and the south train station. The north train station handles the majority of the long-‐distance trains while the south train station handles most of the Dongbei (northeast) trains and does local service around the province. Some trains travel to both stations so be aware of which station you need to board your train.

North Train Station (Shenyang Bei Zhan) at Beizhan Lu.

 Beijing -‐ takes about 5~8 hours.  Dalian -‐ takes about 6 hours.  Dandong -‐ takes about 5 hours  Guangzhou -‐ takes about 30~48 hours  Harbin -‐ takes about 4~8 hours  Jilin – takes about 3~8 hours  Shanghai – takes about 27~34 hours

 Tianjin – takes about 10~14 hours  Qinhuangdao – takes about 5~6 hours.

South Train Station (Shenyang Huoche Zhan) at Shengli Beijie

 Beijing -‐ takes about 5~8 hours.  Changchun – takes about 2~4 hours  Dalian -‐ takes about 5 hours.  Dandong -‐ takes about 4 hours  Guangzhou -‐ takes about 30~48 hours  Harbin -‐ takes about 7 hours  Jilin – takes about 7 hours  Tianjin – takes about 9 hours

By Bus Long distance bus service is handled by the following two bus stations:

Main Long-‐Distance Bus Station (Shenyang Qiche Kuaisu Keyun Zhan): Located on Huigong Jie, this station serves routes to and from major cities. You can also find night buses to Beijing being hawked outside the north train station.  Beijing -‐ takes about 8 hours.  Changchun – takes about 4 hours  Dalian -‐ takes about 6 hours.  Dandong -‐ takes about 3 hours  Harbin -‐ takes about 7 hours  Jilin – takes about 5 hours  Jinzhou – takes about 3 hours

South Bus Station: Buses queue along Minzhu Lu (opposite the south train station), around Minzhu Square and some nearby streets. On most buses you pay the conductor on the bus but for Anshan and Liaoyang you must purchase tickets at the office on the east side of Minzhu Square. These buses run medium distance routes to neighboring cities within Liaoning. Buses stop departing this bus station around 6pm. Passengers arriving to this station may be offloaded from the bus on a nearby street or some distance away at a yard used for storing coaches, sited behind the post office on Zhongshan Jie.  Anshan -‐ takes about 2 hours.  Benxi – takes about 1 hours  Liaoyang -‐ takes about 1 hours.  Fushun -‐ takes about 1 hours

Location of Sheraton Hotel

Getting Here

Rail Way Shenyang North Railway Station Travel Distance: Approximately 8.0km/4.97miles

Airport Shenyang Airport (SHE) Travel Distance: Approximately 15.0km/9.32miles

Bus Shenyang South Station Travel Distance: Approximately 6.0km/3.73miles

Program Schedule Tuesday, June 5th, 2012 14:00-‐20:00 Registration at Sheraton Shenyang Lido Hotel Wednesday, June 6th, 2012 08:30-‐18:00 Registration at Sheraton Shenyang Lido Hotel 09:00-‐10:00 Plenary Lecture I By Prof. Manfred Morari 10:00-‐10:20 Morning Break with Tea and Coffee 10:20-‐12:00 Technical Sessions WA 12:00-‐14:00 Lunch Break (Ballroom 1, 2nd Floor) 14:00-‐16:00 Technical Sessions WP 16:00-‐16:20 Afternoon Break with Tea and Coffee 16:20-‐18:00 Technical Sessions WE 18:00-‐20:00 Welcome Reception (Ballroom 1, 2nd Floor) Tuesday, June 7th, 2012 08:30-‐18:00 Registration at Sheraton Shenyang Lido Hotel 09:00-‐10:00 Plenary Lecture II By Professor Kevin Lynch 10:00-‐10:20 Morning Break with Tea and Coffee 10:20-‐12:00 Technical Sessions TA 12:00-‐14:00 Lunch Break (Chinese Restaurant, 3rd Floor) 14:00-‐16:00 Technical Sessions TP 16:00-‐16:20 Afternoon Break with Tea and Coffee 16:20-‐18:00 Technical Sessions TE 18:30-‐20:00 Award Reception (Lido Ballroom 1, 3rd Floor) Friday, June th 8 , 2012 08:30-‐12:00 Registration at Sheraton Shenyang Lido Hotel 09:00-‐10:00 Plenary Lecture III By Professor Bart ter Haar Romeny 10:00-‐10:20 Morning Break with Tea and Coffee 10:20-‐12:00 Technical Sessions FA 12:00-‐14:00 Lunch Break (Ballroom 1, 2nd Floor) 14:00-‐15:40 Technical Sessions FP 15:40-‐16:00 Afternoon Break with Tea and Coffee 16:00-‐17:40 Technical Sessions FE 18:00-‐20:00 Farewell Party (Ballroom 1, 2nd Floor)

Floor Plan of Sheraton Shenyang Lido Hotel

Plenary talks will be held at Lian Hall, 2nd Floor.

All oral present sessions will be held in Ballroom 2, 2nd Floor, Ballroom 3, 2nd Floor, Zhu Hall, 2nd Floor, Lian Hall, 2nd Floor, Kunlun Hall, 3rd Floor and Meeting Room, 26F.

2nd Floor will be used for plenary talks, sessions and lunch on Wednesday and Friday. It will also be used for Welcome Reception on Wednesday and Farewell Party on Friday.

2nd Floor Grand Ballroom, Sheraton

For 3rd Floor, Kunlun hall will be used for sessions on Thursday and Friday, Chinese Restaurant will be used for lunch on Thursday, and Lido Ballroom 1 will be used for Award Banquet on Thursday.

3rd Floor Lido Ballroom, Sheraton.

3rd Floor, Kunlun Hall

IEEE ICIA 2012 Plenary Talk I 9:00-‐10:00, Wednesday, June 6

Lian Hall, 2nd Floor

The Role of Theory in Control Practice

Professor Manfred Morari ETHZ Zürich Switzerland

Abstract

Twenty years ago I delivered a plenary lecture with the same title at the American Control Conference in Boston. I will go back and reflect on the successes and failures, on what we have learned and which problems remain open. The focus will be on robust and constrained control the real time implementation of control algorithms. I will comment on the progress we have made on the control of hybrid systems and how our vastly more powerful computational resources have affected the design tools we have at our disposal. Throughout the lecture, industrial examples from the automotive and power electronics domains and the industrial energy sector will illustrate the arguments.

Biography

Manfred Morari was head of the Department of Information Technology and Electrical Engineering at ETH Zurich from 2009 to 2012 and head of the Automatic Control Laboratory from 1994 to 2008. Before that he was the McCollum-‐Corcoran Professor of Chemical Engineering and Executive Officer for Control and Dynamical Systems at the California Institute of Technology. He obtained the diploma from ETH Zurich and the Ph.D. from the University of Minnesota, both in chemical engineering. His interests are in hybrid systems and the control of biomedical systems. In recognition of his research contributions he received numerous awards, among them the Donald P. Eckman Award, the John R. Ragazzini Award and the Richard E. Bellman Control Heritage Award of the American Automatic Control Council, the Allan P. Colburn Award and the Professional Progress Award of the AIChE, the Curtis W. McGraw Research Award of the ASEE, Doctor Honoris Causa from Babes-‐Bolyai University, Fellow of IEEE, IFAC and AIChE, the IEEE Control Systems Technical Field Award, and was elected to the National Academy of Engineering (U.S.). Manfred Morari has held appointments with Exxon and ICI plc and serves on the technical advisory boards of several major corporations.

IEEE ICIA 2012 Plenary Talk II 09:00-‐10:00, Thursday, June 7

Lian Hall, nd 2 Floor Nonprehensile Robotic Manipulation

Professor Kevin Lynch Northwestern University Evanston, USA

Abstract Nonprehensile manipulation primitives such as rolling, sliding, pushing, pivoting, tipping, tapping, jiggling, juggling, and throwing and catching are commonly used by humans, animals, and even industrial automation processes. These graspless manipulation modes exploit dynamics to create object motions that would otherwise be impossible to achieve. Despite this, most robots seem to prefer grasping and avoid nonprehensile manipulation. This limited repertoire artificially constrains the set of manipulation tasks the robot can achieve. I will describe progress and challenges in planning and control of nonprehensile robotic manipulation. I will then describe recent work on the PPOD (Programmable Parts-‐feeding Oscillatory Device), which uses nonlinear frictional dynamics and six-‐degree-‐of-‐freedom vibration of a rigid plate to simultaneously control the motion of multiple parts sliding on its surface.

Biography

Kevin Lynch is professor of mechanical engineering in the McCormick School of Engineering and Applied Science at Northwestern University, where he is codirector of the Northwestern Institute on Complex Systems (NICO) and the Laboratory for Intelligent Mechanical Systems. His research focuses on robot manipulation and locomotion, self-‐organizing multi-‐agent systems, bio-‐inspired sensing and control, and functional electrical stimulation for restoration of human function. Lynch is a Senior Editor of the IEEE Transactions on Automation Science and Engineering, co-‐author of The Principles of Robot Motion (MIT Press, 2005), an IEEE fellow, and the recipient of Northwestern's Professorship of Teaching Excellence and the engineering Teacher of the Year award. He earned a BSE in Electrical Engineering from Princeton University and a PhD in Robotics from Carnegie Mellon University.

IEEE ICIA 2012 Plenary Talk III 9:00-‐10:00, Friday, June 8

Lian Hall, 2nd Floor

Vision for Vision

Professor Bart Bart ter Haar Romeny Eindhoven University of Technology Eindhoven, The Netherlands

Abstract The visual system is our primary sense. It is outperforming our modern computers in pattern recognition and under compromised imaging conditions. The results of modern MRI and optical imaging techniques of brain functionality give good inspiration for new mathematical models of vision. We develop such models, and apply these to computer-‐assisted diagnosis. The results are highly promising and robust. Applications are automated large-‐scale retina analysis for diabetes screening (to prevent blindness: ‘vision for vision’), interactive brain connectivity visualization from Diffusion Weighted MR imaging for deep brain stimulation and safe epilepsy surgery. The lecture will be richly illustrated, and is of educational nature.

Biography

Prof. Bart ter Haar Romeny is full professor and chair in Biomedical Image Analysis, at the Department of Biomedical Engineering at Eindhoven University of Technology, in Eindhoven, the Netherlands. His background is physics, with a PhD of Utrecht University. His application areas focus on innovative methods for computer-‐assisted diagnosis, as well as visualization for brain and heart diseases. Much of his inspiration comes from the visual system. Since 2006 he is vice-‐dean of the Biomedical Information and Engineering School of NEU, and has been a frequent lecturer in Shenyang.

Symbols for Technical Sessions

Symbols for Days of a Week

W = Wednesday T = Thursday F = Friday

Symbols for Session Times Slots

Session A = 10:20-‐12:00

For Wednesday and Thursday Session P = 14:00-‐16:00 Session E = 16:20-‐18:00

For Friday Session P = 14:00-‐15:40 Session E 00-‐17:40 = 16:

Symbols for Room Assignments Wednesday, June 6 Room ID 1 2 3 4 Room Zhu Hall, 2nd Floor Ballroom 3, 2nd Floor Ballroom 2, 2nd Floor Lian Hall, 2nd Floor Thursday, June 7 Room ID 1 2 3 4 Room Kunlun Hall, 3rd Floor Meeting Room, 26F Zhu Hall, 2nd Floor Lian Hall, 2nd Floor Friday, June 8 Room ID 1 2 3 4 Room Kunlun Hall, 3rd Floor Ballroom 3, 2nd Floor Ballroom 2, 2nd Floor Lian Hall, 2nd Floor

Session IDs, Session Titles & Session Chairs Wednesday, June 6, 2012 Morning Session Title Session Chairs WA-‐1 Advanced Robots Songmin Jia Hongwei Mo WA-‐2 Automation Jie Chen Chengjin Zhang WA-‐3 Advanced Management System Lixin Tang Wei Liu WA-‐4 Biomedical Application Hairong Zheng Kuanquan Wang Afternoon WP-‐1 Network & Communications Yunjian Ge Guoxiang Gu WP-‐2 Robotics and Manipulation Jianwei Zhang Yili Fu WP-‐3 Intelligent Control and System Qiang Huang Lixin Tang WP-‐4 Biomedical Imaging Jinzhu Yang Kuanquan Wang WE-‐1 Automation II Li Qiu Jie Chen WE-‐2 Advanced Robots II Guohui Tian Songmin Jia WE-‐3 Computer Vision Baopu Li David Zhang WE-‐4 Biomedical Imaging II Han Gao B. M. ter Haar Romeny Thursday June 7, 2012 Morning Session Title Session Chairs TA-‐1 Mobile System Guoqing Xu Heng Yue TA-‐2 Image/Video Processing David Zhang Baopu Li TA-‐3 Intelligent Control and I System I Jianwei Zhang Dezhang Xu TA-‐4 Biomedical Imaging III Yan Kang Hong Wang Afternoon TP-‐1 Automation III Guoxiang Gu Heming Jia TP-‐2 Image/Video Processing II Baopu Li Wei Liu TP-‐3 Control and Systems Jianda Han Hong Zhang TP-‐4 Biomedical Instrumentation Kim Yeoun-‐Jae Hong Li TE-‐1 Vehicle Dynamics C ontrol Songmin Jia Xueyuan Guan TE-‐2 Image/Video Processing III David Zhang Jason Gu TE-‐3 Network & Communications II Qiang Huang Yili Fu TE-‐4 Biomedical Instrumentation II Hong Shao Yaonan Zhang Friday June 8, 2012 Morning Session Title Session Chairs FA-‐1 Pattern Recognition Yaonan Zhang Shuang Song FA-‐2 Advanced Robots II I Chengjin Zhang Wei Liu FA-‐3 Signal Processing Lu Wang Lisheng Xu FA-‐4 Biomedical Instrumentation III Shuxiang Guo Shihai Xiang Afternoon FP-‐1 Pattern Recognition II Jason Gu Shuang Song FP-‐2 Control Applications Chunyi Su Jianda Han FP-‐3 Signal Processing II Hao Zou Wei Liu FP-‐4 Computer Aided Diagnosis Li Ke Fangfang Jiang FE-‐1 Pattern Recognition III Jason Gu Zhendong Liu FE-‐2 Sensors Guohui Tian Yunjian Ge FE-‐3 Signal Processing III Yuexian Zou Lisheng Xu FE-‐4 Computer Application Li Ke Fangfang Jiang

Technology Sessions

2nd Floor Grand Ballroom, Sheraton

Wednesday, June 6, 2012

WA‐1 Advanced Robots

WA‐2 Mobile System

WA‐3 Advanced Management System

WA‐4 Biomedical Application

WP‐1 Control and Systems

WP‐2 Robotics and Manipulation

WP‐3 Intelligent Control and System

WP‐4 Biomedical Imaging

WE‐1 Automation

WE‐2 Advanced Robots II

WE‐3 Computer Vision

WE‐4 Biomedical Imaging II

WA1:Advanced Robots

Session Chair: Songmin Jia and Hongwei Mo

Zhu Hall, 2nd Floor 10:20-12:00 Wednesday, June 6

Zhu Hall, 2nd Floor (1) 10:20-10:40 Zhu Hall, 2nd Floor (2) 10:40-11:00 Design of Aerial Dispersal Miniature

IEEE International Conference on Information and Detection Robotic Automation&International Symposium on Biomedical Engineering Liancun Zhang1, Qiang Huang1, Liying Wu2, Junyao Gao1, Yue Li1, and Weimin Zhang1 1. Beijing Institute of Technology, Beijing , China Bio-geography based Differential Evolution for Robot Path Planning 2. Beijing University of Technology, Beijing, China

Hongwei Mo,Zhenzhen Li • Aerial dispersal miniature detection Automation College, Harbin Engineering University robotic system is suitable for carrying detection task in natural Global path planning of in a static environment is an important problem for a mobile robot. Biogeography-based optimization (BBO) is a population- disasters or man-made disasters. based evolutionary algorithm that is based on the mathematics of biogeography. It mainly uses the biogeography-based migration operator to • Design of aerial dispersal miniature share the information among solutions. Differential Evolution (DE) is a fast detection robotic system has been and robust evolutionary algorithm for global optimization. We propose a hybrid algorithm of BBO and DE, named BBDE for robot global path illustrated in the paper. planning in a static environment. The combination of differential evolution • Some experiments have been done and migration strategy results in a better algorithm. Simulation results show that the proposed approach is feasible for solving RPP. to validate anti-impact ability and Application of aerial dispersal autonomous capability of the robot. miniature detection robotic system

Zhu Hall, 2nd Floor (3) 11:00-11:20 Zhu Hall, 2nd Floor (4) 11:20-11:40 The SLAM Algorithm of Mobile Robot with Autonomous Robot Exploration Based on Omnidirectional Vision Based on EKF Hybrid Environment Model Kaiyu Wang, Guihua Xia, Qidan Zhu, Yongtao Yu, Yebin Wu and Yan Wang Songmin Jia, Hongmin Shen, Xiuzhi Li, Wei Cui, Ke Wang Department of Automation, Harbin Engineering University, Harbin, China Research Center of Distributed Robotics &Intelligent System College of Electronic Information & Control Engineering , Beijing University of Technology • An improved simultaneous localization and Beijing, China mapping(SLAM) method based on extended • The model of the unknown Kalman filter(EKF) is presented to solve the environment is structured as a hybrid SLAM problem of mobile robot with representation, both topological and omnidirectional vision.The environment grid-based. feature is extracted from the environment information around the mobile robot got by • In our work, SLAM technique for onmidirectional vision, then the landmark is robot exploration is based on laser located, finally, the position and attitude of scan-matching and RBPF. the mobile robot and the map library are • Path planning algorithm based on updated synchronously by using the EKF Tracked Mobile Robot topological graph is used for the algorithm. robot’s exploration task. The exploration result

Zhu Hall, 2nd Floor (5) 11:40-12:00 Robust Human Detecting and Tracking Using Varying Scale Template Matching Songmin Jia, Shuang Wang, Lijia Wang, Xiuzhi Li Research Center of Disturbuted Robotics & Intelligent System College of Electronic Information & Control Engineering Beijing University of Technology Beijing, China • This paper employs the methods of human detecting and tracking based on stereo vision in the indoor environment. • A novel method of template matching based on head-shoulder model is proposed to detect human. • Robust human tracking is performed using the EKF.

T-1 WA2:Automation

Session Chair: Jie Chen and Chengjin Zhang

Ballroom 3, 2nd Floor 10:20-12:00 Wednesday, June 6

Ballroom 3, 2nd Floor (1) 10:20-10:40 Ballroom 3, 2nd Floor (2) 10:40-11:00 Method of Modeling Wideband Signals Received An effective soft iteration channel estimator by an Array Antenna Based on Power Spectral for HF channel Miao Benshu and Zhao Density Department of Electronic Engineering, Tsinghua University Hongqi Yu, Jing Guo, Xin Xu, Zhaolin Sun, Haijun Liu, Jietao Diao Beijing, China School of Electronic Science and Engineering,National University of Defense Technology • An new soft iteration channel estimator Hunan, China 2 was proposed by combining a traditional • Wideband signal and its sampling FT ()f Sff ( ) lim estimator with Turbo equalization – The definition of wideband signal T  T • The figure gives the BER results for • Uniform linear array module  iterative receiving over Watterson channel p  Sfdff () • The proposed modeling method  with A corresponding to the frequently based on power spectral density  B/2 used LMS algorithm and B, C the s()tedSf jft2 ( ( )) • The influence of bandwidth on  B /2 proposed algorithm. Solid lines reports MDL algorithm L BER after 0th iteration while dashed lines st() aejft2 l reports BER after 2th iteration  l BER results l 1 • The proposed estimator has a power gain of some 0.5dB over LMS estimator

Ballroom 3, 2nd Floor (3) 11:00-11:20 Ballroom 3, 2nd Floor (4) 11:20-11:40 Distributed Component-Based Framework for Step-response Simulation of Energy Regulation Unmanned Air Vehicle Systems Based Electrohydraulic Variable-speed Drive Agwad El-Sayed and Mohamed ElHelw Ubiquitous Computing Group, Nile University Xu Ming, Ni Jing, and Chen Guojin Cairo, Egypt Department of Mechanical Engineering, Hangzhou Dianzi University Hangzhou, China • We propose a distributed component-based framework. UAV Mission 10 Load

9 • It allows rapid and seamless UAV Core Framework Components applications development. Mission Planner • It is composed of four main • Electrohydraulic Variable-speed ERD 5 8 Drive components: Mission Planner, Task World Model Task Executor 7 6 • Energy Regulation Executer, World Model and p e p s DicoCom. User-Defined Framework Components • Fast Response 1 Inverter • It provides DicoScript language for DicoCom DicoCom DicoCom • Good Energy-saving performance 4 M binding the distributed components 3 2 together and describing UAV Distributed Component-based Energy Regulation VSD missions. Framework Architecture

Ballroom 3, 2nd Floor (5) 11:40-12:00 3D Flight Path Planning based on RRTs for RNP Requirements Baofeng Shi, Peng Cheng, and Nong Cheng Department of Automation, Tsinghua University Beijing, China • An integrated path planner based on modified RRTs is proposed. • The planner is able to generate a 3D collision-free path that complies with RNP requirement while considering the aircraft kinematic constraints. • The pruning method based on A* and smoothing method based on B- Spline curves are presented. • Numerical simulations are performed Path Planning based on the airspace environment in Beijing Terminal Airspace around Beijing airport.

T-2 WA3:Advanced Management System

Session Chair: Lixin Tang and Wei Liu

Ballroom 2, 2nd Floor 10:20-12:00 Wednesday, June 6

Ballroom 2, 2nd Floor (1) 10:20-10:40 Ballroom 2, 2nd Floor (2) 10:40-11:00 Model of Balanced Distribution and Optimal Scheduling of the Oxygen System in Iron and Steel Industry Xiaolei Zhang1,3, Yanyan Zhang1, 2 and Lixin Tang1, 2 Fuzzy Synchronization of 1 The Logistics Institute, Northeastern University Shenyang, China 2 Liaoning Key Laboratory of Manufacturing System and Logistics Shenyang, China Chaotic Systems based on 3 State Key Laboratory of Synthetical Automation for Process Industries Shenyang, China • Make decision on turning on or off Genetic Algorithm the oxygen units, adjusting the production rate, the pressure rate, the liquefied rate and steam rate of each unit. Xiaohua Wang • A LP model is established to distribute and optimal schedule oxygen among users considering the production, the holding, the consumption in an iron and steel plant . • The diffusion cost, pressure cost, liquefied cost, steam cost and setup cost of air separation system is Produce and flow of steam system minimized.

Ballroom 2, 2nd Floor (3) 11:00-11:20 Ballroom 2, 2nd Floor (4) 11:20-11:40 A Prediction Model for Steering Tasks with User Analysis and Configuration of Docking Adjusting Operational Biases

Mechanism for Replenishment at Sea Traditional Steering Law (Accot and Zhai, New Prediction Model Ying Yu, Baolin Yin, Guizhen Liu, Xianzhi Li 1997) School of Mechanical Engineering, University of Jiamusi, Heilongjiang Province, China A MT=a+b(A/SD) a, b: W • Based on Screw Theory, discussing constants

the configuration of docking Transform W into SD adjusting mechanism with single-type SD means Standard Deviation of MT=a+b(A/W) sampled points of the trajectory and combination-type. SD = the distribution of sampled • Synthesize 19 basic motion types, and a, b: constants points SD reflects what subjects actually did put out a single-closed-transmission- W reflects what subjects were asked chain mechanism viable. to do • Through propose 2-RPU-C single- Only system factors (A, W and Both system and subjective factors R) are included in the law are included in the new model closed-transmission-chain Configuration of 2-RPU-C mechanisms and evolved three types mechanism with one of new mechanisms. closed-transmission-chain

Ballroom 2, 2nd Floor (5) 11:40-12:00

Research about Based-SOA Agriculture Management Information System

Duan YanE

T-3 WA4: Biomedical Application

Session Chair: Hairong Zheng and Kuanquan Wang

Lian Hall, 2nd Floor 10:20-12:00 Wednesday, June 6

Lian Hall, 2nd Floor (1) 10:20-10:40 Lian Hall, 2nd Floor (2) 10:40-11:00 Adaptive R-wave detection method in dynamic ECG with heavy EMG artifact Yue Zhong1, Lisheng Xu1,2, Li Yan3, Yanhua Shen1 and Shuhong Wang1. 1Sino-Dutch Biomedical and Information Engineering School, Northeastern University 2Key Laboratory of Medical Image Computing (Northeastern University), Ministry of Education 3Heilongjiang Bayi Agriculture University College of Information Technology, 163319

• Introducing different kinds of EMG 1 artifact in dynamic ECG signals. ECG signal • Classifying dynamic ECG by power 0

ratio of frequency ranges, threshold- -1 Power cross rate and short time energy. ratio -2 • R-wave detection based on wavelet Threshold-cross rate

transform and Empirical Mode -3 Decomposition method. Short time energy -4 • Results of R-wave detection of ECG 0 5 10 15 20 25 30 examples in daily life evaluated the Classification results of dynamic accuracy of the proposed method. ECG signals by quality analysis

Lian Hall, 2nd Floor (3) 11:00-11:20 Lian Hall, 2nd Floor (4) 11:20-11:40

On the Singular Problem in Linear Algorithm Refined Analysis of Heart Sound Based on for the Magnetic Dipole Positioning Hilbert - Huang Transform Li Lin, Dejun Guan, Dongrui Zhang , Jinhan Feng , Lisheng Xu Chao Hu1, 3, Houxiang Miao1,2, Shuang Song3, Jianke Chen1,2, Xiaoxiao Li3 Shenyang Radio and Television University，Northeastern University, Key Laboratory of 1 Ningbo Institute of Technology, Zhejiang University, Ningbo, 315100, China Medical Image Computing(Northeastern University), Ministry of Education 2Taiyuan University of Science and Technology, Taiyuan, 030024, China Shenyang，China 3 Institute of Advanced Integration Technology, CAS, Shenzhen, 518067, China • Heart sounds preprocessing by wavelet • Magnetic dipole model is presented; transform and Huang - transform • A linear algorithm is proposed to do the technology. localization for the position and • Extract the envelopes of heart sounds orientation of the dipole object. based on Hilbert transform. • Four singular problems have been • Using the Hilbert-Huang transform analyzed and some methods are proposed to handle these problems. theory to analysis pathologic heart sounds . • Some simulations an experiments have been done and the results show these • Extracting 5 characteristic parameters Boundary spectrum of methods are feasible. Magnetic Dipole Localization make the assessments of pathological signals have a quantitative measure normal heart sounds

Lian Hall, 2nd Floor (5) 11:40-12:00 An Integrated Detection Method of Clustered Microcalcifications in Mammography Based on Multiscale Hessian Matrix Ying Wang, Hong Li, Xiaoguang Pan, Yan Kang and Hong Zhao College of Information Science and Engineering, Northeastern University Shenyang, China • Used an adaptive threshold in a local window to detect big ringed dot calcification in the image which should be excluded from the candidate region. • Applied Hessian Matrix in multiscale to detect dot shape. cluster features were employed to group them. ROI Scale1 Scale2 Add all scale • The sensitivity of the method was big ringed dot false postive and 92.7%, with the FP 0.19 per image. microcalcification in different scale

T-4 WP1:Networks and Communications

Session Chair: Yunjian Ge and Guoxiang Gu

Zhu Hall, 2nd Floor 14:00-16:00 Wednesday, June 6

Zhu Hall, 2nd Floor (1) 14:00-14:20 Zhu Hall, 2nd Floor (2) 14:20-14:40 Improvement of LEACH in Wireless Data Reduction and Bandwidth Allocation for Sensor Networks Based Video-Based Network System Yi-Chun Lin and Feng-Li Lian on Balanced Energy Strategy Department of Electrical Engineering, National Taiwan University Taipei, Taiwan

Yingqi Lu, Du Zhang, Ya Chen, Xiao Liu ,Ping Zong Vide Nanjing University of Posts &Telecommunications • Base on captured visual content o Nanjing, China information, dynamic bandwidth

allocation algorithm is proposed to region- multi-rate variable based down- bit- raise bandwidth utilization. embedded sampling stream • Running process of LEACH coding • Based on available bandwidth of • Energy model of data transmission in Entropy Visibility 18 0.8 Camera1 Camera1 Camera2 0.7 Camera2 camera, progressive data reduction 16 Camera3 Camera3 LEACH protocol 0.6 14 0.5 is designed to remove unessential 12 0.4

• The problems of classical LEACH entropy(bits) 0.3 10 0.2 8 protocol frames and visual content. 0.1 6 0 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10 time slot time slot

Bandwidth (alpha=0.2,beta=0.8) Camera1 (alpha = 0.2 beta = 0.8) • Experimental results demonstrate 5 100 • The improvement of LEACH protocol Camera1 MovingObjects 4.5 Camera2 90 Background Camera3 Walls 4 Total 80 excellent performance of the 3.5 70 3 60

2.5 50 PSNR 2 40 Bandwidth(M bps) Bandwidth(M proposed algorithms. 1.5 30

1 20

0.5 10

0 0 1 2 3 4 5 6 7 8 9 10 11 1 15 30 45 60 75 90 105 120 135 150 165 ti me slot Frame No.

Zhu Hall, 2nd Floor (3) 14:40-15:00 Zhu Hall, 2nd Floor (4) 15:00-15:20 Improving Intrusion Detection through Merging Analysis on IOT Communication Protocol Heterogeneous IP Data Zhiyan Liu1, Bao Xi1, and Yongfeng Yuan2 1 2 Wenjie Zhu, Qiang Wang School of Management, and School of Computer Science and Technology, Department of Automation Harbin Institute of Technology University of Science and Technology of China (USTC) Harbin, China • The major obstacles restrict the development of IOT are the lacking of IOT Name Server • Background lacking of unified communication 1. Query Net 2. Net Address • Framework of DTJA(Duplex Traffic protocol and relative technology. Address Joint Analysis) method • This paper presents a procedure of IOT Info Service universal IOT communication, which 3. Query 4. Interface • Upward/Downward Intrusion UID Interface Address & Port describes UID registration, cancellation Estimation 5. Query Object Info 8. Object Info procedure, UID search procedure and • Experiments UID information search procedure in IOT Middleware 6. Query • Conclusion and Future work details. Object Info 7. Object Info •Q&A • This paper also analyses relative factors RFID System The idea of DTJA for setting up unified standard from UID Info Searching Protocol data status and data timeliness perspectives.

Zhu Hall, 2nd Floor (5) 15:20-15:40 Zhu Hall, 2nd Floor (6) 15:40-16:00 The research on real-time simulation using an A New Weighted Centroid Localization Ethernet based embedded parallel system Algorithm based on RSSI Li Ying, Jia Yan-Cheng HongyuShi Department of Electronic Science Kunming University of Science and Technology, Kunming China Huizhou University Huizhou, China E-mail: [email protected] • An embedded parallel system based on Ethernet;  Abstract :an Anchor_optimized modified weighted centroid localization • MAC-layer enables data exchange between nodes in algorithm based on RSSI was proposed. Firstly, the algorithm optimize the parallel system; anchor nodes according to the distance from the unknown node to the anchor nodes ,and then it select the nearest four anchors to localize, the • Parallel simulation method based on the platform about reciprocal of the sum of measured distance was be taken as the weigh. task partition and scheduling; Finally the weights were modified so as to further improving the precision. Simulation results show that the algorithm accuracy has been significantly • With an asynchronous motor as a instance, the improved than the centroid algorithm and weighted centroid algorithm. feasibility of real-time simulation is confirmed.  Keywords:Localization; RSSI; weighted centroid algorithm; • Compared with the serial simulation with single DSP, Anchor_optimized ancor nodes the parallel efficiency and speed-up ratio of the parallel system are determined.

T-5 WP2: Robotics and Manipulation

Session Chair: Jianwei Zhang and Zhijun Li

Ballroom 3, 2nd Floor 14:00-16:00 Wednesday, June 6

Ballroom 3, 2nd Floor (1) 14:00-14:20 Ballroom 3, 2nd Floor (2) 14:20-14:40 Point-to-point Planning for Free-floating Space Adaptive Fuzzy Control of Trilateral Tele-operation Manipulator with Zero-disturbance Spacecraft Attitude with Communication Random Delays Fuhai Zhang, Yili Fu, Lei Hua, Hongwei Chen, Shuguo Wang, Bin Guo State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China Zhijun Li1, Liang Ding2 , …, and Haibo Gao2 1South China University of Technology 2Habin Institute of Technology • A point-to-point planning approach of the FFSM is presented to ensure that the manipulator end-effector • Trilateral teleoperation system with reaches the desired point and the spacecraft attitude is zero- dual-master-single-slave configuration. disturbance simultaneously. • Using partial feedback linearization, • With the introduction of the the whole trilateral teleoperation correlative coefficient, whether the system consisting of both the master singularities of the current path points happen could be judged. and the slave is transformed into three • The effectiveness and feasibility of subsystems. the proposed approach is verified by The FFSM Model • By integrating Markov jump systems to simulation results handle random delays, adaptive fuzzy Trilateral teleoperation control strategies are developed.

Ballroom 3, 2nd Floor (3) 14:40-15:00 Ballroom 3, 2nd Floor (4) 15:00-15:20 Research on Map Merging for Multi-robotic Human-Like Indoor Navigation for Autonomous System Based on RTM Industrial Mobile Manipulator Ke Wang, Songmin Jia, Yuchen Li, Xiuzhi Li, Bing Guo Hongtai Cheng, Heping Chen Yong Liu Weihua Sheng College of Electronic Information & Control Engineering, Beijing University of Technology Texas State University Nanjing University of ST Oklahoma State University Beijing, China Texas, United States Nanjing, China Stillwater, OK,USA

Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 • A multi-robot system for exploring • An effective and robust Subsystem Subsystem in large-scale unknown environment User Interface Robot Control classification by using a novel Dead Corner T Corner T RTC RTC Straight T Cross was built. End Right Right Left Left Control cascade Bayesian classifier. 2 Map Subsystem •The SPATM Algorithm was used data Data Collecting The Pose Basic Corridor Types of Robot • Autonomous localization & for path planning. RTC RTC Laser Data Image Data navigation with human-like guide • The ICP Algorithm was used for information. The feature of the image self-location of each robot and the The current AST RTC RTC The Pose of Robot • Experiments verify effectiveness map merging where SIFT feature RTC Subsystem of the proposed method was matched among robots. Data Process System The components structure • Many potential applications in • Some RT-components was built by of mobile robot map merging antonomous industrial using RTM technology. Autonomous Industrial Mobile Manipulator automation. (AIMM)

Ballroom 3, 2nd Floor (5) 15:20-15:40 Ballroom 3, 2nd Floor (6) 15:40-16:00 A Novel Battery Charger for Plug-in Hybrid Modeling of Rate-dependent Asymmetric Electric Vehicles Hysteresis Nonlinearity for Magnetostrictive Liangrong Wang1,2,4, Jianing Liang1,2, Guoqing Xu2,3, Kun Xu1,2,4, Zhibin Song1,2,4 1Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Actuators Shenzhen 518055, China Zhi Li, Tianyou Chai, Ying Feng, and Chun-Yi Su 2The Chinese University of Hong Kong Shatin, Hong Kong, China State Key Laboratory of Synthetical Automation for Process Industries, Shenyang, China 3Department of Electrical Engineering, Tongji University, Shanghai 200092, China South China University of Technology, Guangzhou, China 4Graduate University of Chinese Academy of Sciences Beijing 100049,China • A rate-dependent asymmetric shifted • In this paper, an innovative integrated Prandtl-Ishlinskii (RASPI) model was battery charger is presented. first proposed, which utilizes a pure time • The operation mode of charger can be delay as the rate dependent operator to divided into three modes: boosting reflect the change of the hysteresis due to drive motor mode, directly drive motor different input frequencies. mode and charging mode. • Experimental tests were conducted on the magnetostrictive actuator and the results • The simulation results have been Schematic Diagram of show that the RASPI model corresponds presented to verify the operation for Integrated Charger The rate-dependent asymmetric hysteresis battery charger, showing the system well with the experimental data. effect in the magnetostrictive actuator has good operation performance.

T-6 WP3:Intelligent Control and System

Session Chair: Qiang Huang and Lixin Tang

Ballroom 2, 2nd Floor 14:00-16:00 Wednesday, June 6

Ballroom 2, 2nd Floor (1) 14:00-14:20 Ballroom 2, 2nd Floor (2) 14:20-14:40 Design of Hovering Altitude Holding Control Second-Level Sliding Mode Tracking Control of System for Helicopter Unmanned Surface Vessels with Parameter Xiaoyan Wang, Xinmin Wang and Congchao Yao Department of Automation, Northwestern Polytechnical University Uncertainties Xi’an, China Zhu Qidan, Jiang Zhengqiao,Liu Zhilin and Yu Ruiting • Sea wave model is established based Department of Automation, Harbin Engineering University on rational spectrum method. Harbin, China • Kalman filter is designed according to the integrated height system of • State of the trajectory tracking usurge()

xB radio altimeter and vertical The Model Following Control System control problem. accelerometer. • Sliding Mode Tracking Control Law • Two altitude holding control for Surge and Lateral Motion.  structures are developed based on • Simulation Examples for Circular helicopter explicit model following vsway() yB control system (EMFCS). Trajectory and Straight-Line Trajectory. • The resistance to vertical wind The Optimized Control Structure disturbance or parametric • Conclusion and Future Work Unmanned Surface Vessel perturbations is proved.

Ballroom 2, 2nd Floor (3) 14:40-15:00 Ballroom 2, 2nd Floor (4) 15:00-15:20 Adaptive Integral Backstepping Control Uncertain Chua system chaos synchronization for a 3-DOF Helicopter using single variable feedback based on Wei-Nan Gao and Zheng Fang State Key Lab of Synthetical Automation for Process Industries, Northeastern University adaptive technique Shenyang, China Fengxiang Chen, Guangji Ji, Shuang Zhai, Shijia Wang, Su Zhou, Tong Zhang • A Quanser’s 3-DOF helicopter is a School of Automotive studies, Tongji University,Shanghai, China simplified and benchmark experi- • Only single variable is received xy xyˆˆ  z mental model for validating the effe- from master Chua chaotic system yzyx  yzyxˆˆˆ ˆ ctiveness of various flight control • Parameters perturbation in chaotic z(())yzfz zˆˆˆ 00(())yzˆ  fz  u algorithms. system • The control law is a simple as Synchronization error • An adaptive integral backstepping e uke z  hek,  a algorithm is applied to realize robust zz00 ez control of the 3-DOF helicopter. • The design method mainly based • Experimental results demonstrate that on adaptive technique the proposed algorithm performs well The 3-DOF Helicopter in tracking and under model uncertainties.

Ballroom 2, 2nd Floor (5) 15:20-15:40 Ballroom 2, 2nd Floor (6) 15:40-16:00 Combined Power and Rotating Speed Control of The Process Control System Based on LabVIEW Ship Electrical Propulsion System in Waves in a Hardening Die Steel Production Line Yaohua Luo, Shijia Lv, Shaobo Kang, and Xiaoli Duan Jiangyun Li1, Jinhui Zhang2, Nan Zheng3, and Xiaoli Li4 College of Automation, Harbin Engineering University School of Automation & Electrical Engineering, University of Science and Technology Beijing, Harbin, China Beijing,China • A model of ship motion considered regular waves is introduced and the • Hardening die Steel inverter-motor-drive system based • Process Control system based on on rotor magnetic field vector LabVIEW development tool. control is studied. • Communication between L2 and • A propeller open water test has been L1 and within L1 by OPC Protocol . finished. • Communication between L3 and • The fluctuations of the power and L2 by Socket Protocol. speed are controlled in an acceptable • Link SQL Server and LabVIEW by System structure range. Rotating speed and power DCOM. of the motor

T-7 WP4:Biomedical Imaging

Session Chair: Jinzhu Yang and Kuanquan Wang

Lian Hall, 2nd Floor 14:00-16:00 Wednesday, June 6

Lian Hall, 2nd Floor (1) 14:00-14:20 Lian Hall, 2nd Floor (2) 14:20-14:40 Medical Image Encryption Based on a Breast Mass Segmentation in Composition of Logistic Maps Mammography Using Improved Dynamic and Chebyshev Maps Programming Yin Dai and Xin Wang Buer Qi, Xiaoguang Pan, Hong Li, and Yan Kang Sino-Dutch of Biomedical and Information Engineering school, Northeastern University Sino-Dutch Biomedical and Information Engineering School, Northeastern University Shenyang, China Shenyang, China

• DICOM images are widely used in • Mass segmentation is the foundation the medical imaging field, so it is of mass detection and a challenging important to study images security. task in Breast CAD. • A new encryption algorithm based • Our Goals: Using an improved on a composition of Logistic maps dynamic programming method to and Chebyshev maps is proposed. obtain accurate contours • The new algorithm can be applied • Introducing an adaptive mass radius to DICOM images to secure the determining method and a boundary transmission of medical image data. Correlation of encrypted image compensation method The Process of Improved Dynamic Programming

Lian Hall, 2nd Floor (3) 14:40-15:00 Lian Hall, 2nd Floor (4) 15:00-15:20 An Efficient Interval Query Algorithm Based on A Fast Subtraction Algorithm of Brain CT Angiography Inverted List in Cloud Environment Images based on MMBE Fangfang Han, Jinzhu Yang, Dazhe zhao,and Hong Zhao Zhiqiong Wang, Ke Gong, Shikai Jin, Wenjun Liu and Zixi Liu Northeastern University Sino-Dutch Biomedical and Information Engineering School, Northeastern University Shenyang, China Shenyang, China • An improved subtraction method on • CNCList+ was proposed to improve Brain CTA Images. the interval query speed. • Adapted sample and compression of • IQIL is created to further reduce the gray scales to improve the speed of interval query time. 3D registration. • Sub-intervals formation. • Improved extraction of bone by the • Intersection checking between sub- combination of threshold and intervals and target query interval. refinement of bone mask methods. • Superior performance on query • The algorithm proposed in this paper speed of IQIL compared to have improved about eight times of CNCList+. computing speed. Intersection Checking The Subtraction Result

Lian Hall, 2nd Floor (5) 15:20-15:40 Lian Hall, 2nd Floor (6) 15:40-16:00 A Three Dimensional Ray Casting Method for Vocal Tract Spectrum Transformation Based on Juxta-pleural Nodule Segmentation in Thoracic Clustering in Voice Conversion System CT Images Xie Weichao, and Zhang Linghua College of Telecommunication & Information Engineering, Nanjing University of Posts and Guanglei Si, Jinfeng Cai, and Yan Kang Telecommunications Laboratory for Medical Imaging Research , Northeastern University Nanjing, China Shenyang, China • A vocal tract spectrum transformation I • Cast rays from the seed point P to 5 D method based on clustering in voice E d the border points of the foreground. 0 F conversion system is proposed. 5 • K-means clustering is involved before • The rays PA, PB and PC are all G 0 b c GMM modelling. included in the foreground. 5 C a P • Establish the transformation rules for 0 B • The rays PD, PE and PF will pass c every cluster. Each frame is classified 5 A H into a cluster and converted by the through the background. 0 rules of that cluster. • For the boundary points G and H, 5 d 0 • Experiments show proposed method their extension lines will keep 5 J improves the quality of synthetic transferring until they reach the speech, has better spectral envelope border of the VOI . Ray casting process with less spectral distortion. The Spectral envelope

T-8 WE1:Automation II

Session Chair: Li Qiu and Jie Chen

Zhu Hall, 2nd Floor 16:20-18:00 Wednesday, June 6

Zhu Hall, 2nd Floor (1) 16:20-16:40 Zhu Hall, 2nd Floor (2) 16:40-17:00 Linear Quadratic Optimal Control of Continuous- Networked Feedback Control over Fading time LTI Systems with Random Input Gains Channels and the Relation to H_2 Control Wei Chen, Jianying Zheng, and Li Qiu Guoxiang Gu Li Qiu Department of Electronic and Computer Engineering, Hong Kong University of Science and Department of Electrical and Department of Electronic and Computer Technology, Clear Water Bay, Kowloon, Hong Kong, China Computer Engineering, Louisiana Engineering, Hong Kong University of State University, USA Science and Technology, China

• Linear quadratic optimal control of continuous-time linear time- • The MS stabilization for discrete-time NCS over the fading invariant systems with random input gains is studied. channel modeled as multiplicative random processes is studied. • One main novelty is the use of channel/controller co-design • A unitary matrix is introduced to encode and decode the control which is carried out by virtue of the twist of channel resource signal at the two ends of the fading channel based on which an allocation, i.e., the channel capacities can be allocated subject to innovative resource allocation method is developed to mitigate an overall capacity constraint. the channel fading. • A nice analytic solution is obtained under certain conditions. The • Reveal the true nature of H_2 control for MS stabilization and optimal control law is a linear state feedback. provide a synthesis procedure for design of the NCS over the fading channel.

Zhu Hall, 2nd Floor (3) 17:00-17:20 Zhu Hall, 2nd Floor (4) 17:20-17:40

Minimum Sensor Duty Cycle with Guaranteed Estimator Performance Ye Yuan1 and Ling Shi2 1: Control Group, Department of Engineering, University of Cambridge, Cambridge, CB2 1PZ, U.K. 2: Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong.

Process Sensor Scheduler Estimator

• We construct schemes that provide tight lower and upper bounds of the minimum sensor duty cycle and guarantee bounded average error at the estimator. • We construct an optimal scheme that minimizes the sensor duty cycle and guarantees bounded error at all times at the estimator .

Zhu Hall, 2nd Floor (5) 17:40-18:00 Linear Output Regulation of Heterogeneous Networked Systems Based on Adaptive Dynamic State Feedback Shaobao Lia, Gang Fenga, Juan Wangb, Xiaoyuan Luob, and Xinping Guanc a. Department of Mechanical & Biomedical Engineering, City University of Hong Kong; b. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China; c. Institute of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China. • The aim is to make the networked heterogeneous nodes track the reference while rejecting the disturbances. • Two distributed adaptive control laws based on dynamic state feedback are presented to solve the regulation problem. • The feedback gains are independent of the Laplacian matrices of system topologies. Linear Output Regulation

T-9 WE2:Advanced Robots II

Session Chair: Guohui Tian and Songmin Jia

Ballroom 3, 2nd Floor 16:20-18:00 Wednesday, June 6

Ballroom 3, 2nd Floor (1) 16:20-16:40 Ballroom 3, 2nd Floor (2) 16:40-17:00 Improvement Flexibility of SLAM in Design of A Novel Frog-Inspired Unknown Environment Based on Hopping Leg Robot Technology Middleware Wei Zhang, Jizhuang Fan and Hegao Cai Songmin Jia, Bing Guo, Xiuzhi Li, Ke Wang, Yuchen Li State Key Laboratory of Robotics and System, Harbin Institute of Technology College of Electronic Information & Control Engineering Harbin, Heilongjiang Province, China Beijing, China • we presents an efficient simultaneous localization and • Powered by pneumatic muscles in mapping (SLAM) technique in multi-obstacle environment for bioarticular method. indoor mobile robot navigation • Kinematic analysis of the based on Laser Range Finder. mechanism and the pneumatic • We use Rao-Blackwellized muscles. Particle Filter (RBPF) to localize mobile robot and use • Jumping simulation based on the Vector Field Histogram(VFH) virtual components in Adams. for obstacle avoidance. The components structure of Frog-Inspired Hopping Leg • Robot Technology Middleware mobile robot SLAM based (RTM) was used. on RBPF.

Ballroom 3, 2nd Floor (3) 17:00-17:20 Ballroom 3, 2nd Floor (4) 17:20-17:40 A Domain Specific Architecture Description The Structure and Application of Intelligent Language for Autonomous Mobile Robots Space System Oriented to Home Service Robot Lei Zhang, Huaxi (Yulin) Zhang, Zheng Fang, René Zapata, Marianne Huchard Fei Lu, Xinran Wang and Guohui Tian State Key Laboratory of Synthetic Automation for Process Industries School of Control Science and Engineering, Shandong University Northeastern University, Shenyang, China Jinan, China • A domain specific architecture framework for Autonomous Mobile • Structure of intelligent space Robot system oriented to home • A domain specific architecture service. description language. • Key technology modules of • A AMR domain ontology and intelligent space system. metamodel. • Smart and agilely home • An AMR-ADL metamodel based on service based on intelligent AMR domain ontology and space. Domain driven AMR-ADL framework architecture metamodel Intelligent Space oriented to home service robot

Ballroom 3, 2nd Floor (5) 17:40-18:00 Gait Design and Optimization of A New Limb Robot Jizhung Fan, Jihong Yan and Jie Zhao Research Laboratory for Service Robotics, Shandong University Jinan, China • A integration robot of arm and leg, with permanent magnet adsorption. • Applied to the field of detection on the large storage tanks, hull check, etc. • Robot cross gait when it walk quickly on the barrier-free road. • Robot cross gait optimization 1.Servo motor, 2.Limb 1, 3.Turbine worm, 4.Limb 2, algorithm based on the optimal 5.Operation mechanism, 6.Adsorption mechanism, energy. 7.Three force/torque sensors, 8.Limb.3 three-limb biomimetic robot

T-10 WE3:Computer Vision

Session Chair: Baopu Li and David Zhang

Ballroom 2, 2nd Floor 16:20-18:00 Wednesday, June 6

Ballroom 2, 2nd Floor (1) 16:20-16:40 Ballroom 2, 2nd Floor (2) 16:40-17:00 Locality Enhanced Spectral Embedding and Image Features-Based Mobile Robot Localization Spatially Smooth Spectral Regression for Face Rui Lin, Zhenhua Wang, Rongchuan Sun and Lining Sun Recognition Robotics and Microsystem Center, Soochow University Suzhou, China Furui Liu, Xiyan Liu State Key Lab of CAD&CG, College of Computer Science, Zhejiang University • We present a novel algorithm for Hangzhou, China • Locality enhanced spectral embedd- mobile robot localization based on ing (LESE) with a non-nearest graph image features. • Spatially smooth spectral regression • A novel method is proposed to extract (SSR) to constrain coefficients to be distinctive invariant image features, spatially smooth which is coined PLOT (Polynomial Local Orientation Tensor). • Laplacian smooth is used • Extended RANSAC is proposed for • The learned subspace is for the face mobile robot pose estimate due to its recognition task by applying cluster- efficiency. Bird’s eye view of PLOT ing methods as K-means landmarks in the database, • Two direction smooth—both Face Recognition Accuracy pose estimates and odometry during the movement. vertical and horizontal on Yale Face Database

Ballroom 2, 2nd Floor (3) 17:00-17:20 Ballroom 2, 2nd Floor (4) 17:20-17:40 A Novel Graph-Based Matching Method to Merge Hand Gesture Recognition using RGB-D Cues the Extracted Maps from Mobile Robots A. Karambakhsh, Vahid Azizi, M. H.K.Heiran, M. Y.Azar, M.R. Meybodi Lan Lin1,2，Yang Cong1，Yandong Tang1 Mechatronics Research Laboratory (MRL), Qazvin Incubator Center of Technology Center 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of (QICTU), Qazvin Islamic Azad University (QIAU) Sciences; 2.Graduate School of the Chinese Academy of Sciences. Qazvin, Iran Shenyang，China

• RGB-D data cubes • One of the most discussed issues in construction mobile robots study fields is the mapping discussion or SLAM. • Hand detection with • we are intended to generate a graph skin color and depth based on image processing • Hand pattern extraction techniques and match them. by saliency points. • one of the methods that shown better • Gesture classification results, is to match edges between with Adjacency Matrix. nodes. Data and gesture pattern Proposed structure to match two extracted graphs of each map

Ballroom 2, 2nd Floor (5) 17:40-18:00 An Automatic Method for Texture Extraction and Mapping in 3d Building Reconstruction Cheng Hui, and Zhang Jianpei College of Computer Science & Technology, Haerbin Engineering University Haerbin, China

• Texture Sampling. • Image Rectification. • Texture Mapping. • Experimental Results. The Complete Model Reconstruction

T-11 WE4:Biomedical Imaging II

Session Chair: Han Gao and B. M. ter Haar Romeny

Lian Hall, 2nd Floor 16:20-18:00 Wednesday, June 6

Lian Hall, 2nd Floor (1) 16:20-16:40 Lian Hall, 2nd Floor (2) 16:40-17:00 Identification research of pulmonary nodules based on PCA A new X-ray scatter correction method based on and the improved BP neural network Fan Linan, Hu Xiangli, Sun Shenshen, Gu Wenjuan BAG for cone beam CT School of Information Engineering , Shenyang University Ping Geng1, Fei Teng2, Dayu Xiao3, and Yan Kang4 Shenyang, China College of Science, Northeastern University, Shenyang City China Lung cancer is one of the biggest healthy hazards of cancer to the human life in the • The new method which combines world, especially for nearly half of a image sequence processing and century. Incidence and mortality rates in Guassian Blurring is designed on a every country's lung cancer are rising flat panel detector . sharply. If lung cancer is diagnosed and treated in the early days, survival rate of the • . The results of scatter correction 5-year will rise from 14% to 49%. indicate that the proposed method is Pulmonary nodules is early form of practical and effective expression of lung cancer. So we propose a The scatter correction result detective method of pulmonary nodules which is applied to CT image based on PCA pulmonary nodule and the improved BP neural network.

Lian Hall, 2nd Floor (3) 17:00-17:20 Lian Hall, 2nd Floor (4) 17:20-17:40 Reconstruction of Panoramic Image through Fusion of Sequential Lateral Multi-Lens Logging Images Research on Automatic Recognition of Breast Hongtao Hu, Xia Lin, Zhouli Li School of Computer Science,Xi’an ShiYou University Tumors Based on Principal Component Analysis Xi’an, China Li Ke, Nan Li and Yingying Chen Institute of Biomedical and Electromagnetic Engineering, • The original well wall images are a set of sequential isometric images taken by a Shenyang University of Technology, Shenyang, China lateral multi-lens video logging. • The method to calculate the • Wavelet transform image fusion method covariance matrix is proposed though computation of the overlap region of sequential images. • Calculate the eigenvalues and • The proposed method is consisted of three eigenvectors steps. • Structure a feature space by • experiment shows the proposed method eigenvectors solves the issue of discontinuity of mosaic • Map test images to the feature space image edge gray and the fusion panoramic Reconstruction of The full tumor image demonstrates a better visual effect. Panoramic Image

Lian Hall, 2nd Floor (5) 17:40-18:00 Identification of Incorrect Segmentation and Centerline Correction of Coronary Arteries in CT Angiographic Images Ling Fu, Lei Shi, and Yan Kang Sino-Dutch Biomedical and Information Engineering School, Northeastern University Shenyang, China • Accurately extracted centerlines of coronary arteries are important for computer-aided diagnosis of cardiovascular diseases. • We propose two automatic methods to identify the incorrectly segmented vessels and correct their centerlines. • We evaluated the proposed methods quantitatively on real CT angiographic datasets. The evaluation results demonstrate the effectiveness of the methods. The Corrected Centerlines

T-12 Thursday, June 7, 2012

TA‐1 Automation II

TA‐2 Image/Video Processing

TA‐3 Intelligent Control and System II

TA‐4 Biomedical Imaging III

TP‐1 Automation III

TP‐2 Image/Video Processing II

TP‐3 Network & Communications

TP‐4 Biomedical Instrumentation

TE‐1 Vehicle Dynamics Control

TE‐2 Image/Video Processing III

TE‐3 Network & Communications II

TE‐4 Biomedical Instrumentation II

TA1: Mobile System

Session Chair: Guoqing Xu and Heng Yue

Kunlun Hall, 3rd Floor 10:20-12:00 Thursday, June 7

Kunlun Hall, 3rd Floor (1) 10:20-10:40 Kunlun Hall, 3rd Floor (2) 10:40-11:00 Vibration Energy Harvesting in Automobiles to Power Wireless Sensors Multiple Aerial Vehicles Cooperative Mission Qingyuan Zhu, Mingjie Guan, and Yuanqin He Planning with RHP Smart Materials and Strucutures Laboratory, Xiamen University Xiang Dai, Shidong Qiao, Zhong Liu, Jincai Huang, Guangying Zhu Xiamen, China Science and Technology on Information Systems Engineering Laboratory, National University • Reports vibration levels detected in of Defense Technology automobiles during road test. Changsha China • Designs and fabricates a piezoelectric • Multiple aerial vehicles cooperative vibration energy harvester for operation model. automobile vibrations. • A new planning algorithm with RHP. • Shows the measured voltage and • Eliminate the long way around case. power outputs of the harvester during • Simulation and comparison between road test. the algorithm and the existing ones. • The measurement results show that the vibrations in the automobiles are large enough for useful vibration The Vibration Energy Aerial Vehicle Formation harvesting. Harvester Prototype

Kunlun Hall, 3rd Floor (3) 11:00-11:20 Kunlun Hall, 3rd Floor (4) 11:20-11:40 Traction Control for Electric Vehicles -A Novel A Novel Verifiable Threshold Signature Scheme Control Scheme Based on Bilinear Pairing in Mobile Ad Hoc Jialong Chen, Guoqing Xu, Kun Xu, Weimin Li and Liang Zheng Center for Automotive Electronics, Shenzhen Institutes of Advanced Technology, Network Chinese Academy of Sciences, Shenzhen, China Xianyong Meng¹ ² and Yangmin Li¹ ³ ¹Mechatronics Laboratory, University of Macau, Macao • Traction control is critical to avoid loss ²Zhuhai College of Jilin University, Zhuhai, China of control on low-adhesion road surfaces. ³Tianjin University of Technology, Tianjin, China • Electric vehicles have faster torque X V Z

response derived from the motor, as well M FZ • We construct a (t, n) threshold key management scheme r as more flexible powertrains with in- Fdr without a trusted party in Mobile Ad Hoc Network. C wheel motors, which can significantly T ω • We proposed a verifiable threshold signature scheme that Fd Road all participants must provide confidential and verifiable improve the dynamic control N information each other. performance. • We design a new bilinear pairing-based threshold signature • We propose a novel traction control single wheel model of vehicle scheme which is more security, verifiable and efficient compared with the presented schemes for Mobile Ad Hoc scheme for electric vehicles. Network.

Kunlun Hall, 3rd Floor (5) 11:40-12:00 Modeling and Simulation of MI Wireless Communication for a Deepwater Mooring System Zhen Zhao, Shuzhi Sam Ge, Wei He, and Yoo Sang Choo Department of Electrical & Computer Engineering, National University of Singapore, Singapore • Subsea is a challenging environment for wireless Communication. • The most popular underwater wireless communication technique using acoustic wave does not work well. • Magnetic wireless communication is analyzed. • Transmission loss between transceivers is investigated. • Simulation model of the MI wireless Magnetic flux density passed communication is built. through the reception coil 3rd Floor

T-13 TA2:Image/Video Processing

Session Chair: David Zhang and Baopu Li

Meeting Room, 26F 10:20-12:00 Thursday, June 7

Meeting Room, 26F (1) 10:20-10:40 Meeting Room, 26F (2) 10:40-11:00 A New Stereo Matching Method with Combination 3D Reconstruction Based on Digital Speckle of Cross-based Aggregation and Hierarchical Correlation in Virtual Sport Chuanyang Ruan1,2,3, Jun Jiang2,3, Feiqi Deng1, Jun Cheng2,3, and Huaxing Qian1 Belief Propagation 1South China University of Technology, Guangzhou, 510640, China Tianyu Yang Qing He Ning Wei Baopu Li Chao Hu Max Q.-H. Meng 2Shenzhen Institutes of Advanced Technology, Chinese Academy of Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China, Sciences, Shenzhen, 518055, China 3The Chinese University of Hong Kong, Hong Kong, China • utilize the merits of both local • The Digital Speckle Correlation method and global method. Algorithm and Curve • combine cross-based support • Fast Search Method Based on aggregation and belief propagation Relevant Information of • propose a matching cost function. Neighborhood incorporating the edge information • The Proposed Interpolation • some disparity refinements are Algorithm done. • Measurement Method • effective and reasonable result. disparity result of tsukuba image • Experimental Results flow chart

Meeting Room, 26F (3) 11:00-11:20 Meeting Room, 26F (4) 11:20-11:40 A Monocular Distance Estimation Method Used Detection of Geometric Shape for Traffic in Video Sequence Lane and Mark Xian Liu, Gang Wang, Jingsheng Liao, Baopu Li, Qing He and Max Q. -H. Xiaolei Li and Lu Wang Meng School of Control Science and Engineering, Shandong University Shenzhen Institutes of Advanced Technology Jinan, China Chinese Academy of Sciences Shenzhen, Guangdong, China • Monocular distance estimation with • In this paper, we introduce a method to detect geometric shape for Pin-hole model traffic lane and mark. This method contains four steps. • Distance estimation based on edge • First, we apply HSV color space, histogram equalization and Otsu points algorithm for image preprocessing. Then we use Canny algorithm and • Hough Transform (HT) restriction Progressive Probabilistic Hough Transform algorithm finding an algorithm proposed for distance optimal position of lane in image. Then by using Kalman filter model, estimation in video sequence we update and track lane marking lines. Finally we use template • Kalman Filtering helps the proposed matching method to detect shape of traffic mark. We introduce algorithm Vision system in AUV normalized cross-correlation to recognize the traffic signs. • Experiment results demonstrate that the proposed scheme can detect geometric shape for traffic lane and mark effectively.

Meeting Room, 26F (5) 11:40-12:00 A New Hybrid Metric Map Representation by Using Voronoi Diagram and its Application to SLAM

Shuai Guo1,2, Shugen Ma1,3,Bin Li1, Rongchuan Sun1,2, and Yuechao Wang1 1. Shenyang Institute of Automation, Chinese Academy of Science, China 2. Graduate University of Chinese Academy of Sciences, China 3. Department of Robotics, Ritsumeikan University, Japan • A novel hybrid metric map Estimated trajectory representation based on Voronoi 20 Handcart pose Local maps • Theorem 1: The map partition Estimated feature result is unique. 15

• Theorem 2: The hybrid metric map10 describes all the observed Y/meter environment. 5 Shape matching data association: • 0 Benefit brought from the hybrid

-10 -5 0 5 10 15 metric map. X/meter Experimental result Meeting Room, 26F

T-14 TA3:Intelligent Control and System II

Session Chair: Jianwei Zhang and Dezhang Xu

Zhu Hall, 2nd Floor 10:20-12:00 Thursday, June 7

Zhu Hall, 2nd Floor (1) 10:20-10:40 Zhu Hall, 2nd Floor (2) 10:40-11:00 ROS-based Object Localization Using RFID and Memory-Based Hierarchical Task and Laser Scan Motion Planning Shujun Gong, Huifen Liu, Ying Hu, and Jianwei Zhang Yi Zeng, Jun Zhang, Weiwei Lu and Ying Hu Shenzhen Institutes of Advanced Technology, CAS, Shenzhen, China SIAT, Chinese Academy of sciences, China The Chinese University of Hong Kong, China • The ROS-based Simultaneous Localization Jianwei Zhang and Mapping (SLAM) combined with TAMS, Department of Informatics, University of Hamburg, Germany Radio Frequency Identification (RFID) is used for a coarse position by our robot • HTN planning is altered by called RCT-M. interleaving with execution and • Then with the RFID tag information, we could query the object information in the extended with a geometric object database. planner for mobile manipulation • Finally, with the object information we tasks. utilize suitable laser feature detection to localize an object for a precise position. • a memory-base can memory and Some factors associated with RFID reader manage mass patter-specific and RFID tags that can affect the object Object localization records, and supply data to the localization are also discussed. planner and various actuators.

Zhu Hall, 2nd Floor (3) 11:00-11:20 Zhu Hall, 2nd Floor (4) 11:20-11:40 Design of a Wheeled Inverted Pendulum as Workspace analysis of the underwater platform for Learning based Control dexterous hand Liping Ouyang, Bianjing Du, Ansi Peng, and Yongsheng Ou Xu De-zhang, Wei Ran, Zhang Wan, Wang Zhihong Wang Buyun Shenzhen Institutes of Advanced Technology, Chinese Academy of Science Anhui Polytechnic University , China Shenzhen, China • High efficient, low cost Wheeled Inverted Pendulum • Structure of IUDH dexterous hand • Special consideration for learning based control • Friendly interface for multi application • The coordinate systems • Kinematic description • The kinematic solutions • Local coordinates of touch point • Global coordinates of touch point • Number example IUDH Dexterous hand

Zhu Hall, 2nd Floor (5) 11:40-12:00 Multi-objective Optimization of Rolling Schedules for Tandem Cold Rolling Based on Adaptive Weight Differential Evolution Algorithm Yong Li1, Yu Wang2, Qun Gai1 1.School of Electrical Engineering Shenyang University of Technology Shenyang, Liaoning Provice, China. 2. Department of Automatic Control Shenyang Aerospace University Shenyang, Liaoning ggp Provice, China 15

•Introduction f1 5

X: 2 00 Y: 0.01963 0 •Multi-objective Optimization Model for Rolling 0 50 100 150 200 gggeneration p Schedules 7700 7650

7600 •Adaptive Weight Differential Evolution Algorithm f2 7550 X: 2 00 Y: 7504 7500 •Rolling Schedules Multi-objective Optimization of 0 50 100 150 200 gggeneration p Tandem Cold Rolling 0.35

0.3 •Parameters And Results f3 X: 2 00 Y: 0 . 2 7 9 0.25 0 50 100 150 200 generation

T-15 TA4:Biomedical Imaging III

Session Chair: Yan Kang and Hong Wang

Lian Hall, 2nd Floor 10:20-12:00 Thursday, June 7

Lian Hall, 2nd Floor (1) 10:20-10:40 Lian Hall, 2nd Floor (2) 10:40-11:00 Analysis of influencing factors using Grappa Automatic skull stripping in brain MRI based algorithm for image reconstruction on local moment of inertia structure tensor Shao Hong, Wang Yao Yi Zhong, Wei Feng, Shouliang Qi, E. Mark Haacke and Yan Kang School of Sino-Dutch Biomedical and Information Engineering, Sino-Dutch biomedical and Information engineering school, Northeastern University Northeastern University, Shenyang, China Shenyang, China • A new automatic skull stripping • It discusses three influencing factors in method for FLAIR MR images. GRAPPA reconstruction algorithm, they are • Edge detection using moment of block number, ACS lines and acceleration factor. inertia structure tensor. • The block number in rang of 4 to 8 shows • Data from 30 MS patients were similar good result. In order to minimize processed by both proposed method computation, block number is set to 4. and BET. • ACS lines can improve reconstruction quality, • The results show proposed method but add scanning time. So 32 is reasonable. has a better correlation with the • The bigger acceleration factor is, the bigger manual segmentation result. Fig. Result of skull stripping for one MS patient. Left to SNR the image has. So acceleration factor is right columns: original images, skull stripped using BET SOS image vs and using the proposed method always set to 2. reconstruction image

Lian Hall, 2nd Floor (3) 11:00-11:20 Lian Hall, 2nd Floor (4) 11:20-11:40 Tractography of the Optic Radiation Three Dimensional MREIT for Breast Cancer for Vision Sparing Epilepsy Surgery Detection on Open MRI Gang Li, Ruijuan Chen, Liling Hao and Ling Lin C.M.W. Tax, R. Duits, B.M. ter Haar Romeny, A. Vilanova, P. Ossenblok State Key Laboratory of Precision Measurement Technology and Instruments, Eindhoven University of Technology, Kempenhaeghe Epilepsy Center Tianjin University, Tianjin, China Eindhoven, the Netherlands • MREIT is a novel electrical • In medio-temporal epilepsy surgery conductivity imaging technology damage may occur to the visual tract that is hopeful to be applied in the • Reconstruction of the optic radiation diagnosis of early breast cancer. was done by fMRI-seeded Diffusion • The sensitivity reconstruction Tensor Imaging (DTI-tractography) algorithm is developed to three • We could map the highly curved dimensional Open MREIT. fibers of Meyer’s loop accurately • Simulation results on a hemisphere • We discriminated fibers of the model show the validity. central, upper and lower visual areas, • Phantom results show a promising enabling much safer surgery application prospect of Open Visual pathway reconstruction MREIT for breast cancer detection. Open MREIT for Breast Imaging

Lian Hall, 2nd Floor (5) 11:40-12:00 Algorithmic Development of Myelin Water Imaging Based on Multi-component T2 Analysis Shouliang Qi, Weijie Ji, Jingshu Zhang, Yan Kang Sino-Dutch Biomedical and Information Engineering School Northeastern University Shenyang, Liaoning Province, China [email protected] Myelin water fraction based on multi-component T2 analysis is one promising biomarker for the myelin in the brain. Two smoothing algorithms are proposed and compared in this study. Then the feasibility of using 6 echoes to determine MWF is investigated. Myelin water fraction image

T-16 TP1:Automation III

Session Chair: Guoxiang Gu and Heming Jia

Kunlun Hall, 3rd Floor 14:00-16:00 Thursday, June 7

Kunlun Hall, 3rd Floor (1) 14:00-14:20 Kunlun Hall, 3rd Floor (2) 14:20-14:40 Study on Mathematic Model of Wiped Film Horizontal Tracking Control for AUV Molecular Distillation Evaporator Based on Nonlinear Sliding Mode Lu Wang, He-ming Jia, Li-jun Zhang, Hong-Bin Wang Keping Liu, Tianfang Sun and Quan Tao Department of Control Theory and Engineering College of Automation , Harbin Engineering University Changchun University of Technology Harbin, China Changchun, Jilin, China With the purpose of the path tracking control of under- • Analysis of important factors to molecular actuated autonomous distillation underwater vehicle (AUV) in • Establishing and solving of the the role of the unknown current mathematic model disturbance, proposed a path • The analysis of influence to distillation tracking controller based on process about the feed temperature and nonlinear iterative sliding concentration. Fig. 1 Schematic diagram of molecular distillation theory Horizontal circular tracking curve mode incremental feedback. of underactuated AUV

Kunlun Hall, 3rd Floor (3) 14:40-15:00 Kunlun Hall, 3rd Floor (4) 15:00-15:20 Study on Design and Simulation Analysis of Helicopter Blades Pyramid Angle Measurement Electronic Hydraulic Brake System for Vehicles Based on Panoramic Vision Technology Shoutao Li, Xinglong Pei and Yongxue Mai Jiang, Wei Liang and Xiaoling Zhang College of Communication Engineering, Jilin University Lab of Industry Control Networks and Systems, Shenyang Institute of Automation Jilin, China Shenyang, China • In this paper a new method for z • Introduction of the current work helicopter blades pyramid angel D on Electronic Hydraulic Brake measurement based on panoramic system P 1 k1 Byz(,) vision technology is introduced. F1 P 111 • Design the structure of the EHB 2 k • The inverse projection equations H 2 Byz(,) system. e a z1 222 derived from panoramic spherical O y m n • Design the Hydraulic control unit reductive algorithm for calculation r (HCU) and the control unit of the F of the blades height differences 2 o EHB system. x i  A A • The experimental results show that 1 2  y1 • Make a regulation of the this method has higher accuracy and O1 The Structure of the Electronic controller parameters. suitable for rotor blades pyramid Hydraulic Brake System • Simulation result and conclusion. measurement system. The Hyperboloid Mirror Catadioptric System

Kunlun Hall, 3rd Floor (5) 15:20-15:40 Kunlun Hall, 3rd Floor (6) 15:40-16:00 Adaptive and Reliable Transmission Scheduling Global Asymptotic Stabilization of an with Low-Cost Estimation of Channel States Underactuated Surface Vessel Zeng Bo-Wen, Zhu Qi-Dan , Yu Rui-Ting Xiaoling Zhang, Wei Liang, Haibin Yu, and Xisheng Feng College of Automation Harbin Engineering University ,Hrbin,China Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, China • The stabilization problem of an

underactuated surface vessel is u surge • Low cost method for channel state () x considered. The ships under B cognition. consideration are not actuated in • Optimizing method for retry count. the sway direction. A time- v varying stabilization controller x • Global timeslot allocation method is presented to make the origin 

for the optimality of resource of an underactuated surface v vessel globally asymptotic y vsway() allocation. y stable. Simulation results show B • Local channel decision-making the effectiveness of the method for reducing the burden of controller. The idea can also be global allocation. applied to design controllers of Underactuated surface vessel Framework of ARSC Algorithm other underactuated systems

T-17 TP2:Image/Video Processing II

Session Chair: Baopu Li and Wei Liu

Meeting Room, 26F 14:00-16:00 Thursday, June 7

Meeting Room, 26F (1) 14:00-14:20 Meeting Room, 26F (2) 14:20-14:40 Improved Tensor Based Registration: An Adaptive Unscented Kalman Filters Applied to Heterogeneous Approach Visual Tracking Ying Wang, Yan Kang, E. Mark Haacke and Hong Zhao Qichuan Ding, Xingang Zhao, and Jianda Han College of Information Science and Engineering, Northeastern University State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS Shenyang, China Shenyang, China • An improved variant to the classic tensor-based moment-of-inertia rigid • The MIT-based AUKF and the body method for registering brain master-slave-structure AUKF are introduced in this paper. images in magnetic resonance imaging is presented. • A general kinematics equation of a rigid body is derived from a series • Application of a low pass Hanning of consecutive rotation and filter on k-space data. translation. • Applied iteratively and leads to an • AUKFs can accurately estimate the improved accuracy. position, orientation of a rigid-body • The average accuracy was 1.8×10 -4 from sequential images. fractional pixel for misplacements Correction of simultaneous The Experiment Setup along X and Y axes. shifts along X and Y axes

Meeting Room, 26F (3) 14:40-15:00 Meeting Room, 26F (4) 15:00-15:20 Orthonormal Finite Ridgelet Transform Coding Using A Portable Wireless Image Receiving an EBCOT‐like Algorithm System for the Capsule Endoscope In this paper, an image coding algorithm based on a rate- Yu Hu, Baopu Li, Dewen Zeng, Chao Hu ,and Max Q.-H Meng distortion optimized orthonormal finite ridgelet transform Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences, China (OFRIT) decomposition and on a block-partitioning coding scheme which quantizes each subband separately is proposed. In this way, • The system is used to receive JPEG images from Wireless our algorithm naturally overcomes the difficulty in defining Capsule Endoscope(WCE). parent-child relationships for wavelet-based ridgelet subbands, which exists in the zerotree based methods. The main merit of • It’s convenience and flexibility for patients and doctors to use the proposed method is that the ridgelet transform can provide WCE, and also facilitate to miniaturization WCE. optimally sparse representation of objects with singularities along straight edges and the orthonormal finite ridgelet • JPEG images decoding on this embedded system. transform(OFRIT) can decompose the high frequency parts of the • Showing real-time images by LCD. images which are not decomposed in discrete wavelet transform. • Saving images data on a SD card. The experimental results show that the proposed algorithm significantly outperforms SPIHT and JPEG2000 schemes in novel image with straight lines significantly or curve lines significantly coding, in terms of both PSNR and visual quality.

Meeting Room, 26F (5) 15:20-15:40 Meeting Room, 26F (6) 15:40-16:00 Watermark Performance Contrast between Contourlet and Non-subsampled Contourlet Fuzzy Direct Torque Control of IPMSM to Improve Transform both Efficiency and Speed Response # H. Mostafavi, # M. Sadeghi, # P. Ghaebi Panah, and *S. Azizkhani Guangyong Gao, Baoqin Cai, Shaowen Xu and TaoYan # Ragheb Isfahani Higher Education Institute, Isfahan, Iran School of Information Science & Technology, Jiujiang University *Multimedia University, Cyberjaya, Malaysia Jiujiang, China

• The performance between the watermark scheme using contourlet tranform and that using non-subsampled contourlet transform (NSCT) is compared. • The transparency and robustness analyses are performed on watermark scheme using contourlet tranform or NSCT. • A conclusion can be drawn that NSCT is more suitable for watermark application Original Peppers than contourlet tranform.

T-18 TP3:Control and Systems

Session Chair: Jianda Han and Hong Zhang

Zhu Hall, 2nd Floor 14:00-16:00 Thursday, June 7

Zhu Hall, 2nd Floor (1) 14:00-14:20 Zhu Hall, 2nd Floor (2) 14:20-14:40 Fast and Robust Pose Estimation Using Coplanar Feature Points

1100 Junying Xia, Xiaoquan Xu and Jiulong Xiong 1000 r d y 900 College of Mechatronic Engineering and Automation, National University of Defense Technology 4 Gk Go 800 3 Changsha, Hunan Province, China 700 2  600 F 500 1  • Most pose estimation algorithms 400 ˆ 300 Go velo city(u nit:0 .0 003 r ad/ s) fail to deal with Pose Ambiguity 200 100 when using coplanar feature points. 0 4500 5000 5500 6000 6500 7000 7500 8000 • First, find the two minima pose time(unit:ms) under Para-perspective. A new robust controller design method, called disturbance observation based • Then, refine them using the internal model control, is proposed. This new controller has a new structure composed of two sub-controllers, the inner disturbance compensator and the outer nominal Orthogonal Iteration algorithm to controller. An attractive advantage of this structure is that the parameters of the two get the two minima pose under controllers can be designed separately. That is, there is little coupling between the two perspective. sub-controllers. The comparison between the structures of the proposed controller and that of the traditional internal model controller is given, and detailed theoretical • Finally, chose the minimum with analysis on controller performances, robustness and sensitivity are conducted. Finally, the lower object collinearity extensive experiments are conducted to verify the feasible and validity of this new Error as the Final-Pose. Solution for Pose Ambiguity controller designing algorithm in the real application.

Zhu Hall, 2nd Floor (3) 14:40-15:00 Zhu Hall, 2nd Floor (4) 15:00-15:20

On correlation analysis of bivariate alarm signals Posture Prediction of Humanoid Robot: Zijiang Yang, Jiandong Wang, and Tongwen Chen Modeling and Simulation of Manual Lifting College of Engineering, Peking University, Beijing, China Parvin Abedi, Ali Leiylavi Shoushtari and Meysam Bistooni Dept. of Electrical & Computer Engineering University of Alberta Department of Engineering, Shoushtar Branch, Islamic Azad University, Shoushtar, Iran

• The correlation ration coefficient is more suitable for alarm data • Redundancy problem in similarity analysis, and its upper bound 1/16 is smallest than all biomechanical models of human other binary similarity coefficients. body and the CNS solution. • Biomechatronical Modeling of • Correlation delay is shown to be indispensable and effective for the human body. alarm data correlation analysis. • Optimization-based simulation. •Results. • A novel correlation analysis method for alarm signals is proposed • Conclusion. based on the correlation ratio coefficient and distribution of the correlation delay. Biomechatronical Model of Human Body

Zhu Hall, 2nd Floor (5) 15:20-15:40 Zhu Hall, 2nd Floor (6) 15:40-16:00 DWT Based Steam Detection with Adaboost Biped Robot Push Detection and Recovery Zhijie Wang, Mohamed Ben Salah and Hong Zhang Awais Yasin, Qiang Huang, Qian Xu, Weimin Zhang Department of Computing Science, University of Alberta Intelligent Robotics Institute, School of Mechatronics Engineering, Beijing Institute of Edmonton, Alberta, Canada Technology, Beijing, P.R. China

• Steam can occlude objects of interest in many applications. • Push detection for a 23-DOF small humanoid robot using • Common steam detection systems Attitude and Heading Reference first extract features from an input System. image and then classify its regions. • Foot force sensors for ZMP • We use discrete wavelet transform measurement. (DWT) for feature extraction and Adaboost for classification. • LIPM based trajectory generation • Our algorithm is efficient than - and Push Detection & Recovery System our DWT features outperform – others • Push Recovery through foot in steam detection experiments. Input Image (Top) and placement. Detected Steam (Bottom) TP4:Biomedical Instrumentation

Session Chair: Kim Yeoun-Jae and Hong Li

Lian Hall, 2nd Floor 14:00-16:00 Thursday, June 7

Lian Hall, 2nd Floor (1) 14:00-14:20 Lian Hall, 2nd Floor (2) 14:20-14:40 The Average Cerebral Perfusion in Patients with Implementation of Cuff-less Continuous Blood Multiple Sclerosis (MS) using MRI Pressure Measurement System Based on Yi Zhong, David Utrianien, Wei Feng, Shouliang Qi, Yan Kang and E.Mark Haacke Sino-Dutch biomedical and information engineering school, Northeastern University Android Shenyang, China Lisheng Xu, Xu Guo, Feifei Yang, Sainan Yin, Xibin Zhang, Max Q.-H. Meng Key Laboratory of Medical Image Computing (Northeastern University) • Flow and structural of the neck Ministry of Education venous may be correlate in MS • A blood pressure monitoring device has patients. been presented for real-time non-invasive • 140 MS patients and 26 blood pressure monitoring based on normal controls were imaged. Android smart-phone. • Average CBF as a function of • Blood pressure can be estimate from the IJV flow rate was presented. pulse transit time (PTT) in this paper. • Results show there are slight • Our monitoring device : positive correlation with IJV Fig. Average CBF plotted against total IJV flow for 140 MS patients and 26 normal controls. The MS group was further – ECG acquisition module outflow within the no-stenosis sub-divided into 2 age groups: younger than 50 years and group. older than 50 years. – PPG acquisition module Cuff-less BP measurement device – Android smart-phone with application

Lian Hall, 2nd Floor (3) 14:40-15:00 Lian Hall, 2nd Floor (4) 15:00-15:20 The Implementation of Single Channel ECG and Flexible Tactile Sensor System for Robot Skin Dual Channel Pulse Signals Synchronous Based on LabVIEW Acquisition System Ying Huang , Xiaowen Zhao, Qinghua Yang, Siyu Wu and Caixia Liu School of Electronic Science & Applied Physics, Hefei University of Technology Lisheng Xu, Xibin Zhang, Feifei Yang, Yanhua Shen, Max Q.-H. Meng Anhui, China Sino-Dutch Biomedical and Information Engineering School, Northeastern University • Using carbon black-silicone rubber Liaoning, China significant piezoresistive effect, the tactile • ECG and two radial pulse signals sensor with interdigitated structure was can be synchronously acquired, designed. displayed and analyzed. • A flexible tactile sensor array was fabricated to detect the force acted on. The principle of • the difference between two radial the force detection was analyzed. pulse signals can be analyzed by this • Connecting the tactile sensor array with data system. acquisition card and pc, some objects of The schematic of tactile • This system can be used for future different shapes were loaded on the tactile sensor system study on cardiovascular diseases sensor array; the detected results were showed by LabVIEW software. related to the bilateral vascular system. multi-channel signals Synchronous acquisition system

Lian Hall, 2nd Floor (5) 15:20-15:40 Lian Hall, 2nd Floor (6) 15:40-16:00 Drug Incompatibility Checking System on Mobile A Balance Control Strategy of A Walking Platform Biped Jianhua Li, Mingjie Xu, Huiming Dong, Zheng Zhang and Yan Kang Key Laboratory of Medical Image Computing Ministry of Education, Northeastern University, Robot in An Externally Applied Force Shenyang, China Yeoun-Jae Kim, Joon-Yong Lee, and Ju-Jang Lee • A new software for mobile Robotics Program, Department of EE KAIST intelligent terminals is based Daejeon, Korea on Android Operating System. • Drug Imcompatibility Checking System(DICS) was developed in Java with the support of SQLite. • DICS is efficient and portable. • Simulation Study of Biped • Tests showed that it is user- Robot Balance Control in Walking with Externally friendly, time-saving and Drug Incompatibility Applied Force. effective in applications. Checking System

T-20 TE1:Vehicle dynamics control

Session Chair: Songmin Jia and Xueyuan Guan

Kunlun Hall, 3rd Floor 16:20-18:00 Thursday, June 7

Kunlun Hall, 3rd Floor (1) 16:20-16:40 Kunlun Hall, 3rd Floor (2) 16:40-17:00 Multimodal Intelligent Wheelchair Control Based A GPU Accelerated Real-time Self-contained on Fuzzy Algorithm Visual Navigation System for UAVs Songmin Jia, Jun Yan, Jinhui Fan, Xiuzhi Li, Liwen Gao 1 2 Xueyuan Guan , Hongyang Bai Research Center of Distributed Robotics & Intelligent System, Beijing University of Technology 1. National Key Laboratory of Transient Physics, Nanjing University of Science and Technology, Beijing, China Nanjing, China 2. School of Energy and Power Engineering, , Nanjing University of Science and Technology • The control method of this intelligent tennis wheelchair is based on seat Nanjing, China pressure sensors and omnidirectional wheels. • The wheelchair has manual mode and automatic mode. In manual mode, user controls the wheelchair depending on joystick. While in automatic mode, according to value of weight shift measurement, we infer the user’s intension based on fuzzy controller. • An intelligent wheelchair interface developed in order that those modules could be switched conveniently and freely. The Intelligent Wheelchair Architecture of navigation system for UAVs

Kunlun Hall, 3rd Floor (3) 17:00-17:20 Kunlun Hall, 3rd Floor (4) 17:20-17:40 Fuzzy Logic Control in Regenerative Braking Fuzzy Logic Control Approach to the Energy Management of Parallel Hybrid Electric Vehicles System for Electric Vehicle Dengke Lu1, 2, Weimin Li1, Guoqing Xu1, 3, 4, and Meilan Zhou2 Hao Zhang1, Guoqing Xu2,Weimin Li3, and Meilan Zhou4 1Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen , Shenzhen 518055, China China 2Harbin University Of Science And Technology, Harbin 150080, China 3Department of Electrical Engineering, Tongji University, Shanghai 200092, China; 4Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, China

• First proposes an strategy based on fuzzy control of EMS. • Then simulation with three The structure of FLC different drive cycles by using ADVISOR. • Finally analysis results and it will be compared with the rule-based of electric assist control strategy. The power system of PHEV

Kunlun Hall, 3rd Floor (5) 17:40-18:00 Multiple Crane Scheduling in Batch Annealing Process with No-delay Constraints for Machine Unloading Xie Xie1, Yanping Li2 and Yongyue Zheng3 1,2 Key Laboratory of Manufacturing Industrial and Integrated Automation, Shenyang University Shenyang, China 3Liaoning Institute of standardization, Shenyang, China • This paper investigates the problem of multi-crane scheduling in batch annealing process in steel enterprises so that the completion time of the last annealed coil (makespan) is minimized. • We present a heuristic algorithm and propose some properties for

deriving a lower bound to verify the performancey of the proposed heuristics.

d (0,y3 ) • We show the worst case bound d (0,y2 ) w(,)xiiy of our heuristic algorithm. i x Layout of a batch annealing workshop 3rd Floor

T-21 TE2:Image/Video Processing III

Session Chair: David Zhang and Jason Gu

Meeting Room, 26F 16:20-18:00 Thursday, June 7

Meeting Room, 26F (1) 16:20-16:40 Meeting Room, 26F (2) 16:40-17:00 An Method of Feature Line Extraction of A Partial Differential Equation Algorithm Triangle Mesh Surface for Image Enhancement Zhao Jibin, Xia Renbo, Liu Weijun Yanan Fu, Tingfang Yan, David W. Zhang and Max Q.-H. Meng Shenyang Inst. of Automation, Chinese Academy of Sciences School of control Science and Engineering, Shandong University, Jinan, China Shenyang, China Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China

• An algorithm of effective feature line • A novel approach for image extraction for triangle mesh model is enhancement is presented in this proposed. • Firstly the principal curvatures and paper. principal directions of vertex of • Three kinds of enhancement triangle mesh model are analyzed and feature vertex is confirmed. operation execute in one PDE based • then the method of “seed growth” to framework at the same time. extract feature line is proposed. • Experiments and applications show • Experimental results demonstrate that the method is not only simple and that the method substantially extracting feature rapid, but also extract stably and exactly feature line. selection of the feature point improves the subjective quality of the enhanced images. Experimental Results

Meeting Room, 26F (3) 17:00-17:20 Meeting Room, 26F (4) 17:20-17:40 Analysis of DXF File with an Application to 3D Image Segmentation by Improved Graphic Display Level Set Evolution Algorithm Wen Shang, Jun Zhong, and Qin Yan haiying Liu1, tingfang Yan1, Yu Cheng1, Yanan Fu1, Max Q.-H. Meng21 School of Mechanical and Electrical Engineering, Suzhou University of Science and 1.School of Control Science and Engineering, Shandong University, Jinan, China Technology 2.Department of Electronical Engineering, Chinese University of Hong Kong, Hong Kong, China Suzhou, China (a) Initial contour (b) New Algorithm • This paper investigated novel • A comprehensive analysis of DXF schemes concerning a variational level set evolution algorithm. file including all kinds of entities, such as line, circle, ellipse, polyline, • Time-consuming re-initialization process is replaced by the internal (c) C−V (d) Li Chunming spline. energy. • Application to 3D display of planar • Variable energy modify the curve graphs based on OpenGL, such as evolution direction according to the advertisement words. image information. 3D Graphic Display of • The results validate the considerable Numerical Simulation Results Advertisement Words performance of our algorithm.

Meeting Room, 26F (5) 17:40-18:00 An Automatic Method for Detecting Objects of Interest in Videos Using Surprise Theory Yuanlong Yu1, 2 , Jason Gu1, 3 and David W. Zhang 3 1Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada 2School of Automation, Beijing Institute of Technology, Beijing, China 3Shandong University, Jinan, Shandong, China

• Automatic object detection aims to automatically decide which objects should be captured and where they are in each frame of the video. • Surprise theory is used to estimate a saliency map which indicates the degree of interest for each pixel. • Branch-and-bound algorithm is then used to localize objects of interest one by one in the descending order of saliency. Meeting Room, 26F Framework of Automatic Object Detection

T-22 TE3:Networks and Communications II

Session Chair: Qiang Huang and Yili Fu

Zhu Hall, 2nd Floor 16:20-18:00 Thursday, June 7

Zhu Hall, 2nd Floor (1) 16:20-16:40 Zhu Hall, 2nd Floor (2) 16:40-17:00 Automated Network Analysis by Projected Probabilistic Inference over Sensor Networks for Power Method Clusters: Extension to Multiple States Zi Wang, Beijing Univ. of Posts & Telecommunications Wenye Li Wenye Li, Macao Polytechnic Institute Macao Polytechnic Institute, Macao SAR, China Yan Sun, Queen Mary Univ. of London • Objective: to partite a network into different communities based on • Model: to partite sensor networks Newman’s modularity model trading-off intra-communication, inter-communication and individual • Method: Spectral partition + sensor energy with uncertainties iterative rounding (Li et. al’2011) • Contribution: a probabilistic • Contribution: Establish relations inference algorithm for fast between Li’s method and Projected detection of cluster assignments Power Method • Evaluation: significant improved • Implication: Further analysis of Li’s speeds over conventional heuristics method

Zhu Hall, 2nd Floor (3) 17:00-17:20 Zhu Hall, 2nd Floor (4) 17:20-17:40 A Location-Aware Parallel MAC Protocol for Multihop Anatomy of compromising email accounts Wireless Networks Seema Khanna, Dr. Harish Chaudhry Guoyan Yang, Xin Guan, Yahong Guo National Informatics Center, Indian Institute of Technology College of Information Science and Technology Heilongjiang University India Harbin China Abstract—In this paper, we propose an efficient parallel transmission MAC protocol based on geographical location • The immediate objective of this research review paper is to information of nodes. The protocol breaks through the limit of carefully examine the ways in which email are compromised parallel transmission based on traditional CSMA MAC protocols, for this protocol exploits nodes’ geographical and to find countermeasures for the same. Future work and location information to achieve the parallel transmission of advanced methodologies can be developed for the same. exposed terminal, so as to enhance the reuse efficiency of the valuable wireless channel resources. According to the location coordinates of the nodes, this paper explores the feasibility analysis of parallel transmission of exposed terminal node, • One more supplementary objective is to draw attention and and completes the parallel check. Simulation results show that, make email users aware of the latest attacks, trends and various compared to IEEE 802.11 DCF protocol, the proposed MAC protocol can significantly improve the average throughput of methodologies used by the hacker to gain unauthorized access the network, reducing data transmission delay, and effectively to the users' email accounts. improving the efficiency and performance in Multihop Wireless Networks.

Zhu Hall, 2nd Floor (5) 17:40-18:00 Cloud Security: Analysis and Risk Management of VM Images Gundeep Singh Bindra, Prashant Kumar Singh, Krishen Kant Kandwal, Seema Khanna, SRM University, HCL Technologies, Tata Consultancy Services, National Informatics Center India Cloud computing may be defined as management and provision of resources, software, applications and information as services over the cloud (internet) on demand. Cloud computing is a flexible, cost-effective, and proven delivery platform for providing business or consumer IT services over the Internet. With its ability to provide users dynamically scalable, shared resources over the Internet and to avoid large upfront fixed costs, cloud computing has recently emerged as a promising hosting platform that performs an intelligent usage of a collection of services, applications, information and infrastructure comprised of pools of computer networks, information and storage resources. However, critical information on the cloud motivates the hackers and presents a serious threat to the critical information ,thus creating a need for security. In this paper, we explain how cloud computing along with its open secure architecture emphasize on various security threats in cloud computing, the existing methods to control them, along with their pros and cons. This research paper also focuses on providing the security on VM images which are the foundation for the overall security of the cloud.

T-23 TE4:Biomedical Instrumentation II

Session Chair: Hong Shao and Yaonan Zhang

Lian Hall, 2nd Floor 16:20-18:00 Thursday, June 7

Lian Hall, 2nd Floor (1) 16:20-16:40 Lian Hall, 2nd Floor (2) 16:40-17:00 Time-frequency Analysis of Study on the Variability of Pulse Wave and ECG of Heart Sounds in Telemedicine Graduate Students with Different Body Positions Consulting System for Auscultation Li Yan, Sainan Yin, Shuhong Wang, Jia liu, Lisheng Xu, and Yong Zhao Zhao Yue, Jihong Liang, Yanli Shen College of Information Technology, Heilongjiang Bayi Agriculture University Sino-Dutch Biomedical and Information Engineering School, , Northeastern University Daqing, China Shenyang, China • The pulse contours of 20 subjects • Heart sound signal is one of the have two kinds of waveforms: has a most important physiological signals tidal wave or not. LVET in Group 2 is larger than that in Group 1. of human beings. • From supine to standing, 95% • Denoise of heart sound subjects’ diastole gets shorter; all • Envelope extraction of heart sound subjects’ HR is accelerated and • Features in time domain PWTT decreases. • In supine position, 100% subjects’ • Features in frequency domain Features in time and DBP significantly decreased about 11.2 mmHg and 90% subjects’ SBP frequency domains reduced about 7.7 mmHg. The Scenario of this Experiment

Lian Hall, 2nd Floor (3) 14:20-14:40 Lian Hall, 2nd Floor (4) 14:40-15:00 An Extensible Embedded Terminal Platform for A Family Medical Monitoring System Based on Wireless Telemonitoring Embedded uC/OS-II and GPRS Xiang Fang Jingsheng Liao Ruyi Zhang Pingqiang Ni Baopu Li Max Q.-H. Meng Shenzhen Institutes of Advanced technology, Chinese Academy of Sciences, Weili Zhou Jingsheng Liao Baopu Li Jingrong Li Shenzhen, China South China University of Technology Guangzhou,China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences • Extensible digital interface to Shenzhen,China biomedical sensors according to different needs. • High integration(blood pressure(BP), • Perfect power management unit with blood oxygen(SpO2), respiration, efficiency and energy conservation. electrocardiogram(ECG)) • Transmit physiological signals • Low cost(self designed sensor board) through 3G or WLAN in real-time. • GPRS remote monitoring(a competitive • Ingenious design of device driver home based wireless medical programs to support interaction monitoring solution in the future) between hardware and application. Family monitoring system The embedded terminal

Lian Hall, 2nd Floor (5) 17:40-18:00 The Implementation of Pulse Wave Signal Generator Based on Piecewise Gaussian-Cosine Fitting Lisheng Xu, Dan Song, Jueli Chen, Quanhai Fu，Hao Wang，Max Q.-H. Meng Key Laboratory of Medical Image Computing (Northeastern University) , Ministry of Education • This system works as an special signal generator for pulse wave detection equipment • Using a method of pulse wave modeling: Piecewise Gaussian-Cosine Fitting, pulse wave can be reconstructed according to its feature The pulse wave generator points • Based on FPGA device， using SOPC developing flow to constitute a pulse wave generator • Different kinds of pulse wave can be generated as well as noises. The anolog output shown in oscilloscope

T-24 Friday, June 8, 2012

FA‐1 Pattern Recognition

FA‐2 Advanced Robots III

FA‐3 Signal Processing

FA‐4 Biomedical Instrumentation III

FP‐1 Pattern Recognition II

FP‐2 Control Applications

FP‐3 Signal Processing II

FP‐4 Computer Aided Diagnosis

FE‐1 Pattern Recognition III

FE‐2 Sensors

FE‐3 Signal Processing III

FE‐4 Computer Application

FA1:Pattern Recognition

Session Chair: Yaonan Zhang and Shuang Song

Zhu Hall, 2nd Floor 10:20-12:00 Friday, June 8

Zhu Hall, 2nd Floor (1) 10:20-10:40 Zhu Hall, 2nd Floor (2) 10:40-11:00 A Novel Object Recognition A Novel Paddy Field Algorithm Based on Pattern System for Cognitive Robot Search Method Yang Luo1, Yongqiang Gao1, 2, Li Liu1, Xinyang Huang1 Xin Kong, Yen-Lun Chen, Wei Xie, and Xinyu Wu 1School of Computer Science and Technology, University of South China, Hunan, China Shenzhen Institutes of Advanced Technology, CAS, Shenzhen, China 2Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences College of Electronic and Information Engineering, SCUT, Guangzhou, China Department of Mechanical and Automation Engineering, CUHK, Hong Kong SAR, China • Proposing three hypotheses • This paper proposed a hybrid • Target objects segmented optimization algorithm to efficiently solve the optimization problems. • Objects classified • This paper combines the global • Information stored optimization capability of PFA and • Combining cognitive psychology the local optimization capability of PS. • The simulation results based on three • Finding given object from scene sample functions alongside with PFA • Finding given object from image and PS show that the hybrid algorithm library performs well. • The effect of various parameters on • Finding given object from scene Structures of images library, Cup detection and recognition the performance of the hybrid The simulation results algorithm is investigated.

Zhu Hall, 2nd Floor (3) 11:00-11:20 Zhu Hall, 2nd Floor (4) 11:20-11:40 Revisiting Principal-Axes Aligned Conics: A Carotid Artery Segmentation in 3D Unified Algebraic Constraint and Geometric UltrasoundImages Using a Hybrid Framework Xiaotong Wang and Yaonan Zhang Interpretation for Camera Calibration Sina-Dutch Biomedical and Information Engineering School Northeastern University Shen Cai, Longxiang Huang, and Yuncai Liu Shenyang, China Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University Shanghai, China • A hybrid method based on region and boundary information. • Use the intersection points to obtain the unified algebraic constraint of • Including region growing algorithm, PAA conics and corresponding marching cubes and deformable model geometric interpretation. for the segmentation. • Analyze the ambiguity problem of • Developed with the context of the determining unknown parameters. Insight ToolKit (ITK).. • Propose a nonlinear optimization for • High quality segmentation results and computational eﬃciency. PAA conics to estimate the radial Geometric Interpretation distortion and get better results. of PAA conics

Zhu Hall, 2nd Floor (5) 11:40-12:00 Design and Implementation of a High- Performance Client/Server Voiceprint Recognition System Guanyu Gao, Kai Kang, Shengxiao Guan, Guanhua Gao University of Science and Technology of China Hefei, China

• This paper designs and implements an authentication system of client/server architecture based on voiceprint recognition. • We propose a new method of endpoint detection named short- term variance which can effectively pick up the voice signal from the original signal in actual environment. • In order to boost the server’s performance, we implemented a new parallel algorithm for VQ codeword search on the SMP system. FA2:Advanced Robots III

Session Chair: Chengjin Zhang and Wei Liu

Ballroom 3, 2nd Floor 10:20-12:00 Friday, June 8

Ballroom 3, 2nd Floor (1) 10:20-10:40 Ballroom 3, 2nd Floor (2) 10:40-11:00 Design and Implementation of a Finger Haptic A Method to Reduce the Sliding Force on Device for Large-Scale Force-Tactile Hybrid Adhering Points of Caterpillar Climbing Robot Haptic Rendering WANG Wei, ZHAO Longchao Robotics Institute, Beihang University, Beijing City, China Zhongqing Liu, Yanhe Zhu and Jie Zhao State Key Laboratory of Robotics and System, Harbin Institute of Technology  The rubber parts can reduce the sliding Harbin, China force values and vibration, compared to the • The principles of operation of the rigidity parts. finger haptic device are discussed.  The rubber can imitate the characters of that •The μ-U calibration experiment natural caterpillar. platform is established. • Two experiments were designed to Experiment Platform for verify the feasibility and practicality Sliding-Force Testing for the finger haptic device.

The Finger Haptic Device

Ballroom 3, 2nd Floor (3) 11:00-11:20 Ballroom 3, 2nd Floor (4) 11:20-11:40 Experimental Validation of Optimal Load-allocation Experiments of obstacles and collision Control in Pace Gait Ladder Decent Motion for Multi-Locomotion Robot (MLR) avoidance with a distributed multi-robot system Zhiguo Lu1, Kosuke Sekiyama1, Tadayoshi Aoyama1, Yasuhisa Hasegawa2, Toshio Fukuda1 Filippo Arrichiello1, Stefano Chiaverini1, Vaibhav Kumar Mehta2 1: Nagoya University, Japan 2: University of Tsukuba, Japan 1) University of Cassino and Southern Lazio, Cassino, Italy 2) L.N. Mittal Insititute of Information Technology, Jaipur, India • A general energetically efficient optimization • Feature based EKF localization method was presented. algorithm for indoor environment • The internal stress inside • Behavior based technique to the closed chain was navigate avoiding obstacles and adjusted using a key joint collisions method. • Preliminary experiments with a Team of Khepera III mobile • The optimal load-allocation team of four mobile robots with robots used for the experiments control was applied for Snapshots of vertical ladder laser range finder and allocating the robot load. decent motion for MLR. communicating via ad-hoc network

Ballroom 3, 2nd Floor (5) 11:40-12:00 Study on Intelligent Visual Servoing of Space Robot for Cooperative Target Capturing Ye Shi , Bin Liang, Xueqian Wang, Wenfu Xu and Houde Liu Department of Control Science and Engineering, Harbin Institute of Technology Harbin, China • One important area for the application of space robotics is autonomous On-Orbit Servicing (OOS) of failed spacecrafts. • Visual servo of eye-in-hand type system is one of the most promising approaches to perform this task. • Taking account of the special aspects of space environment such as lighting and available computing Autonomous robotic capture of a satellite power, to realize a safe and reliable real-time visual servoing operation.

T-26 FA3:Signal Processing

Session Chair: Lu Wang and Lisheng Xu

Ballroom 2, 2nd Floor 10:20-12:00 Friday, June 8

Ballroom 2, 2nd Floor (1) 10:20-10:40 Ballroom 2, 2nd Floor (2) 10:40-11:00

A Closed-form Approach to Analysis of Large Scale Ionospheric Tilts Effects Acoustic Source Localization on the Error of Single Site Location Guogang Xiong, Xiaoyun Li, Xinyu Wu and Yongsheng Ou Yuan Xiao‐hua

Shenzhen Institutes of Advanced Technology, Chinese University of Hong Kong, This paper analyzes the effect of large scale ionospheric tilts on the errors Chinese Academy of Sciences, China Hong Kong SAR, China of single site location by establishing a simplified model for large scale ionospheric tilts in a three‐dimensional coordinate. An equation including • Acoustic source location is determined by the coordinate of the reflection point and a numerical resolution to the Time Difference of Arrival (TDOA) equation based on Newton‐Raphson iterative algorithm are given. Then the • closed-form solution to Acoustic Source curves of error of single site location versus tilts angle, direction and target Localization can be found easily and directly range is given by simulations • Three typical four-sensor arrays are mainly concerned. In some special directions, the error of planar arrays raises sharply • In practical applications, as the closed-form solution includes two possible sources, four- sensor array can’t provide the unique source as the existence of ambiguity. A five-sensor array to exclude the ambiguous source is provided. Model of large scale tilts influence on signal propagation in HF Model of SSL error

Ballroom 2, 2nd Floor (3) 11:00-11:20 Ballroom 2, 2nd Floor (4) 11:20-11:40  A Method of Close-Range Calibration of Fisheye Lens Camera Humanoid Walking Pattern Generation Based on the Ground Reaction Force Features of Human Walking Xiangji CHEN, Guoqiang HAN School of Computer Science and Engineering, South China University of Technology， Zhangguo Yu, Xuechao Chen, Qiang Huang, Huaping Wang, and Si Zhang Guangzhou,China Intelligent Robotics Institute, Beijing Institute of Technology, China • An object distance related fisheye • Investigated the ground reaction force camera model, which is derived from focal surface features and ZMP of human walking. image surface the two-step projection model and M • Proposed a method to design the extended in some respects, is sensor image plane humanoid ZMP to mimic human proposed. ZMP trajectories. • The method of calibration based on O R K • Presented a model for alternating the the model is provided. d ρ Z B support leg smoothly to decrease the

• We will show how given three image F B contact impact.

of a planar pattern we can recover the A T U • Verified of the validation of the XOY intrinsic parameters of the camera and IT object plane proposed methods by simulation and how the model work when rectify Fig. The object distance related fisheye camera model experiment on a real humanoid. BHR-4 Humanoid Walking images shot at different object distances.

Ballroom 2, 2nd Floor (5) 11:40-12:00 Epileptic Seizure Detection Using Wavelet Transform Based Sample Entropy and Support Vector Machine Ling Han Hong Wang Cong Liu Chunsheng Li Sino-Dutch Biomedical and Information Engineering School Northeastern University Shenyang, Liaoning Province, China • Fifth-level wavelet decomposition was applied to EEG acquired from epileptic patients. • SampEn of the wavelet coefficients were computed and selected as features to characterize the EEG. • The SVM is used to classify.

EEG (epileptic seizures )and the Sample entropy

T-27 FA4:Biomedical Instrumentation III

Session Chair: Shuxiang Guo and Shihai Xiang

Lian Hall, 2nd Floor 10:20-12:00 Friday, June 8

Lian Hall, 2nd Floor (1) 10:20-10:40 Lian Hall, 2nd Floor (2) 10:40-11:00 Bluetooth Low Energy (BLE) Based Mobile Design of dynamic synchronous multi-channel Electrocardiogram Monitoring System data acquisition system for lung sound based on Bin Yu, Yongxu Li and Lisheng Xu Sina-Dutch Biomedical and Information Engineering School FPGA Northeastern University Benjin Wang，Lei Miao，Huiying Dong，Zeguang Zheng，Hongyi Li Shenyang, China State Key Laboratory of Robotics，Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) , Shenyang , Liaoning Province, China • Real-time, long-term wireless healthcare monitoring. • simultaneous data acquisition • Single-chip Signal Acquisition system structure. Module. • a brief introduction to lung sound • Bluetooth Low Energy technology • system hardware description and used in healthcare field. software design • Smart-phone platform application.

Data acquisition system BLE-Based ECG Monitoring System

Lian Hall, 2nd Floor (3) 11:00-11:20 Lian Hall, 2nd Floor (4) 11:20-11:40 The Design and Implementation of a Mechanical An Improved Method for Risk Assessment of Quick Connector for Medical Equipment Carrier-Based Aircraft Jie Yan, Hao Liu, Guixiang Li, and Yanmin Li Qidan Zhu, Hui Li, Zhi Zhang and Lipeng Wan State Key Laboratory of Robotics, SIA, Chinese Academy of Sciences Department of Automation, Harbin Engineering University Shenyang, China Harbin, China • Several commonly used mechanical • The aircraft system was established connectors in the field of medical with its flying qualities which include normal overload response equipment was enumerated and criterion and C* criterion evaluated. analyzed. • The pilot-aircraft system including • A new mechanical quick connector attitude control loop and trajectory for medical equipment was designed. control loop is established. • Several calculations were done to • Longitudinal Safe Flight Area was make sure the mechanical structure determined by simulation, according could work. to distribution of touchdown points and hook-to-ramp clearance. • The actual mechanism was The Mechanical Quick Connector processed, it could function quickly • The method of risk assessment was The pilot-aircraft system designed according to risk and stably. coefficients of reference points.

Lian Hall, 2nd Floor (5) 11:40-12:00 Construction of 3D Vessel Model of the VR Robotic Catheter System Baofeng Gao, Shuxiang Guo, Nan Xiao，Jin Guo Xufeng Xiao, Shu Yang, Mohan Qu Faculty of Engineering, Kagawa University， Japan

• In this paper, we introduce a kind of Virtual Reality based Robotic Catheter System which can be used for the training of the interns to do the operation.

• For the VR system, we use the master side as the controller, and we use the open source code DCMTK to read the information of “.DCM” file and carry out the CT image segmentation for the Virtual Reality based Robotic Catheter System and we use Open Scene Graph (OSG) to realize the 3D image output and catheter control of the Virtual Reality System.

T-28 FP1:Pattern Recognition II

Session Chair: Jason Gu and Shuang Song

Zhu Hall, 2nd Floor 14:00-15:40 Friday, June 8

Zhu Hall, 2nd Floor (1) 14:00-14:20 Zhu Hall, 2nd Floor (2) 14:20-14:40 Mining the Functional Relations in the An Improved Random Forest Classifier for Image Neighborhood of Splice Sites Classification Ying Wang, Qinke Peng, Tao Xu and Jia Lv Baoxun Xu, Yunming Ye, and Lei Nie Systems Engineering Institute and Shenzhen Graduate School, Harbin Institute of Technology School of Electronic and Information Engineering Shenzhen, China Xi’an Jiaotong University Xi’an, 710049, China • This algorithm is particularly designed for analysing very high Accurate identification of splice site is a critical component of dimensional data with multiple classes whose well-known bioinformatics and efficient feature representation plays an utmost representative data is image data. important role in splice site identification. We proposed a new feature • A novel feature weighting method and tree selection method are representing method utilizing neural networks to generate the new developed and synergistically served for making random forest feature by modeling the possible functional relations in the framework well suited to classify image data with a large neighborhood of splice sites. The experimental results on HS3D number of object categories. dataset and the homo sapiens dataset of EID showed that the features represented by our method were effective. And this might indicate • With the new feature weighting method for subspace sampling that the functional relations in the neighborhood of splice sites are and tree selection method, we can effectively reduce subspace existed.. size and improve classification performance.

Zhu Hall, 2nd Floor (3) 14:40-15:00 Zhu Hall, 2nd Floor (4) 15:00-15:20 A Robust Local Census-based Stereo Matching A New Affine Registration Algorithm Insensitive to Illumination changes Applied to Off-line Signature Verification Xin Luan, Honghong Zhou, Dalei Song, Fangjie Yu, Xiufang Li and Bing Xue Wei Tian, Jingyuan Lv Ocean University of China School of Electrical Engineering, University of Jinan Qingdao, China Jinan, China • The proposed method is based on • we present a novel robust census offline signature verification by a transform stereo matching algorithm novel algorithm for affine • We take the summation of the registration of 2D point sets. intensity mean and a small value as • Verification function is achieved the center pixel to revise the classic based on a difference between the census transform. points which can be determined by • Experiments have been carried out an unknown rotation. and the results show that the • The algorithms have shown proposed algorithm achieves high Disparity map of Matching points for real-word scenes promising results, also it gives better efficiency and accuracy and is recognition rates in a public off-line signatures robust to the illumination changes. signature database.

Zhu Hall, 2nd Floor (5) 15:20-15:40

Iterative Method for Two Line Element Conversion Li Weiping , Qiu Hongxing , Dang Qi College of Astronautics , Northwestern Polytechnical University Jinan, China

• Describe SGP4,SDP4 model. • Describe iterative algorithm for converting classical osculating orbit element to TLE. • Use a state vector instead of osculating orbit element to ensure convergence. • Verify the algorithm and give an example. Elements Calculation Flow FP2:Control Applications

Session Chair: Chunyi Su and Jianda Han

Ballroom 3, 2nd Floor 14:00-15:40 Friday, June 8

Ballroom 3, 2nd Floor (1) 14:00-14:20 Ballroom 3, 2nd Floor (2) 14:20-14:40 Design of Approach Power Compensation System for Carrier- Experiments of Bilateral Teleoperation of a Based Aircraft Using Conditional Integral Sliding Surface Formation of Nonholonomic Mobile Robots Qidan Zhu, Yongtao Yu, Zhi Zhang ,Wen Zhang and Zixia Wen Department of Automation, Harbin Engineering University Through Constant Delay Communication Harbin, China Oscar M. Palafox* and Mark W. Spong *Aerospace Engineering Department, Texas A&M University, College Station, TX, USA • A new discrete variable structure k  APCS based on conditional integral T • Novel single master multiple slave  sliding surface and disturbance d  bilateral teleoperation for mobile compensation was designed. e

robots.  • Some automatic carrier landing d • Constant delay considered in simulations with airflow disturbance communication channels. were carried out. • Using partial feedback linearization, • With compared with the traditional synchronization of dynamics. APCS, the aircraft with the proposed systems and switch stability results. APCS has better path tracking performance. • Experimental validation of Formation Teleoperation Longitude architecture theoretical findings. of ACLS

Ballroom 3, 2nd Floor (3) 14:40-15:00 Ballroom 3, 2nd Floor (4) 15:00-15:20 Switching LPV Control for Aircraft Lateral- Modeling and Simulation of Gas Scheduling Directional Axis During Powered Approach System in Iron and Steel Enterprises Qidan Zhu, Zixia Wen, Zhi Zhang, Yongtao Yu and Wen Zhang Bingzhi Gao, Zhilei Wang, Xiaoli Li, Yixin Yin Department of Automation, Harbin Engineering University School of Automation and Electrical Engineering Heilongjiang, China University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) • The angle of attack varies from 2 degree to 14 degree, and the corresponding airspeed varies from 337 km/h to 233 km/h, • Introduction of gas scheduling respectively. So the model of aircraft varies greatly, single controller can’t acquire good system performance. • Dynamic model of gas system • Switching linear parameter varying (LPV) is employed to aircraft control system for • Optimization analysis getting a high handling quality. • Architecture and simulation of gas • Multi-Lyapunov functions technique scheduling system performs well in aircraft control system for Aircraft Lateral Control Diagram the angle of attack varying in a wide envelop. Zhilei Wang

Ballroom 3, 2nd Floor (5) 15:20-15:40 The Multi-Pulse Control Algorithm of High Pressure Common Rail Diesel Engine Based on Structure Array Shuman Guo1, Tong Zhang2 1.Department of Mechanical Engineering ,North China Institute of Water Conservancy and Hydroelectric Power, zhengzhou, China 2. Henan Museum, zhengzhou, China

ECU hardware structure

T-30 FP3:Signal Processing II

Session Chair: Hao Zou and Wei Liu

Ballroom 2, 2nd Floor 14:00-15:40 Friday, June 8

Ballroom 2, 2nd Floor (1) 14:00-14:20 Ballroom 2, 2nd Floor (2) 14:20-14:40 Fractal Dimension Applied in Texture Feature Design of A Real-Time ECG Filter for Resource Extraction in X-ray Chest Image Retrieval Constraint Computer Shao Hong, Duan Huidong Ruyi Zhang1, Xiang Fang1, Yuanqi Liu1, Jingsheng Liao1, School of Sino-Dutch Biomedical and Information Engineering, Northeastern University Baopu Li1 and Max Q.-H.Meng2 Shenyang, China Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences. Shenzhen, • Before texture feature extraction, Guangdong Province, China image preprocessing have been used • a digital filter design method for improving the contrast and SNR for resource constraint of the image. microprocessor. • Some transforms have been done on • integer coefficients, low image matrices to better express the computation complexity, good direction details of x-ray chest denoising performance. images. • verified by MIT/BIH Arrhythmia • The experiment results show that the Database and tested on a retrieval system with the fractal Preprocessing result of x-ray MSP430 platform for Clean ECG Signal algorithm has relatively high chest image performance evaluation. precision and recall up to about 85%.

Ballroom 2, 2nd Floor (3) 14:40-15:00 Ballroom 2, 2nd Floor (4) 15:00-15:20 Constructing Chinese Domain Lexicon with An Improved Lower Bound for A General Case of Improved Entropy Formula for Sentiment The Master-plate Design Problem Analysis Xie Xie1, Yanping Li2 and Yongyue Zheng3 Jing Zhang, Qinke Peng 1,2 Key Laboratory of Manufacturing Industrial and Integrated Automation, Shenyang University Systems Engineering Institute, Xi’an Jiaotong University Shenyang, China Xi’an, China 3Liaoning Institute of standardization, Shenyang, China Sentiment analysis can promptly find the public attitudes and mental • This paper investigates a master-plate design problem encountered in states to provide basis for the decision-making. In this paper, we the heavy plate mill of the steel industry. introduce a method to calculate sentiment scores of words and • Our problem is a more general case which is not only to determine the phrases in different domains for sentiment analysis. This method size of each order-plate within a specified range but also to decide the not only makes up the defect that existing lexicons couldn't adapt to size of each created master-plate. different domains and cyber words, but also avoids high cost of • We formulate this problem as a mixed-integer program, and present manual annotation in corpus-based approaches. Meanwhile, in order an improved lower bound for verifying the effectiveness of a proposed to avoid the high dimensions and sparseness in "bag of words" algorithm. method, we calculate weighted sum of sentiment score in a review for classification. The results of experiments show that our method is available for sentiment classification on movie and stock reviews. Process flow for manufacturing steel plates

Ballroom 2, 2nd Floor (5) 15:20-15:40 A New Stereo Matching Algorithm based on Image Segmentation Zi-wei Zhou1,Ge Li, Ji-zhuang Fan and Jie Zhao State Key Laboratory of Robotic and System,Harbin Institute of Technology,Harbin, China

• The basic concepts of Stereo Matching • The mathematical model of the graph cuts algorithm • The improvement of the algorithm in matching speed The Image pair and the • Result of the experiments matching results

T-31 FP4:Computer Aided Diagnosis

Session Chair: Li Ke and Fangfang Jiang

Lian Hall, 2nd Floor 14:00-15:40 Friday, June 8

Lian Hall, 2nd Floor (1) 14:00-14:20 Lian Hall, 2nd Floor (2) 14:20-14:40 The Carotid Intimal-media Thickness A Computer-Aided Lesion Diagnose Method Measurement of Ultrasound Images Based Based on GastroscopeIimage on an Improved Chan-Vese Model Pan Liang1, 2, Yang Cong1 and Mo Guan2 1State Key Laboratory of Robotics, Shenyang Institute of Automation, Yang Gao, Yaonan Zhang Chinese Academy of Sciences Sino-Dutch Biomedical and Information Engineering School, Northeastern University, 2Shenyang University of Technology, Shenyang, China Shenyang China • A semi-automatic method to • Take samples in images which were measure the carotid intima-media labeled by clinicians. thickness based on Ultrasound • Extract RG, OPPO, HUE color images. histogram, and LBP texture. • The segmentation we use is an • Make classification with SVM improved Chan-Vese Model. classifier. • The first improved point is due to • Make classification for each patch in Rayleigh; the second is adding local detecting images with above features. information to the model. Segmentation Result The Gastroscopelimage

Lian Hall, 2nd Floor (3) 14:40-15:00 Lian Hall, 2nd Floor (4) 15:00-15:20 A Review of Surgery Navigation System Based Detection of the Period of Voice Based on Wavelet on Ultrasound Guidance Dejun Guan1, Yue Zhong2 , Jinhan Feng2 ,Lisheng Xu2,3 , Liping Wang4. 1Shenyang Radio and Television University, Shenyang, Liaoning, 110003 Xiaozhao Chen, Nan Bao, Jianhua Li and Yan Kang 2Sino-Dutch Biomedical and Information Engineering School, Northeastern University Department of Sino-Dutch Biomedical and Information Engineering, Northeastern University 3Key Laboratory of Medical Image Computing (Northeastern University), Ministry of Education Shenyang, China 4Shengjing Hospital, Shenyang, Liaoning, China • INTRODUCTION. • ULTRASONIC NAVIGATION • Importance and difficulties of the PARTICIPATE IN SURGERY voice period detecting is introduced. NAVIGATION IN TWO WAYS. • Detecting period of vocal signals • ULTRASOUND NAVIGATION based on EGG signals, according to SYSTEM WORKFLOW AND correlation between them. COMPONENTS. • Period Detection of Voice Signal • CONCLUSIONS. Based on the Wavelet Analysis. Surgery navigation guided by intraoperative US images • The experiment results show that this Results of period detecting correcting preoperative images algorithm is feasible and effective. based on wavelet analysis

Lian Hall, 2nd Floor (5) 15:20-15:40 Infiltrative Breast Cancer Initial Detection Based on Double-Scale Sech Template Matching Li Ke, Yingying Chen, Nan Li, and Yan Kang Institute of Biomedical and Electromagnetic Engineering, , Shenyang University of Technology Shenyang, China

• Breast Region Extraction • Breast Pectoral-Muscle Remove • Double-scale Sech Template Matching algorithm • Compare the results with the Sphere template matching

The results of suspected mass region detect

T-32 FE1:Pattern Recognition III

Session Chair: Jason Gu and Zhendong Liu

Zhu Hall, 2nd Floor 16:00-17:40 Friday, June 8

Zhu Hall, 2nd Floor (1) 16:00-16:20 Zhu Hall, 2nd Floor (2) 16:20-16:40 Derivative Code and Its Pattern for Object Fault Pattern Recognition of Power-Shift Recognition Yao Cao, Baochang Zhang, Zhenhua Guo, and Jianzhuang Liu Steering Transmission Based on Support Science and Technology on Aircraft Control Laboratory, Beihang University Beijing, China Vector Clustering Ying-feng Zhang, Tao Huang, Yan Yu, Jian-guo Bu, Biao Ma • New feature descriptors for objects. Military transportation University Tianjin, China • Derivative Code and Gabor based • Support vector clustering is studied. models: Pixel-based hamming 1st mode 2nd mode 3rd mode distance for palmprint recognition. • spectrometric oil analysis data is 4th mode clustering analyzed and three parameters of curve • Derivative Code Pattern (DCP): R3 Region-based local pattern feature information are developed. distribution for face recognition. • The influence of parameters on • Robust directional texture for object model performance is made.

representation. • Forty groups of spectrometric oil R2 Palmprint and Face Recognition analysis data is applied to do fault The influence of parameters on pattern recognition. clustering region(C=0.2，σ=40 )

Zhu Hall, 2nd Floor (3) 16:40-17:00 Zhu Hall, 2nd Floor (4) 17:00-17:20 Soft-sensing method based on modified ANN inversion and its application in erythromycin Improved Approximation Algorithm of RNA fermentation Structure Prediction with Pseudoknots Yuhan Ding, Xianzhong Dai, and Guohai Liu Zhendong Liu and Daming Zhu School of Electrical and Information Engineering , Jiangsu University School of Computer Science and Technology , Shandong University Zhenjiang, China Jinan, China ~ uu • Use the measurable function 51 • Based on MFE principle and the variables in constructing the relative stability of the n-stems in

“assumed inherent sensor”. x xˆ1 RNA molecules. 1 z 1 • Minimum free energy method is • Reform the modelling steps z z 1 xˆ adopted widely to predict RNA x 2 2 to ensure the prior utilization 2 secondary structure . z2 of the lower order ~ uu 3 51 xˆ • the algorithm takes O(n ) time and z3 3 x 2 derivatives. 3 O(n ) space z4 • More accurate. • The algorithm not only reduces the time complexity to O(n3), but also ApproSearch 算法的计算实例 • Less sensitive to the widens the maximum length of the measurement noise. The soft-sensing method based on sequence . modified ANN inversion

Zhu Hall, 2nd Floor (5) 17:20-17:40 EBDT:A Method for Detecting LDoS Attack Kai Chen, Huiyu Liu, Xiaosu Chen School of Computer Sci. & Tech, Huazhong Univ. of Sci. & Tech Wuhan, China

50 •The Low-rate Denial of Service Legitimate TCP 40 ACK (LDoS) is a new type of DoS LDoS attacks occurring •Whenever a kind of LDoS attack 30

occurs, the TCP traffic becomes 20

unusual: its distribution and Traffic(bag/s) 10 decreased degree are significantly different than those without any 0 0.03 20.01 40.02 60.03 80.04 100.05 120.06 140.07 160.08 180.09 LDoS attacks. Time(s) WS • EBDT is proposed, which LDoS attacks occurring 25

CI AP

detects LDoS attacks by 20

15 analyzing the variation of TCP EWMA 10 CI traffic. 5

0.03 19.98 39.93 59.88 79.83 99.78 119.68 139.63 159.58 179.53 19 9.4 8 Time(s) FE2:Sensors

Session Chair: Guohui Tian and Yunjian Ge

Ballroom 3, 2nd Floor 16:00-17:40 Friday, June 8

Ballroom 3, 2nd Floor (1) 16:00-16:20 Ballroom 3, 2nd Floor (2) 16:20-16:40 Study on Material Removal Rate of Electrolysis and Plasma Polishing Analysis of Cloacal-Septum-Related Gene Ji Wang, Laichun Suo, Yili Fu and Lili Guan Evolution in Vertebrate Development School of Mechatronics Engineering, Harbin Institute of Technology Jing-shu Zhang1, Zhu-fei Wang1, Yi-jin Wang1 and Jesse Li-Ling 1,2 Harbin, China 1. Sino-Dutch Biomedical and Information Engineering School, Northeastern University • Electrolysis and plasma polishing is a Shenyang, China; 2. Institute of Medical Genetics, School of Life Science & Key Laboratory for new technique that can replace the Bio-resources and Eco-environment of Ministry of Education, Sichuan University, Chengdu, China traditional polishing methods.

• The material removal rate is direct 1.DC Power 2.Workpiece proportion to the electric current 3. Polishing Solution density under steady state of polishing. 4. Polishing Cell 5. Gas Layer • Voltage, temperature and concentration of the polishing solution and the Electrolysis and Plasma Polishing workpiece’s diving depth in polishing solution are the important factors to influence the material removal rate. Comparison of non-DNA-binding protein sequences

Ballroom 3, 2nd Floor (3) 16:40-17:00 Ballroom 3, 2nd Floor (4) 17:00-17:20 Radical Basis Function Neural Network for A Novel Tactile Sensor Design Using Least Square Support Vector Machine for Reducing the Cross-Sensitivity of Sensors Xuekun Zhuang Department of Automation, USTC, Hefei Jingling Chen, Wenbin Zhang, Chunguang Suo, Wensheng Gui ,Qingpeng Wang •Introduction Department of mechanical and electrical engineering, Kunming university of science and technology, Kunming, 650093, China • Tactile sensor model based on conductive rubber

1. Properties of conductive rubber 2. Numerical model of the sensor • INTRODUCTION 3. Decoupling algorithms • INTELLIGENT SENSOR • Decoupling algorithm base on radial basis neural networks SYSTEM SIMULATION MODEL 1. Radial Basis Neural Networks 2. Experiment results of RBF • SET UP THE INVERSE MODEL BY USING THE METHOD OF • Conclusions MULTIPLE-INPUT MULTIPLE- OUTPUT LS-SVM • EXPERIMENT AND ANALYSIS •CONCLUSION

Ballroom 3, 2nd Floor (5) 17:20-17:40 Compressed Infrared Bearing Sensor for Human Localization: Design and Implementation YANG Yuebin, FENG Guodong, GUO Xuemei, and WANG Guoli School of Information Science and Technology, Sun Yat-sen University Guangzhou, Guangdong Province, China

• This work proposes a compressed infrared bearing-sensor which can generate the light weight bearing measurements of the human target. • The sensing efficiency of the sensor is optimized by the compressed sensing theory. • The PIR detectors have been selected in this work and the visibility of the sensor is modulated by a metal mask. The compressed infrared bearing-sensor

T-34 FE3:Signal Processing III

Session Chair: Yuexian Zou and Lisheng Xu

Ballroom 2, 2nd Floor 16:00-17:40 Friday, June 8

Ballroom 2, 2nd Floor (1) 16:00-16:20 Ballroom 2, 2nd Floor (2) 16:20-16:40 An Efficient Parallel Numerical Method Rolling Force Prediction Based on Wavelet for Large-scale Computational Models Multiple-RBF Neural Network of Cardiac Electrophysiology Yan Liu, Chaonan Tong, Fengqin Lin Lianqing Wang, Yongfeng Yuan, Kuanquan Wang, and Mo Li Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education), School of Computer Science and Technology, University of Science and Technology Beijing, China Harbin Institute of Technology, Harbin 150001, China • Background and research status of x1 RBF neural network1 parallel cardiac electrophysiological y w1 1 simulation. x2 Rolling force RBF neural network2  w2 y2 • The numerical method suitable for parallel

x3 w computing and the new global method RBF neural network3 3 y3 proposed for no-flux boundary conditions treating proposed. Multi-resolution wavelet analysis Database • Key technology of parallel implementation for the methods proposed. The Rolling Force Prediction Model • Results and discussions Conduction of electric activity

Ballroom 2, 2nd Floor (3) 16:40-17:00 Ballroom 2, 2nd Floor (4) 17:00-17:20 Design of Multi-stage Optimal Arbitrary A Novel Instantaneous Frequency-based Voice Time-delay Filter Activity Detection for Strong Noisy Speech Keping Liu,Min Yang and Zhongwei Wu Wei Shi and Yuexian Zou College of Electrical & Electronic Engineering,Changchun University of Technology Advanced Digital Signal Processing Lab, Peking University Shenzhen Graduate School Shenzhen, China Changchun, Jilin Province, China

60 • A novel Voice Activity Detection Clean Speech 1 50 algorithm under HHT framework. • Advantages of MOATF: 0 （） 40 • The Weighted Instantaneous amplitude -1 30 0 2 4 6 8 10 A. The robustness is greater than other time(s) Noisy speech (SNR=-5dB) 20 Frequency Average is designed and traditional input shapers. 1 10 proposed as the measurement. 0 Percentage Vibration % B. The delay time can be controlled 0 amplitude -1 0.5 0 2 4 6 8 10 • Good ability to extract voiced time(s) and choose freedomly. 0.4 15 WIFA 0.3 10 segments of speech. 0.9 C. Simulation results demonstrated the 0.2 0.8 0.1 5 0.7 Time-delay(s) Frequency(Hz) • Better performance for Strong Noisy 100 200 300 400 500 600 700 effective of MOATF for frames Three-dimensional sensitivity curve for MOATF Speech compared with some suppressing residual vibration of Result of WIFA-VAD flexible system. conventional VAD algorithms.

Ballroom 2, 2nd Floor (5) 17:20-17:40 PCA and LDA for EMG-based Control of Bionic Mechanical Hand Daohui Zhang, Anbin Xiong, Xingang Zhao and Jianda Han Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, China • Do a comparative study of LDA and PCA for EMG classification. • Select five time-domain features and four frequency- domain features of EMG. • Choose five hand motion for classification. • Do online control experiments Five class of hand motions of Bionic Mechanical Hand. in LDA space

T-35 FE4:Computer Application

Session Chair: Li Ke and Fangfang Jiang

Lian Hall, 2nd Floor 16:00-17:40 Friday, June 8

Lian Hall, 2nd Floor (1) 16:00-16:20 Lian Hall, 2nd Floor (2) 16:20-16:40 Computer-Assisted Monte Carlo CAD/CAM Fabrication and Clinical Application Simulation of Optimum Cut-off Grade in of Mucosa-supported Template for the Surface Mining Metal Ore Deposits LI Shou-guo, YANG Chang Edentulous Maxilla Xi ' an University of Architecture and Technology Zhichao Huang, Bingwei He Xi’an, China College of Mechanical Engineering, Fuzhou University, Fuzhou, China • Introduce a jump diffusion Jiang Chen, Yanqin Li real options price model to the School and Hospital of Stomatology, Fujian Medical University, Fuzhou, China traditional research on mineral resources price, and deduce a back-calculation • Introduce the procedure of designing formula about cut-off grade. Mucosa-supported surgical template. • Then, produce some future • Give an example of actual clinical prices by stochastic application for an edentulous maxilla. simulation. • And then, simulate the future price changing process by using • Discussion and conclusion about the computer-assisted Monte Carlo method and indirectly obtain new method of designing template. Virtual implant the optimal current cut-off grade. Finally, take a mining enterprise as the detailed example to validate the results.

Lian Hall, 2nd Floor (3) 16:40-17:00 Lian Hall, 2nd Floor (4) 17:00-17:20 Visualization using Histogram Based Transfer An Improved Trajectory Prediction Algorithm Functions for 3D Cardiac Volume Data Set based on Trajectory Data Mining for Air Traffic Fangzhou Shen, Kuanquan Wang,Yongfeng Yuan, and Lianqing Wang School of Computer Science and Technology, Harbin Institute of Technology Management Harbin, China Yue Song, Peng Cheng, and Chundi Mu Tsinghua University • Introduction of Visualization Beijing, China

x 104 Average Prediction Error, kc = 23 • Design of 1D Histogram Based 3 • Radar data mining The Algorithm before Improved Transfer Function 2.5 The Improved Algorithm • Typical trajectory • Design of 2D Histogram Based 2

• Hybrid estimation 1.5

Transfer Function Error(m) • Experimental Results and Discuss • Improved trajectory prediction 1 accuracy 0.5

0 0 5 10 15 20 25 30 35 40 T The rendering result Improved prediction accuracy

Lian Hall, 2nd Floor (5) 17:20-17:40 Improved Periodic Output Feedback Control Method for Creep Characteristic of Thick IPMC Plate Zhiyong Sun, Lina Hao, Liqun Liu and Jianchao Gao School of Mech & Auto, Northeastern University, Shenyang, China

• Creep model is proposed for thick IPMC plate modeling. • Periodic Output Feedback Control method (POF) is studied for IPMC plate manipulation. • Error integral compensation POF control method (IPOF) is developed for IPMC signal-tracking tasks. • Position tracking tests are carried out IPMC Plate Samples for validating the control methods.

T-36

ICIA2012 Session Chair Index

IEEE ICIA 2012 Session Chair Index

Chen,Jie ………………………………………………………………………………………………………………… WA2 Chen,Jie WE1 Fu,Yili ………………………………………………………………………………………………………………… TE3 Gao,Han ………………………………………………………………………………………………………………… WE4 Ge,Yunjian ………………………………………………………………………………………………………………… WP1 Ge,Yunjian FE2 Gu,Guoxiang ………………………………………………………………………………………………………………… TP1 Gu,Guoxiang WP1 Gu,Jason ………………………………………………………………………………………………………………… FP1 Gu,Jason FE1 Gu,Jason TE2 Guan,Xueyuan ………………………………………………………………………………………………………………… TE1 Guo,Shuxiang ………………………………………………………………………………………………………………… FA4 Han,Jianda ………………………………………………………………………………………………………………… TP3 Han,Jianda FP2 Huang,Qiang ………………………………………………………………………………………………………………… WP3 Huang,Qiang TE3 Jia,Heming ………………………………………………………………………………………………………………… TP1 Jia,Songmin ………………………………………………………………………………………………………………… WA1 Jia,Songmin TE1 Jia,Songmin WE2 Jiang,Fangfang ………………………………………………………………………………………………………………… FP4 Jiang,Fangfang FE4 Kang,Yan ………………………………………………………………………………………………………………… TA4 Ke,Li ………………………………………………………………………………………………………………… FP4 Ke,Li FE4 Kim,Yeoun-Jae ………………………………………………………………………………………………………………… TP4 Li,Baopu ………………………………………………………………………………………………………………… WE3 Li,Baopu TP2 Li,Baopu TA2 Li,Hong ………………………………………………………………………………………………………………… TP4 Li, Zhijun ………………………………………………………………………………………………………………… WP2 Liu,Wei ………………………………………………………………………………………………………………… WA3 Liu,Wei TP2 Liu,Wei FA2 Liu,Wei FP3 Liu,Zhendong ………………………………………………………………………………………………………………… FE1 Mo,Hongwei ………………………………………………………………………………………………………………… WA1 Qiu,Li ………………………………………………………………………………………………………………… WE1 Romeny,B.M.ter Haar ………………………………………………………………………………………………………………… WE4 Shao,Hong ………………………………………………………………………………………………………………… TE4 Song,Shuang ………………………………………………………………………………………………………………… FA1 Song,Shuang FP1 Su,Chunyi ………………………………………………………………………………………………………………… FP2 Tang,Lixin ………………………………………………………………………………………………………………… WA3 Tang,Lixin WP3 Tian,Guohui ………………………………………………………………………………………………………………… WE2 Tian,Guohui FE2 Wang,Hong ………………………………………………………………………………………………………………… TA4 Wang,Kuanquan ………………………………………………………………………………………………………………… WA4 Wang,Kuanquan WP4 Wang,Lu ………………………………………………………………………………………………………………… FA3 Xiang,Shihai ………………………………………………………………………………………………………………… FA4 Xu,Dezhang ………………………………………………………………………………………………………………… TA3 Xu,Guoqing ………………………………………………………………………………………………………………… TA1 Xu,Lisheng ………………………………………………………………………………………………………………… FA3 Xu,Lisheng FE3 Yang,Jinzhu ………………………………………………………………………………………………………………… WP4 Yue,Heng ………………………………………………………………………………………………………………… TA1

S-1 IEEE ICIA 2012 Session Chair Index

Zhang,Chengjin ………………………………………………………………………………………………………………… FA2 Zhang,Chengjin WA2 Zhang,David ………………………………………………………………………………………………………………… TE2 Zhang,David TA2 Zhang,David WE3 Zhang,Hong ………………………………………………………………………………………………………………… TP3 Zhang,Jianwei ………………………………………………………………………………………………………………… WP2 Zhang,Jianwei TA3 Zhang,Yaonan ………………………………………………………………………………………………………………… FA1 Zhang,Yaonan TE4 Zheng,Hairong ………………………………………………………………………………………………………………… WA4 Zou,Hao ………………………………………………………………………………………………………………… FP3 Zou,Yuexian ………………………………………………………………………………………………………………… FE3

S-2

ICIA2012 Author Index

2012 IEEE ICIA

Cui, Wei...... W A 1 . 4 A D Abedi, Parvin...... T P 3 . 4 Ao, Dun...... W A 3 . 1 Dai, Xiang...... T A 1 . 2 Aoyama, Tadayoshi...... F A 2 . 3 Dai, Xianzhong...... F E 1 . 3 Arrichiello, Filippo...... F A 2 . 4 Dai, Yin...... W P 4 . 1 Azizi, Vahid...... W E 3 . 4 Dang, Qi...... F P 1 . 5 Azizkhani, Sahand...... T P 2 . 6 Deng, Feiqi...... T A 2 . 2 Diao, Jietao...... W A 2 . 1 Ding, Liang...... W P 2 . 2 B Ding, Qichuan...... T P 2 . 2 Ding, Yuhan...... F E 1 . 3 Bai, Hongyang...... T E 1 . 1 Dong, Huiming...... T P 4 . 5 Bao, Nan...... F P 4 . 4 Dong, Huiying...... F A 4 . 2 Bindra, Gundeep Singh...... T E 3 . 5 Du, Bianjing...... T A 3 . 3 Bistooni, Meysam...... T P 3 . 4 Duan, Huidong...... F P 3 . 1 Bu, Jian-guo...... F E 1 . 2 Duan, Xiaoli...... W P 3 . 5 Duan, Yane...... W A 3 . 5 Duits, Remco...... T A 4 . 3 C E Cai, Baoqin...... T P 2 . 5 Cai, Hegao...... W E 2 . 2 Cai, Jinfeng...... W P 4 . 5 Elhelw, Mohamed...... W A 2 . 4 Cai, Shen...... F A 1 . 3 El-sayed, Agwad...... W A 2 . 4 Cao, Yao...... F E 1 . 1 Chai, Tianyou...... W P 2 . 6 Chaudhry, Harish...... T E 3 . 4 F Chen, Fengxiang...... W P 3 . 4 Chen, Heping...... W P 2 . 4 Fan, Jinhui...... T E 1 . 2 Chen, Hongwei...... W P 2 . 1 Fan, Jizhuang...... W E 2 . 2 Chen, Jialong...... T A 1 . 4 Fan, Jizhuang W E 2 . 5 Chen, Jiang...... F E 4 . 2 Fan, Ji-zhuang...... F P 3 . 5 Chen, Jianke...... W A 4 . 3 Fan, Linan...... W E 4 . 2 Chen, Jie ...... W E 1 . 4 Fan, Ningjun...... F A 3 . 4 Chen, Jing-ling...... F E 2 . 4 Fang, Xiang...... F P 3 . 2 Chen, Jueli...... T E 4 . 5 Fang, Xiang TE4.4 Chen, Kai...... F E 1 . 5 Fang, Zheng...... W P 3 . 3 Chen, Ruijuan...... T A 4 . 4 Feng, Gang...... W E 1 . 5 Chen, Tongwen...... T P 3 . 3 Feng, Guodong...... F E 2 . 5 Chen, Wei...... W E 1 . 1 Feng, Jinhan...... F P 4 . 3 Chen, Xiangji...... F A 3 . 3 Feng, Jinhan W A 4 . 4 Chen, Xiaosu...... F E 1 . 5 Feng, Wei...... T A 4 . 2 Chen, Xiaozhao...... F P 4 . 4 Feng, Wei T P 4 . 1 Chen, Xuechao...... F A 3 . 4 Feng, Xisheng...... T P 1 . 5 Chen, Ya...... W P 1 . 1 Feng, Ying...... W P 2 . 6 Chen, Yen-lun...... F A 1 . 2 Fu, Ling...... W E 4 . 5 Chen, Yingying...... F P 4 . 5 Fu, Quanhai...... T E 4 . 5 Chen, Yingying W E 4 . 4 Fu, Yanan...... T E 2 . 2 Cheng, Hongtai...... W P 2 . 4 Fu, Yili...... F E 2 . 1 Cheng, Hui...... W E 3 . 5 Fu, Yili W P 2 . 1 Cheng, Jun...... T A 2 . 2 Fukuda, Toshio...... F A 2 . 3 Cheng, Nong...... W A 2 . 5 Cheng, Peng...... F E 4 . 4 Cheng, Peng W A 2 . 5 G Cheng, Yu...... T E 2 . 4 Chiaverini, Stefano...... F A 2 . 4 Gai, Qun...... T A 3 . 5 Choo, Yoo Sang...... T A 1 . 5 Gan, Lixin...... T P 2 . 3 A-1

2012 IEEE ICIA

Gao, Baofeng...... F A 4 . 5 He, Qing T A 2 . 4 Gao, Bingzhi...... F P 2 . 4 He, Wei...... T A 1 . 5 Gao, Guangyong...... T P 2 . 5 He, Yuanqin...... T A 1 . 1 Gao, Guanhua...... F A 1 . 5 He, Yuqing...... T P 3 . 1 Gao, Guanyu...... F A 1 . 5 Hoseini Khasheh Heiran, Mostafa.. W E 3 . 4 Gao, Haibo...... W P 2 . 2 Hu, Chao...... T A 2 . 1 Gao, Jianchao...... F E 4 . 5 Hu, Chao T P 2 . 4 Gao, Junyao...... W A 1 . 2 Hu, Chao W A 4 . 3 Gao, Liwen...... T E 1 . 2 Hu, Hongtao...... W E 4 . 3 Gao, Weinan...... W P 3 . 3 Hu, Xiangli...... W E 4 . 2 Gao, Yang...... F P 4 . 1 Hu, Ying...... T A 3 . 1 Gao, Yongqiang...... F A 1 . 1 Hu, Ying T A 3 . 2 Ge, Shuzhi...... T A 1 . 5 Hu, Yu...... T P 2 . 4 Ge, Yunjian...... F E 2 . 3 Hua, Lei...... W P 2 . 1 Geng, Ping...... W E 4 . 1 Huang, Jincai...... T A 1 . 2 Ghaebi Panah, Payam...... T P 2 . 6 Huang, Longxiang...... F A 1 . 3 Gong, Ke...... W P 4 . 3 Huang, Qiang...... F A 3 . 4 Gong, Shujun...... T A 3 . 1 Huang, Qiang W A 1 . 2 Gu, Guoxiang...... W E 1 . 2 Huang, Qiang T P 3 . 6 Gu, Jason...... T E 2 . 5 Huang, Tao...... F E 1 . 2 Gu, Wenjuan...... W E 4 . 2 Huang, Xinyang...... F A 1 . 1 Guan, Dejun...... F P 4 . 3 Huang, Ying...... T P 4 . 4 Guan, Dejun W A 4 . 4 Huang, Zhichao...... F E 4 . 2 Guan, Lili...... F E 2 . 1 Huchard, Marianne...... W E 2 . 3 Guan, Mingjie...... T A 1 . 1 Guan, Shengxiao...... F A 1 . 5 Guan, Xin...... T E 3 . 3 J Guan, Xinping...... W E 1 . 5 Guan, Xueyuan...... T E 1 . 1 Ji, Guangji...... W P 3 . 4 Gui, Wen-sheng...... F E 2 . 4 Ji, Weijie...... T A 4 . 5 Guo, Bin...... W P 2 . 1 Jia, He-ming...... T P 1 . 2 Guo, Bing...... W E 2 . 1 Jia, Songmin...... T E 1 . 2 Guo, Bing W P 2 . 3 Jia, Songmin W A 1 . 4 Guo, Jin...... F A 4 . 5 Jia, Songmin W A 1 . 5 Guo, Jing...... W A 2 . 1 Jia, Songmin W E 2 . 1 Guo, Shuai...... T A 2 . 5 Jia, Songmin W P 2 . 3 Guo, Shuman...... F P 2 . 5 Jia, Yancheng...... W P 1 . 5 Guo, Shuxiang...... F A 4 . 5 Jiang, Jun...... T A 2 . 2 Guo, Xu...... T P 4 . 2 Jiang, Mai...... T P 1 . 4 Guo, Xuemei...... F E 2 . 5 Jiang, Zhengqiao...... W P 3 . 2 Guo, Yanhong...... T E 3 . 3 Jin, Bo...... W A 2 . 3 Guo, Zhenhua...... F E 1 . 1 Jin, Shikai...... W P 4 . 3

H K

Haacke, E. Mark...... T P 4 . 1 Kandwal, Krishen Kant...... T E 3 . 5 Haacke, E.mark...... T A 4 . 2 Kang, Kai...... F A 1 . 5 Haacke, E.mark T P 2 . 1 Kang, Shaobo...... W P 3 . 5 Han, Fangfang...... W P 4 . 4 Kang, Yan...... F P 4 . 4 Han, Guoqiang...... F A 3 . 3 Kang, Yan F P 4 . 5 Han, Jianda...... F E 3 . 5 Kang, Yan T A 4 . 2 Han, Jianda T P 2 . 2 Kang, Yan T A 4 . 5 Han, Jianda T P 3 . 1 Kang, Yan T P 2 . 1 Han, Ling...... F A 3 . 5 Kang, Yan T P 4 . 1 Hao, Liling...... T A 4 . 4 Kang, Yan T P 4 . 5 Hao, Lina...... F E 4 . 5 Kang, Yan W A 4 . 5 Hasegawa, Yasuhisa...... F A 2 . 3 Kang, Yan W E 4 . 1 He, Bingwei...... F E 4 . 2 Kang, Yan W E 4 . 4 He, Qing...... T A 2 . 1 Kang, Yan W E 4 . 5

A-2

2012 IEEE ICIA

Kang, Yan W P 4 . 2 Li, Xiuzhi W E 2 . 1 Kang, Yan W P 4 . 5 Li, Xiuzhi W P 2 . 3 Karambakhsh, Ahmad...... WE3.4 Li, Yangmin...... T A 1 . 3 Ke, Li...... F P 4 . 5 Li, Yanmin...... F A 4 . 3 Ke, Li W E 4 . 4 Li, Yanping...... F P 3 . 4 Khanna, Seema...... T E 3 . 4 Li, Yanping T E 1 . 5 Khanna, Seema T E 3 . 5 Li, Yanqin...... F E 4 . 2 Kim, Yeoun-jae...... T P 4 . 6 Li, Ying...... W P 1 . 5 Kong, Xin...... F A 1 . 2 Li, Yong...... T A 3 . 5 Li, Yongxu...... F A 4 . 1 Li, Yuchen...... W E 2 . 1 L Li, Yuchen W P 2 . 3 Li, Yue...... W A 1 . 2 Lan, Lin...... W E 3 . 3 Li, Zhenzhen...... W A 1 . 1 Lee, Joon-yong...... T P 4 . 6 Li, Zhi...... W P 2 . 6 Lee, Ju-jang...... T P 4 . 6 Li, Zhijun...... W P 2 . 2 Leylavi Shoushtari, Ali...... T P 3 . 4 Li, Zhouli...... W E 4 . 3 Li, Baopu...... F P 3 . 2 Lian, Feng-li...... W P 1 . 2 Li, Baopu T A 2 . 1 Liang, Bin...... F A 2 . 5 Li, Baopu T A 2 . 4 Liang, Jianing...... W P 2 . 5 Li, Baopu T E 4 . 3 Liang, Jihong...... T E 4 . 1 Li, Baopu T E 4 . 4 Liang, Wei...... T P 1 . 4 Li, Baopu T P 2 . 4 Liang, Wei T P 1 . 5 Li, Bin...... T A 2 . 5 Liao, Jingsheng...... F P 3 . 2 Li, Chunsheng...... F A 3 . 5 Liao, Jingsheng T A 2 . 4 Li, Gang...... T A 4 . 4 Liao, Jingsheng T E 4 . 3 Li, Ge...... F P 3 . 5 Liao, Jingsheng T E 4 . 4 Li, Guixiang...... F A 4 . 3 Li-ling, Jesse...... F E 2 . 2 Li, Hong...... W A 4 . 5 Lin, Fengqin...... F E 3 . 1 Li, Hong W P 4 . 2 Lin, Li...... W A 4 . 4 Li, Hongyi...... F A 4 . 2 Lin, Ling...... T A 4 . 4 Li, Hui...... F A 4 . 4 Lin, Rui...... W E 3 . 2 Li, Jiangtao...... F A 4 . 2 Lin, Xia...... W E 4 . 3 Li, Jiangyun...... W P 3 . 6 Lin, Yi-chun...... W P 1 . 2 Li, Jianhua...... F P 4 . 4 Liu, Caixia...... T P 4 . 4 Li, Jianhua T P 4 . 5 Liu, Cong...... F A 3 . 5 Li, Jingrong...... T E 4 . 3 Liu, Furui...... W E 3 . 1 Li, Mo...... F E 3 . 2 Liu, Guizhen...... W A 3 . 3 Li, Nan...... F P 4 . 5 Liu, Guodong...... T P 2 . 3 Li, Nan W E 4 . 4 Liu, Guohai...... F E 1 . 3 Li, Shaobao...... W E 1 . 5 Liu, Haijun...... W A 2 . 1 Li, Shouguo...... F E 4 . 1 Liu, Haiying...... T E 2 . 4 Li, Shoutao...... T P 1 . 3 Liu, Hao...... F A 4 . 3 Li, Weimin...... T A 1 . 4 Liu, Houde...... F A 2 . 5 Li, Weimin T E 1 . 3 Liu, Huifen...... T A 3 . 1 Li, Weimin T E 1 . 4 Liu, Huiyu...... F E 1 . 5 Li, Weiping...... F P 1 . 5 Liu, Jia...... T E 4 . 2 Li, Wenjun...... W P 4 . 3 Liu, Jianzhuang...... F E 1 . 1 Li, Wenye...... T E 3 . 1 Liu, Keping...... F E 3 . 3 Li, Wenye TE3.2 Liu, Keping T P 1 . 1 Li, Xianzhi...... W A 3 . 3 Liu, Li...... F A 1 . 1 Li, Xiaolei...... T A 2 . 3 Liu, Liqun...... F E 4 . 5 Li, Xiaoli...... F P 2 . 4 Liu, Weijun...... T E 2 . 1 Li, Xiaoli W P 3 . 6 Liu, Xian...... T A 2 . 4 Li, Xiaoxiao...... W A 4 . 3 Liu, Xiao...... W P 1 . 1 Li, Xiaoyun...... F A 3 . 1 Liu, Xiyan...... W E 3 . 1 Li, Xiu-fang...... F P 1 . 3 Liu, Yan...... F E 3 . 1 Li, Xiuzhi...... T E 1 . 2 Liu, Yong...... W P 2 . 4 Li, Xiuzhi W A 1 . 4 Liu, Yuanqi...... F P 3 . 2 Li, Xiuzhi W A 1 . 5 Liu, Yuncai...... F A 1 . 3

A-3

2012 IEEE ICIA

Liu, Zhendong...... F E 1 . 4 Ouyang, Liping...... T A 3 . 3 Liu, Zhilin...... W P 3 . 2 Oyang, Xinyu...... F P 3 . 5 Liu, Zhiyan...... W P 1 . 4 Liu, Zhong...... T A 1 . 2 Liu, Zhongqing...... F A 2 . 1 P Liu, Zixi...... W P 4 . 3 Lu, Dengke...... T E 1 . 4 Pan, Hongqing...... F E 2 . 3 Lu, Fei...... W E 2 . 4 Pan, Liang...... F P 4 . 2 Lu, Weiwei...... T A 3 . 2 Pan, Xiaoguang...... W A 4 . 5 Lu, Yingqi...... W P 1 . 1 Pan, Xiaoguang W P 4 . 2 Lu, Zhiguo...... F A 2 . 3 Pei, Xinglong...... T P 1 . 3 Luan, Xin...... F P 1 . 3 Peng, Ansi...... T A 3 . 3 Luo, Xiaoyuan...... W E 1 . 5 Peng, Qinke...... F P 1 . 1 Luo, Yang...... F A 1 . 1 Peng, Qinke FP3.3 Luo, Yaohua...... W P 3 . 5 Peng, Songcheng...... W A 3 . 1 Luo, Yu...... W A 4 . 2 Lv, Jia...... F P 1 . 1 Lv, Jingyuan...... F P 1 . 4 Q Lv, Shijia...... W P 3 . 5 Qi, Buer...... W P 4 . 2 M Qi, Juntong...... T P 3 . 1 Qi, Shouliang...... T A 4 . 2 Qi, Shouliang T A 4 . 5 Ma, Biao...... F E 1 . 2 Qi, Shouliang T P 4 . 1 Ma, Shugen...... T A 2 . 5 Qian, Huaxing...... T A 2 . 2 Ma, Yongxue...... T P 1 . 3 Qiao, Shidong...... T A 1 . 2 Martinez Palafox, Oscar...... F P 2 . 1 Qiu, Hongxing...... F P 1 . 5 Mehta, Vaibhav Kumar...... F A 2 . 4 Qiu, Li...... W E 1 . 1 Meng, Max Q. -h...... F P 3 . 2 Qiu, Li W E 1 . 2 Meng, Max Q. -h. T A 2 . 4 Meng, Max Q.-h...... T A 2 . 1 Meng, Max Q.-h T E 4 . 5 R Meng, Max Q.-h T P 2 . 4 Meng, Max Q.-h T P 4 . 2 Ren, Zhong...... T P 2 . 3 Meng, Max Q.-h...... T E 2 . 2 Ruan, Chuanyang...... T A 2 . 2 Meng, Max Q.-h. T E 2 . 4 Meng, Max Q.-h. T E 4 . 4 Meng, Max Q.-h. T P 4 . 3 S Meng, Xianyong...... T A 1 . 3 Meybodi, Mohammad Reza...... WE3.4 Miao, Benshu...... W A 2 . 2 Sadeghi, Mojtaba...... T P 2 . 6 Miao, Houxiang...... W A 4 . 3 Salah, Mohamed Ben...... T P 3 . 5 Miao, Lei...... F A 4 . 2 Sekiyama, Kosuke...... F A 2 . 3 Mo, Guan...... F P 4 . 2 Shang, Wen...... T E 2 . 3 Mo, Hongwei...... W A 1 . 1 Shao, Hong...... F P 3 . 1 Mostafavi, Hojat...... T P 2 . 6 Shao, Hong T A 4 . 1 Mu, Chundi...... F E 4 . 4 Shen, Fangzhou...... F E 4 . 3 Shen, Hongmin...... W A 1 . 4 Shen, Yanhua...... T P 4 . 3 N Shen, Yanhua W A 4 . 1 Shen, Yanli...... T E 4 . 1 Sheng, Weihua...... W P 2 . 4 Ni, Pingqiang...... T E 4 . 4 Shi, Baofeng...... W A 2 . 5 Nie, Lei...... F P 1 . 2 Shi, Hongyu...... W P 1 . 6 Shi, Lei...... W E 4 . 5 O Shi, Ling...... W E 1 . 3 Shi, Wei...... F E 3 . 4 Shi, Ye...... F A 2 . 5 Ossenblok, Pauly...... T A 4 . 3 Shu, Zhenghua...... T P 2 . 3 Ou, Yongsheng...... F A 3 . 1 Shuang, Feng...... F E 2 . 3 Ou, Yongsheng T A 3 . 3 Si, Guanglei...... W P 4 . 5 A-4

2012 IEEE ICIA

Singh, Prashant Kumar...... T E 3 . 5 Wang, Ke W E 2 . 1 Song, Da-lei...... F P 1 . 3 Wang, Ke W P 2 . 3 Song, Dan...... T E 4 . 5 Wang, Kuanquan...... F E 3 . 2 Song, Shuang...... W A 4 . 3 Wang, Kuanquan F E 4 . 3 Song, Yue...... F E 4 . 4 Wang, Liangrong...... W P 2 . 5 Song, Zhibin...... W P 2 . 5 Wang, Lianqing...... F E 3 . 2 Spong, Mark William...... F P 2 . 1 Wang, Lianqing F E 4 . 3 Su, Chun-yi...... W P 2 . 6 Wang, Lijia...... W A 1 . 5 Su, Weizhou...... W E 1 . 4 Wang, Lipeng...... F A 4 . 4 Sun, Lining...... W E 3 . 2 Wang, Liping...... F P 4 . 3 Sun, Rongchuan...... W E 3 . 2 Wang, Lu...... T A 2 . 3 Sun, Shenshen...... W E 4 . 2 Wang, Lu T P 1 . 2 Sun, Tianfang...... T P 1 . 1 Wang, Minghui...... T A 2 . 5 Sun, Xin...... F E 2 . 3 Wang, Qiang...... W P 1 . 3 Sun, Yan...... T E 3 . 1 Wang, Qing-peng...... F E 2 . 4 Sun, Zaolin...... W A 2 . 1 Wang, Shijia...... W P 3 . 4 Sun, Zhiyong...... F E 4 . 5 Wang, Shuang...... W A 1 . 5 Suo, Chunguang...... F E 2 . 4 Wang, Shuguo...... W P 2 . 1 Suo, Laichun...... F E 2 . 1 Wang, Shuhong...... T E 4 . 2 Wang, Shuhong W A 4 . 1 Wang, Ting...... W A 4 . 2 T Wang, Wei...... F A 2 . 2 Wang, Xiaohua...... W A 3 . 1 Tang, Lixin...... W A 3 . 2 Wang, Xiaotong...... F A 1 . 4 Tang, Yandong...... W E 3 . 3 Wang, Xiaoyan...... W P 3 . 1 Tao, Lihua...... T P 1 . 3 Wang, Xin...... W P 4 . 1 Tao, Quan...... T P 1 . 1 Wang, Xinmin...... W P 3 . 1 Tax, Chantal...... T A 4 . 3 Wang, Xinran...... W E 2 . 4 Teng, Fei...... W E 4 . 1 Wang, Xueqian...... F A 2 . 5 Ter Haar Romeny, Bart...... T A 4 . 3 Wang, Yan...... W A 1 . 3 Tian, Guohui...... W E 2 . 4 Wang, Yao...... T A 4 . 1 Tian, Wei...... F P 1 . 4 Wang, Yijin...... F E 2 . 2 Tong, Chaonan...... F E 3 . 1 Wang, Ying...... F P 1 . 1 Wang, Ying T P 2 . 1 Wang, Ying W A 4 . 5 U Wang, Yu...... T A 3 . 5 Wang, Yubing...... F E 2 . 3 Utriainen, David...... T P 4 . 1 Wang, Yuechao...... T A 2 . 5 Wang, Yuechao W A 4 . 2 Wang, Zhenhua...... W E 3 . 2 V Wang, Zhidong...... W A 4 . 2 Wang, Zhihong...... T A 3 . 4 Wang, Zhijie...... T P 3 . 5 Vilanova, Anna...... T A 4 . 3 Wang, Zhilei...... F P 2 . 4 Wang, Zhiqiong...... W P 4 . 3 W Wang, Zhufei...... F E 2 . 2 Wang, Zi...... T E 3 . 1 Wei, Ning...... T A 2 . 1 Wang, Benjin...... F A 4 . 2 Wei, Ran...... T A 3 . 4 Wang, Buyun...... T A 3 . 4 Wen, Zixia...... F P 2 . 2 Wang, Gang...... T A 2 . 4 Wen, Zixia FP2.3 Wang, Guoli...... F E 2 . 5 Wu, Liying...... W A 1 . 2 Wang, Hao...... T E 4 . 5 Wu, Siyu...... T P 4 . 4 Wang, Hong...... F A 3 . 5 Wu, Xinyu...... F A 1 . 2 Wang, Hong-bin...... T P 1 . 2 Wu, Xinyu F A 3 . 1 Wang, Huaping...... F A 3 . 4 Wu, Yebin...... W A 1 . 3 Wang, Ji...... F E 2 . 1 Wu, Zhongqiang...... W A 3 . 1 Wang, Jiandong...... T P 3 . 3 Wu, Zhongwei...... F E 3 . 3 Wang, Juan...... W E 1 . 5 Wang, Kaiyu...... W A 1 . 3 Wang, Ke...... W A 1 . 4 X A-5

2012 IEEE ICIA

Yang, Feifei...... T P 4 . 2 Xi, Bao...... W P 1 . 4 Yang, Feifei T P 4 . 3 Xia, Guihua...... W A 1 . 3 Yang, Guoyan...... T E 3 . 3 Xia, Junying...... T P 3 . 2 Yang, Jinzhu...... W P 4 . 4 Xia, Renbo...... T E 2 . 1 Yang, Min...... F E 3 . 3 Xiao, Dayu...... W E 4 . 1 Yang, Qinghua...... T P 4 . 4 Xiao, Nan...... F A 4 . 5 Yang, Shu...... F A 4 . 5 Xiao, Xufeng...... F A 4 . 5 Yang, Shu F A 4 . 5 Xie, Qing...... T P 2 . 3 Yang, Tianyu...... T A 2 . 1 Xie, Wei...... F A 1 . 2 Yang, Yuebin...... F E 2 . 5 Xie, Weichao...... W P 4 . 6 Yang, Zijiang...... T P 3 . 3 Xie, Xie...... F P 3 . 4 Yao, Chen...... W A 4 . 2 Xie, Xie T E 1 . 5 Yao, Chen W A 4 . 2 Xiong, Anbin...... F E 3 . 5 Yao, Chen W A 4 . 2 Xiong, Guogang...... F A 3 . 1 Yao, Congchao...... W P 3 . 1 Xiong, Jiulong...... T P 3 . 2 Yasin,Awais...... T P 3 . 6 Xu, Baoxun...... F P 1 . 2 Ye, Yunming...... F P 1 . 2 Xu, Dezhang...... T A 3 . 4 Yin, Baolin...... W A 3 . 3 Xu, Guoqing...... T A 1 . 4 Yin, Sainan...... T E 4 . 2 Xu, Guoqing TE1.3 Yin, Sainan T P 4 . 2 Xu, Guoqing TE1.4 Yin, Yixin...... F P 2 . 4 Xu, Guoqing W P 2 . 5 Yousefi Azar Khanian, Mahdi...... W E 3 . 4 Xu, Kun...... T A 1 . 4 Yu, Bin...... F A 4 . 1 Xu, Kun W P 2 . 5 Yu, Fang-jie...... F P 1 . 3 Xu, Lisheng...... F A 4 . 1 Yu, Haibin...... T P 1 . 5 Xu, Lisheng FP4.3 Yu, Hongqi...... W A 2 . 1 Xu, Lisheng TE4.2 Yu, Ruiting...... T P 1 . 6 Xu, Lisheng TE4.5 Yu, Ruiting W P 3 . 2 Xu, Lisheng T P 4 . 2 Yu, Suyang...... W A 4 . 2 Xu, Lisheng T P 4 . 3 Yu, Yan...... F E 1 . 2 Xu, Lisheng W A 4 . 1 Yu, Ying...... W A 3 . 3 Xu, Lisheng W A 4 . 4 Yu, Yongtao...... F P 2 . 2 Xu, Ming...... W A 2 . 3 Yu, Yongtao F P 2 . 3 Xu, Mingjie...... T P 4 . 5 Yu, Yongtao W A 1 . 3 Xu, Qian...... T P 3 . 6 Yu, Yuanlong...... T E 2 . 5 Xu, Shaowen...... T P 2 . 5 Yu, Zhangguo...... F A 3 . 4 Xu, Tao...... F P 1 . 1 Yuan, Xiao-hua...... F A 3 . 2 Xu, Wei...... F A 3 . 4 Yuan, Ye...... W E 1 . 3 Xu, Wei F A 3 . 4 Yuan, Yongfeng...... F E 3 . 2 Xu, Wei F A 3 . 4 Yuan, Yongfeng F E 4 . 3 Xu, Wenfu...... F A 2 . 5 Yuan, Yongfeng W P 1 . 4 Xu, Xiaoquan...... T P 3 . 2 Xu, Xin...... W A 2 . 1 Z Xue, Bing...... F P 1 . 3

Zapata, René...... W E 2 . 3 Y Zeng, Bowen...... T P 1 . 6 Zeng, Dewen...... T P 2 . 4 Yan, Jie...... F A 4 . 3 Zeng, Lvming...... T P 2 . 3 Yan, Jihong...... W E 2 . 5 Zeng, Yi...... T A 3 . 2 Yan, Jun...... T E 1 . 2 Zhai, Shuang...... W P 3 . 4 Yan, Li...... T E 4 . 2 Zhang, Baochang...... F E 1 . 1 Yan, Li W A 4 . 1 Zhang, Daohui...... F E 3 . 5 Yan, Qin...... T E 2 . 3 Zhang, David W...... T E 2 . 2 Yan, Tao...... T P 2 . 5 Zhang, David W...... T E 2 . 4 Yan, Tingfang...... T E 2 . 2 Zhang, David W. T E 2 . 5 Yan, Tingfang T E 2 . 4 Zhang, Dongrui...... W A 4 . 4 Yang, Chang...... F E 4 . 1 Zhang, Du...... W P 1 . 1 Yang, Cong...... F P 4 . 2 Zhang, Fuhai...... W P 2 . 1 Yang, Cong W E 3 . 3 Zhang, Gangguo...... F A 3 . 2

A-6

2012 IEEE ICIA

Zhang, Hao...... T E 1 . 3 Zheng, Jianying...... W E 1 . 1 Zhang, Hong...... T P 3 . 5 Zheng, Nan...... W P 3 . 6 Zhang, Huaxi (yulin)...... W E 2 . 3 Zheng, Yongyue...... F P 3 . 4 Zhang, Jianpei...... W E 3 . 5 Zheng, Yongyue T E 1 . 5 Zhang, Jianwei...... T A 3 . 1 Zheng, Zeguang...... F A 4 . 2 Zhang, Jianwei T A 3 . 2 Zhi, Di...... W A 4 . 2 Zhang, Jing...... F P 3 . 3 Zhong, Jun...... T E 2 . 3 Zhang, Jingshu...... F E 2 . 2 Zhong, Yi...... T A 4 . 2 Zhang, Jingshu T A 4 . 5 Zhong, Yi T P 4 . 1 Zhang, Jinhui...... W P 3 . 6 Zhong, Yue...... F P 4 . 3 Zhang, Jun...... T A 3 . 2 Zhong, Yue W A 4 . 1 Zhang, Lei...... W E 2 . 3 Zhou, Hong-hong...... F P 1 . 3 Zhang, Liancun...... W A 1 . 2 Zhou, Meilan...... T E 1 . 3 Zhang, Li-jun...... T P 1 . 2 Zhou, Meilan T E 1 . 4 Zhang, Linghua...... W P 4 . 6 Zhou, Su...... W P 3 . 4 Zhang, Ruyi...... F P 3 . 2 Zhou, Weili...... T E 4 . 3 Zhang, Ruyi T E 4 . 4 Zhou, Xiaolei...... W A 3 . 4 Zhang, Si...... F A 3 . 4 Zhou, Zi-wei...... F P 3 . 5 Zhang, Tong...... F P 2 . 5 Zhu, Daming...... F E 1 . 4 Zhang, Tong W P 3 . 4 Zhu, Guangying...... T A 1 . 2 Zhang, Wan...... T A 3 . 4 Zhu, Qidan...... F A 4 . 4 Zhang, Wei...... W E 2 . 2 Zhu, Qidan F P 2 . 2 Zhang, Weimin...... W A 1 . 2 Zhu, Qidan F P 2 . 3 Zhang, Weimin...... F A 3 . 4 Zhu, Qidan T P 1 . 6 Zhang, Weimin T P 3 . 6 Zhu, Qidan W A 1 . 3 Zhang, Wen...... F P 2 . 2 Zhu, Qidan W P 3 . 2 Zhang, Wen F P 2 . 3 Zhu, Qingyuan...... T A 1 . 1 Zhang, Wen-bin...... F E 2 . 4 Zhu, Wenjie...... W P 1 . 3 Zhang, Wenbo...... T P 1 . 3 Zhu, Yanhe...... F A 2 . 1 Zhang, Xiaolei...... W A 3 . 2 Zhu, Zhiqiang...... T P 3 . 1 Zhang, Xiaoling...... T P 1 . 4 Zhuang, Xuekun...... F E 2 . 3 Zhang, Xiaoling T P 1 . 5 Zong, Ping...... W P 1 . 1 Zhang, Xibin...... T P 4 . 2 Zou, Yuexian...... F E 3 . 4 Zhang, Xibin T P 4 . 3 Zhang, Yanyan...... W A 3 . 2 Zhang, Yaonan...... F A 1 . 4 Zhang, Yaonan F P 4 . 1 Zhang, Ying-feng...... F E 1 . 2 Zhang, Zheng...... T P 4 . 5 Zhang, Zhi...... F A 4 . 4 Zhang, Zhi F P 2 . 2 Zhang, Zhi F P 2 . 3 Zhao, Dazhe...... W P 4 . 4 Zhao, Hong...... T P 2 . 1 Zhao, Hong W A 4 . 5 Zhao, Hong W P 4 . 4 Zhao, Jibin...... T E 2 . 1 Zhao, Jie...... F A 2 . 1 Zhao, Jie F P 3 . 5 Zhao, Jie W E 2 . 5 Zhao, Longchao...... F A 2 . 2 Zhao, Mingsheng...... W A 2 . 2 Zhao, Xiaowen...... T P 4 . 4 Zhao, Xingang...... F E 3 . 5 Zhao, Xingang T P 2 . 2 Zhao, Yong...... T E 4 . 2 Zhao, Yue...... T E 4 . 1 Zhao, Zhen...... T A 1 . 5 Zheng, Fang...... W E 2 . 3 Zheng, Hui...... F A 3 . 2

A-7

IEEE C I IA & ISBE 2012 Program at a Glance

Tuesday, June 5, 2012 14:00-‐20:00 Registration at Sheraton Hotel Wednesday, June 6, 2012 Plenary Lecture I, Lian Hall, 2nd Floor, Chair: Tianyou Chai 09:00-‐10:00 The role of theory in control practice Prof. Manfred Morari, ETHZ, Switzerland 10:00-‐10:20 Tea and Coffee Break Session WA1 Session WA2 Session WA3 Session WA4 (ISBE) 10:20-‐12:00 nd nd nd nd Zhu Hall, 2 Floor Ballroom 3, 2 Floor Ballroom 2, 2 Floor Lian Hall, 2 Floor 12:00-‐14:00 Lunch Break (Ballroom 1, 2nd Floor, ticket required) Session WP1 Session WP2 Session WP3 Session WP4 (ISBE) 14:00-‐16:00 nd nd nd nd Zhu Hall, 2 Floor Ballroom 3, 2 Floor Ballroom 2, 2 Floor Lian Hall, 2 Floor 16:00-‐16:20 Tea and Coffee Break Session WE1 Session WE2 Session WE3 Session WE4 (ISBE) 16:20-‐18:00 nd nd nd nd Zhu Hall, 2 Floor Ballroom 3, 2 Floor Ballroom 2, 2 Floor Lian Hall, 2 Floor 18:30-‐20:00 Welcome Reception (Ballroom nd 1, 2 Floor, ticket required) Thursday, June 7, 2012 Plenary Lecture II, Lian Hall, 2nd Floor, Chair: T.-‐J. Tarn 09:00-‐10:00 Nonprehensile Robotic Manipulation Prof. Kevin Lynch, Northwestern University, USA 10:00-‐10:20 Tea and Coffee Break Session TA1 Session TA2 Session TA3 Session TA4 (ISBE) 10:20-‐12:00 rd nd nd Kunlun Hall, 3 Floor Meeting Room, 26F Zhu Hall, 2 Floor Lian Hall, 2 Floor 12:00-‐14:00 Lunch Break (Chinese Restaurant, 3rd Floor, ticket required) Session TP1 Session TP2 Session TP3 Session TP4 (ISBE) 14:00-‐16:00 rd nd nd Kunlun Hall, 3 Floor Meeting Room, 26F Zhu Hall, 2 Floor Lian Hall, 2 Floor 16:00-‐16:20 Tea and Coffee Break Session TE1 Session TE2 Session TE3 Session TE4 (ISBE) 16:20-‐18:00 Kunlun Hall, rd 3 Floor Meeting Room, 26F Zhu Hall, 2nd Floor Lian Hall, 2nd Floor 18:30-‐21:00 Award Banquet with Performance (Lido Ballroom 1, 3rd Floor, ticket required) Friday, June 8, 2012 Plenary Lecture III, Lian Hall, 2nd Floor, Chair: Yan Kang 09:00-‐10:00 Vision for Vision Prof. Bart ter Haar Romeny, Eindhoven University of Technology, The Netherlands 10:00-‐10:20 Tea and Coffee Break Session FA1 Session FA2 Session FA3 Session FA4 (ISBE) 10:20-‐12:00 nd nd nd nd Zhu Hall, 2 Floor Ballroom 3, 2 Floor Ballroom 2, 2 Floor Lian Hall, 2 Floor 12:00-‐14:00 Lunch Break (Ballroom 1, 2nd Floor, ticket required) Session FP1 Session FP2 Session FP3 Session FP4 (ISBE) 14:00-‐15:40 nd nd nd nd Zhu Hall, 2 Floor Ballroom 3, 2 Floor Ballroom 2, 2 Floor Lian Hall, 2 Floor 15:40-‐16:00 Tea and Coffee Break Session FE1 Session FE2 Session FE3 Session FE4 (ISBE) 16:00-‐17:40 nd nd nd nd Zhu Hall, 2 Floor Ballroom 3, 2 Floor Ballroom 2, 2 Floor Lian Hall, 2 Floor 18:00-‐20:00 Farewell Party (Ballroom 1, 2nd Floor, ticket required) Saturday, June 9, 2012 09:00-‐12:00 Shenyang Local Tour -‐ (Pre registration at the Conference Registration Desk Required)