Conference Digest 2021 IEEE International Conference on Mechatronics and Automation IEEE ICMA 2021 Takamatsu, Japan August 8-10, 2021 Cosponsored by IEEE Robotics and Automation Society Kagawa University, Japan Beijing Institute of Technology, China Technically cosponsored by The Robotics Society of Japan The Japan Society of Mechanical Engineers Japan Society for Precision Engineering The Society of Instrument and Control Engineers National Natural Science Foundation of China, China Chinese Mechanical Engineering Society Chinese Association of Automation State Key Laboratory of Robotics and System (HIT) The Institute of Advanced Biomedical Engineering System, BIT Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, Beijing Institute of Technology, China Guangxi University of Science and Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems; Tianjin Key Laboratory for Advanced Mechatronics System Design and Intelligent Control; Tianjin University of Technology, China Tianjin International Joint Research and Development Center, Tianjin University of Technology, China Harbin Engineering University University of Electro-Communications University of Electronic Science and Technology of China Optics and Precision Engineering IEEE ICMA 2021 PROCEEDINGS Additional copies may be ordered from: IEEE Service Center 445 Hoes Lane Piscataway, NJ 08854 U.S.A. IEEE Catalog Number: CFP21839-PRT ISBN 978-1-6654-4100-1 IEEE Catalog Number (CD-ROM): CFP21839-CDR ISBN (CD-ROM): 978-1-6654-4098-1 Copyright and Reprint Permission: Copyright and Reprint Permission: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For reprint or republication permission, email to IEEE Copyrights Manager at [email protected]. All rights reserved. Copyright ©2021 by IEEE. The papers in this book comprise the proceedings of the meeting mentioned on the cover and title page. They reflect the author’s opinions and, in the interest of timely dissemination, are published as presented and without change. Their inclusion in this publication does not necessarily constitute endorsement by the editors or the Institute of Electrical and Electronics Engineers, Inc. The Institute of Electrical and Electronics Engineers, Inc. Foreword On behalf of the IEEE ICMA 2021 Conference Organizing Committee, it is our great pleasure, an honor, and a privilege to welcome you to Takamatsu for the 2021 IEEE International Conference on Mechatronics and Automation. This conference reflects the growing interests in the broad research areas of mechatronics, robotics, sensors and automation. IEEE ICMA 2021 marks the 18th edition of the IEEE ICMA annual conference series. We are proud to announce that a high number of 390 papers were submitted from 28 countries and regions, including 376 contributed papers, 14 papers for organized sessions, and 253 papers were accepted for oral presentation at the conference after a rigorous full-paper review process, achieving an acceptance rate of less than 65%. Presentations at IEEE ICMA 2021 are organized in 6 parallel tracks, for a total of 40 sessions, taking place during the two and half conference days. We are fortunate to be able to invite four distinguished speakers to deliver plenary talks and keynote speech. We are very glad that you are joining us at IEEE ICMA 2021 in Takamatsu to live this unique experience. The main objective of IEEE ICMA 2021 is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, sensors and automation to disseminate their latest research results and exchange views on the future research directions of the related fields. IEEE ICMA 2021 promises to be a great experience for participants from all over the world, with an excellent technical program as well as social activities. We would like to express our most sincere appreciation and thanks to all our sponsoring societies and organizations and to all the individuals who have contributed to the organization of this conference. Our special thanks are extended to our colleagues in the Program Committee for their thorough review of all the submitted papers, which is vital to the success of this conference. We must also extend our thanks to our Organizing Committee and our volunteers who have dedicated their time toward ensuring the success of this conference. Last but not least, we thank all the contributors for their support and participation in making this conference a great success. Finally, we wish you a great conference and enjoyable stay in Takamatsu, Japan. Shuxiang Guo Keisuke Morishima Qinxue Pan Hideyuki Hirata General Chair Program Chair Program Chair Organizing Chair Welcome Remarks Welcome to the 2021 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2021). As one of the Advisory Council Chairs, it is my great pleasure and honor to welcome you to what promises to be its most successful conference to date. Kagawa University delighted to be one of the hosts of the Conference which marked as the 18th edition of the IEEE ICMA among the annual conference series. The Conference reflects the growing interests in the broad research areas of mechatronics, robotics sensors and automation. IEEE ICMA 2021 is dedicated to provide a forum for researchers, educators, engineers and government officials involved in these areas to disseminate the latest research results and exchange ideas on the future research directions. As the founding university of the IEEE ICMA conference, Kagawa University is a research-oriented university, with science, engineering and research as its core. We have established our own unique programs related to the field of mechatronics and automation that are well known in Japan. Kagawa University appreciates all of the sponsoring societies, organizations and all the individuals contributed to the organization of the conference, as well as all the authors, sessions organizers，plenary speakers, exhibitors for their interests and contribution to make IEEE ICMA 2021 a successful and fruitful event. Wish IEEE ICMA 2021 conference a complete success! Yoshiyuki Kakehi, Medical Doctor President of Kagawa University, Japan IEEE ICMA 2021 Conference Digest Table of Content Foreword Welcomg Remarks IEEE ICMA 2021 Conference ................................................................................ i Organizing Committees .................................................................................................. i International Program Committee ................................................................................ iv IEEE ICMA 2021 Conference Cosponsors ........................................................... xi General Information ............................................................................................. xii Conference Information .................................................................................... xviii Conference Registration .............................................................................................. xx Social Events ........................................................................................................ xx Technical Program Keynote Speech and Plenary Talks ............................................................................ xxi Program at a Glance ................................................................................................. xxix Technical Session Schedule ...................................................................................... xxx Technical Sessions Monday, 9 August 2021 ................................................................................................ 1 Tuesday, 10 August 2021 ............................................................................................ 25 Index of Session chairs ......................................................................................... 46 Index of Authors .................................................................................................. 48 IEEE ICMA 2022 CFP & IJMA Journal CFP IEEE ICMA 2021 Conference International Scientific Advisory Board Advisory Council Honorary Chairs Toshio Fukuda Meijo University, Japan T. J. Tarn Washington University, USA Advisory Council Chairs Yoshihiro Suenaga Kagawa University, Japan Tianyou Chai Northeastern University, China Kazuhiro Kosuge Tohoku University, Japan A.A. Goldenberg University of Toronto, Canada Paolo Dario Scuola Superiore Sant'Anna, Italy Masayoshi Tomizuka UC Berkeley, USA Mario A. Rotea University of Massachusetts, USA Ju-Jang Lee KAIST, Korea Ren C. Luo National Taiwan University, Taiwan Yu Yao Harbin Engineering University, China Yanrong Li UESTC, China Huadong Yu CUST, China Simin Li Guangxi Univ. of Science and Technology, China Qingxin Yang Tianjin University of Technology, China Organizing Committees General Chairs Shuxiang Guo Kagawa University, Japan General Co-Chairs William R. Hamel University of Tennessee, USA i Tatsuo Arai Osaka University, Japan Darwin G. Caldwell Italian Institute of Technology, Italy Tim Lueth TUM, Germany James K. Mills Univ.