Monday August 6, 2007 㩷 㩷 Afternoon Sessions 㩷 MP1-1 Modular Robotics (Invited Session) MP1-2 Automation in Micro and Nano Handling I (Invited Session) MP1-3 Intelligent Systems and Methodologies for Robotic and Control Application (Invited Session) MP1-4 Biomimetic Systems I MP1-5 Motion Control MP1-6 Interaction and Intelligence (Invited Session) MP1-7 AUV Control MP1-8 Signal Processing Methods I MP1-9 Modeling Methods I MP1-10 SLAM MP1-11 Sensor Network I MP2-1 Outdoor Robotic Systems MP2-2 Automation in Micro and Nano Handling II (Invited Session) MP2-3 Soft Computing for Mechatronic Systems MP2-4 Biomimetic Systems II MP2-5 Advanced Control and Signal Synthesis in Mechatronics (Invited Session) MP2-6 Interactive Computing (Invited Session) MP2-7 Manufacturing Optimization MP2-8 Signal Processing Methods II MP2-9 Modeling Methods II MP2-10 Localization MP2-11 Sensor Network II MP3-P Poster Session I 㩷 㩷 㩷

1 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷

2 IEEE ICMA 2007 Conference Digest

MP1-1: Modular Robotics (Invited Session) Session Chairs: Guan gjun Liu, Ryerson Univ. Wenhong Zhu, Canada Space Agency Room 1: Bei jing, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

Control of Modular Robot with Parameter Estimation Modular Robot Manipulators with Preloadable Using Genetic Algorithms Modules M. Adamson, S. Abdul and G. Liu Wen-Hong Zhu, Tom Lamarche, and Patrick Barnard Department of Aerospace Engineering, Ryerson University Spacecraft Engineering, Space Technologies, Canadian Space Agency Toronto, Canada Saint-Hubert, QC, Canada • A novel way to identify friction model and torque sensor parameters of a modular robot • Modular robot manipulator. joint is proposed and experimentally studied. • A model based friction compensation • Preloadable module to method and a real coded GA are integrated in the proposed method, and then applied to counter-balance gravity. a modular robot joint with a harmonic drive • Virtual decomposition and built-in torque sensor. • The friction parameters, as well as the control with SpaceWire torque sensor gain and offset, are identified communication system. and used in the control system, and the Single joint modular robot system position tracking error reduction is demonstrated with experimental results. A preloadable module

㪤㪧㪈㪄㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Development of Control System Architecture for A Robot with Adjustable D-H Parameters Modular and Re-configurable Robot Farhad Aghili and Kourosh Parsa Manipulators Space Technologies, Canadian Space Agency D. and A. A. Goldenberg G. Liu St-Hubert, Quebec, Canada University of Toronto Ryerson University

• Architecture forms the backbone of Left Limit 24VDC Sensor

• Reconfiguration using cylindrical Brushless DC Motor Brushless DC Motor Harmonic drive

robotic control systems and has to Torque Sensor Harmonic drive Torque Sensor Encoder Brake Encoder passive joints be carefully studied before the Brake Homing Sensor • As dexterous as a hyper-redundant system is built. • In this paper, after insight and ABC Right Limit Sensor robot with less actuators and sensors exclusive discussions on control Driver 80VDC Driver • Suitable for harsh environments: system architecture requirements of modular and re-configurable robot Analog signal cost-effective, compact, and Torque sensor manipulators are presented, a 24VDC AmplifierTorque sensor Amplifier versatile hybrid architecture is proposed and Analog signal described in details. Module Controller A/D • Otherwise locked, the passive joints Module Controller • The proposed architecture has been 5VDC become controllable when the robot implemented on a modular and CAN Bus forms a closed loop reconfigurable robot, and the testing results show the validity of the proposed architecture. Module hardware structure

㪤㪧㪈㪄㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 ATRON Robots: Distributed Kynematic Inversion Technique Versatility from Self-Reconfigurable Modules for Self-Reconfigurable Modular Robots David Brandt, David Johan Christensen and Henrik Hautop Lund G. Casalino, A. Turetta, and A. Sorbara Maersk Mc-Kinney Moller Institute, University of Southern Denmark DIST, University of Genova, Italy Odense, Denmark • Self-reconfigurable modular robots are versatile • Kinematic inversion computed in a distributed way enables modular (many robots, one system) robots to execute manipulation • Examples with ATRON robots: tasks – Locomotion: Car, Snake and • Kynematic inversion is performed Cluster walker via a distributed Dynamic – Manipulation: Robot arm and Programming-based algorithm Conveyer surface • No centralized global knowledge about the overall arm geometry and – Adaptation of shape by self- Example ATRON Modular Robot reconfiguration kinematics is required

3 IEEE ICMA 2007 Conference Digest

MP1-2: Automation in Micro and Nano Handling I (Invited Session) Session Chairs: Ser gej Fatikow, Univ. of Oldenburg Quan Zhou, Northestern Polytechnical Univ. Room 2: Shan ghai, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪉㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪉㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Enhanced Sensitivity of Mass Detection Using Depth-Detection Methods for CNT Manipulation the First Torsional Mode of Microcantilevers and Characterization in an SEM Hui Xie, Julien Vitard, Sinan Haliyo, Stéphane Régnier S. Fatikow*, V. Eichhorn*, T. Wich*, T. Sievers*, O. Hänßler* and K. Nordstrøm Andersen** Robotics Laboratory, Pierre and Marie Curie University *Division Microrobotics and Control Engineering **Department of Micro and Nanotechnology Paris, France University of Oldenburg, Germany Technical University of Denmark 10µm • Current research work on the • The first torsional mode is used to development of a nanorobot station provide an improved mass-sensing for manipulation and charac- resolution. terization of CNTs is presented. • Models based on the Rayleigh-Ritz • Two different methods for the m method, considering the attaching lx1 1 m m z-position estimation of gripper and ly1 2 3 positions of the multi-mass adhered l x3 l x2 carbon nanotube are proposed. l m to the microcantilevers is developed. ly2, ly3 y4 4 lx4 • The experiments show that mass Torsional axis • A depth from focus method using sensitivity of the torsional mode is real-time processing of noisy SEM an order higher than the images and a touchdown sensor conventionally used the first flexural Mass detection using resonant concept based on a bimorph piezo Nanohandling robot station mode. microcantilever bending actuator are described.

㪤㪧㪈㪄㪉㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪉㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 A Study on Efficiency Analysis of Micro APPLICATIONS OF PIEZO-ACTUATED MICRO-ROBOTS IN MICRO-BIOLOGY AND MATERIAL SCIENCE Manufacturing Systems J.-M. Breguet, W. Driesen, F. Kaegi, T. Cimprich Nozomu Mishima, Shinsuke Kondo and Keijiro Masui Advanced Manufacturing Research Institute, AIST Laboratoire de Systèmes Robotiques, Ecole Polytechnique Fédérale de Lausanne, Switzerland 1-2 Namiki, Tsukuba, Ibaraki, Japan • This paper presents several examples of • The authors have proposed an F Ef manipulators and micro-robots based on integrated and simple index for C E piezo-actuators. manufacturing system efficiency. Proposed index

• An example of a micro 1 lathe, 1 mill and 1 operator • It demonstrates that innovative solutions 1 lathe, 1 mill and 2 operators manufacturing system (microfactory) 2 lathes, 2 mills and 2 operators can make it possible to realize simple and 2 lathes, 2 mills and 3 operators 5 cm was analyzed. 㪇㪅㪇㪋 compact manipulators working in the 㪇㪅㪇㪊㪌 Micro-indenter for SEM • It was able to determine system 㪇㪅㪇㪊 nanometer range. configuration, based on the analysis. 㪇㪅㪇㪉㪌 㪇㪅㪇㪉

Efficiency • The performances of the manipulators are • A comparison tells microfactory-like 㪇㪅㪇㪈㪌 㪇㪅㪇㪈 illustrated with numerous examples in system can be suitable for small 㪇㪉㪋㪍㪏㪈㪇㪈㪉 Number of hands material sciences and micro-biology. 3 amount production. 1 cm mobile Efficiency of the microfactory 1 cm micro-robot

㪤㪧㪈㪄㪉㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪉㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Strategies in Automatic Microhandling Study on Micro Electrical Discharge Deposition Quan Zhou School of Mechatronics Control Engineering lab in Air Northwestern Polytechnical University Helsinki University of Technology . ZhenLong Wang, JingZhi Cui and BaiDong Jin Xi’An Espoo Finland Department of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, China • Automation is the key step for • By micro electrical discharge success of micromanipulation and deposition method, we fabricate microhandling technologies micro spiral structure. We • Review the approaches often used in simulate the movement of the robotics and automation field, deposition articles in discharge their merits and limitations, channel, which determines the • Investigate new concepts: replacing deposition structure. key processes of automatic microhandling using physical process Micro spiral structure • Make automatic microhandling a Advanced Hybrid Microhandling more accessible technology

4 IEEE ICMA 2007 Conference Digest

MP1-3: Intelligent Systems and Methodologies for Robotic and Control Application (Invited Session) Session Chairs: Don gbing Gu, Univ. of Essex Gancho Vachkov, Kagawa Univ. Room 3: Han gzhou, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪊㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪊㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Real Time Traffic Light Recognition System For Color Vision Deficiencies Short Time Control of Uncertain Singular on ICMA 2007 Systems with Norm-bounded Disturbance Youn K. Kim, Kyoung W. Kim, and Xiao L. Yang Qingyi Meng, Yanjun Shen, Jason Gu Department of Electrical and Computer Engineering, Purdue University Calumet College of Science and Technology,Three Gorges University Hammond, Indiana 46323, USA Shenzhen Institute of Advanced Technology

• A real time traffic light recognition system based on computer vision / Image • The concept of finite time bound (FTB) for linear processing will improve the safety of singular system with uncertain parameters is drivers who are color-blind. presented. • This system challenges to handle illumination changes of the traffic lights • Finite-time control problem is considered for by weather and time. uncertain singular systems with norm bounded • For future use, the audio system is added exogenous disturbances. which helps to inform the traffic light the driver who is color-blind. Traffic lights

㪤㪧㪈㪄㪊㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪊㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Posture Stabilization of Manipulator Based on Rotation Platform Stabilize Uncertain Linear Systems Under Time- Hao Meng1, Lina Cao1, Yong Zhang2 and Jason Gu3. Varying Exogenous Disturbance Using Finite Automation College1, Mechanical and Electrical Engineering College2, Harbin Engineering University, Harbin, Heilongjiang, China and Department of Electrical and Computer Time Control Engineering3, Dalhousie University, Halifax, Nova Scotia, Canada Cuicui Li, Yanjun Shen, Jason Gu • Propose a novel multi-degree of College of Science and Technology,Three Gorges University freedom robot system structure School of Control Science and Engineering, University • Build forward kinematics models of • Finite time control problems for uncertain linear systems subject manipulator and whole multi-degree to time-varying exogenous disturbances is considered. of freedom robot • Give the solutions of posture • New sufficient conditions for finite time control problems via state stabilization based on angle feedback and output feedback are presented. compensation and inverse kinematics • Validate the given algorithms by Prototype of multi-degree of simulation freedom robot

㪤㪧㪈㪄㪊㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪊㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 On-Line Unsupervised Learning for A Novel Inversion Method for a Fuzzy Model Information Compression and Based Controller S.A. Salman and S. G. Anavatti Similarity Analysis of Large Data Sets Australian Defence Force Academy, UNSW@ADFA Gancho Vachkov and Hidenori Ishihara Canberra, Australia Kagawa University, Takamatsu City, Kagawa, Japan

1 • Importance of the Information P2 40 Neurons 1762 Data A novel approximate analytical 0.8 r y Compression for Similarity Analysis. inversion for fuzzy model is applied FUZZY PROC ESS CONTRO LLER 0.6 to an internal model control • Off-Line Fixed-Model Unsupervised AVmin = Learning Algorithm: Demerits. 0.4 0.0279 scheme. The inversion process is FUZZY • Off-Line Growing Model Learning 0.2 very simple and straightforward. MODEL em Learning Algorithm: Demerits. The results of the proposed 0 Fuzzy model inversion • Merits of the Proposed On-Line 0 0.2 0.4 0.6 0.8 1 inversion method are compared Learning Algorithm. P1 with other fuzzy inversion methods FILTER • Examples for Similarity Analysis of Information Compression as applied to a benchmark problem. Images by the Proposed On-Line by the Proposed On-Line Algorithm . Unsupervised Learning

5 IEEE ICMA 2007 Conference Digest

MP1-4: Biomimetic Systems I

Session Chairs: K. H. Low, Nan yang Technological Univ. Changlong Ye, Shenyang Inst. of Aeronautical Engineering Room 4: Wuhan, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪋㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪋㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

System and Experimental Research on Development of a 3D Snake-like Robot: Biomimetic Robot Fish Perambulator-II Dan Xia, Weishan Chen, Junkao Liu and Yingxiang Liu Changlong Ye1,3, Shugen Ma2,3, Bin Li3, Hongjun Liu1, Hequan Wang1 School of Mechatronics Engineering, Harbin Institute of Technology 1)Shenyang Institute of Aeronautical Engineering.China 2)Ritsumeikan University Shiga-ken Harbin, China 525-8577,Japan 3)Shenyang Institute of Automation,Nanta, Street, China • Development background and application is introduced on • Considerations on the mechanism biomimetic robot fish. design are presented. • An overall design framework is • The system of Perambulator II is described based on propulsive introduced. model. • Serpentine locomotion and twist • Mechanical design based on locomotion are given to show its parametric estimation. performance. • Development and underwater • Some experiments are given. Perambulator-II experiment has been conducted. Biomimetic Robot Fish

㪤㪧㪈㪄㪋㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪋㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Parametric Study of Modular and Reconfigurable Biomimetic Design and Workspace Study of Robotic Fish with Oscillating Caudal Fin Mechanisms Compact and Modular Undulating Fin Body Segments K. H. Low K. H. Low, G. L. Gerald Seet, and Chunlin Zhou School of Mechanical and Aerospace Engineering, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Republic of Singapore Nanyang Technological University, Singapore 639798, Republic of Singapore

• Innovative design and assembly of the • To extend the modular and slider fish body in modular and re-configurable concepts developed in a previous work, forms; a single waterproof box reduce the present work aims to design a the complexity of inspection, compact undulating fin mechanism and maintenance, and programming. study the dimensions for optimal • In the notion of innovative improvement, workspace, in terms of the contact area. a new BCF robotic fish, NArow-II, has recently been developed. The piston-like • Anguilliform is the type of undulatory buoyancy tank has been integrated into modes of fish swimming considered in this new accomplished robot. this work. This type of fish generates • One motor is located inside the housing propulsion by a muscle wave in its body, module. This reduces the bending which progresses from head to tail. Newly developed moment and allows the fish to swim • A robotic undulating finned body in more steadily and effectively. A slider Robotic Arowana, NArow-II, Prototype of robotic eel with mechanism is linked to the fin for swimming in the pool modular and compact forms has been undulating fin segments another adjustable joint angle. designed and constructed together with • Results of the parametric study of the the currently developing control and fish velocity are presented and discussed. power units.

㪤㪧㪈㪄㪋㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪋㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Characteristic Evaluation of a Novel Type of Nanoindentation Technique for Measuring Microrobot Properties of the Clypeus Cuticle of Dung Beetle Jiyu Sun, Jin Tong and Zhijun Zhang Qinxue Pan Shuxiang Guo Key Laboratory of Terrain-Machine Bionics Engineering, Jilin University Dept. of Intelligent Mechanical Systems Eng'g Dept. of Intelligent Mechanical Systems Eng'g Jilin, Changchun, China Kagawa University, Japan Kagawa University, Japan [email protected] Harbin Engineering University, China • The surface materials and structures [email protected] of insect cuticle can provide useful • Proposed a novel type of a wireless microrobot that information for designing anti- can be manipulated inside a tube utilizing the external adhesion components material. magnetic field. • In this work, the mechanical • Discussed the characteristic evaluation of a driving fin properties of the cuticle of dung for the microrobot. beetle Copris ochus Motschulsky, • Designed an interface to control the movement of the reduced modulus and hardness in microrobot. nano-scale, were investigated by • The microrobot can be controlled by changing using a nanoindenter. frequency of input current. • It was shown that the • This microrobot will play an important role in both The surface morphology of The experimental system nanomechanical properties of the industrial and medical applications such as cuticle were change with each layer a clypeus of dung beetle microsurgery. of the cuticle. Copris ochus Motschulsky

6 IEEE ICMA 2007 Conference Digest

MP1-5: Motion Control

Session Chairs: Masahiko Itoh, Mi yagi National College of Tech. Yung Ting, Chung Yuan Christian Univ. Room 5: Beihai, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪌㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪌㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 An Improved Active Suspension Model for Online Fuzzy Self-Adaptive PID Attitude Control Attitude Control of Electric Vehicles of A Sub Mini Fixed-Wing Air Vehicle (1) (2) (3) Jiangtao Cao, Honghai Liu, Ping Li, David Brown and Georgi Dimirovski Wu-fa Liu , Zhen Jiang , and Zhen-bang Gong Institute of Industrial Research, University of Portsmouth, Portsmouth, UK (1. College of Mechanical Engineering, Zhengzhou University, Zheengzhou, , China School of Automation, Northwestern Polytechnical University, Xi’an, PRC 2.School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China)

• An improved half-vehicle model has been A/D Gyro Z A/D speedometer proposed for active suspension control • Conventional PID controllers are A/D Gyro Y A/D systems. In contrast to existing models, it Gyro X A/D not properly tuned . speedometer allows to explore the nature of effect of RF 16K SPI vehicle speed changes by introducing • Online fuzzy self-adaptive PID Flash • a state vector of vehicle pitch angle. controller for SUAV. JTAG RS232 A/D • Three control strategies of linear quadratic TILT • Mapping from two inputs e, ec to X,Y A/D Attitude control (LQ), improved LQ and wheelbase CPU RS232 preview LQ have been implemented into control variable u . GPS I/O the proposed model. I/O • Mapping from control variable u to Aileron • Simulation results showed that improved CH5 DutyCycle, then to PWM register Elevator LQ has 12.9% reduction over LQ in the CH1 Throttle Remote CH2 body pitch angle peak overshoot at values to realize online fuzzy sef- control Rudder acceleration parameters of 2m2/s and step receiver CH3 adaptive PID attitude control of the CH4 road input. Also it has 10.3% reduction at The Half-vehicle Suspension Model random road input. SUAV. The Hardware Structure of Controller

㪤㪧㪈㪄㪌㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪌㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Vibration Suppression of Flexible Beam Vibration Suppression Control for a Dies-Driving with Delayed Boundary Feedback via Spindle of a Form Rolling Machine: Simulation Discrete-time Optimal Controller Study on Effects of a Model-Based Control with a Masakazu HARAGUCHI, and Haiyan HU Institute of Vibration Engineering Research, Nanjing University of Aeronautics and Rotational Speed Sensor Astronautics, Nanjing, China Masahiko ITOH We proposed the LQG control Dept. of Mechanical Engineering, Miyagi National College of Technology approach for the vibration Natori, Miyagi, Japan suppression system of a cantilever • Purpose of This Study flexible beam with a TIME DELAY in boundary feedback. • Schema of Form Rolling Machine • Modeling of a Dies-Driving Spindle NewNew methodmethod CANCAN • Model-Based Control with a Rotational Speed Sensor SUPPRESSSUPPRESS thethe vibrationvibration Control effect with delay of 0.3(sec) Schematic Diagram of wellwell nono mattermatter howhow longlong : Without control • Simulation Results a Dies-Driving Spindle : With boundary control • Conclusions thethe TIMETIME DELAYDELAY isis!!!! : With OUR NEW APPROACH

㪤㪧㪈㪄㪌㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪌㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

Application of Higher Order Spectral Analysis for Task-Space Measurement and Control for a Magnetorheological Damper Control 6DOF Stewart Nanoscale Platform Liu Xiaomei, Huang Yijian, Li Hongyou Yung Ting, Chun-Chung Li, Ho-Chin Jar, and Yuan Kang Department of Mechanical Engineering, Chung Yuan Christian University College of Mechanical Engineering and Automation,Huaqiao University Chung Li, Taiwan Quan Zhou, Fujian 362021,China • A measurement method to directly measure the pose (position and •Time series AR(10) model orientation) of the end-effector is •Bispectrum and trispectrum analysis investigated. •Reconstructed bispectrum and power spectrum • The design of the sensor holder for sensor employment and the cubiod

 with referenced measure points as well 

 as the computation method for  ¹   obtaining the end-effector parameters ¹ $5   is introduced. 6   The 6DOF Stewart Platform   ¹ • A control scheme in combination of ¹ 

 ±±  feedforward and feedback is proposed.

7 IEEE ICMA 2007 Conference Digest

MP1-6: Interaction and Intelligence (Invited Session) Session Chairs: Masa ya Takasaki, Saitama Univ. Hiroshi Kobayashi, Tokyo Univ. of Science Room 6: Shenzhen, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪍㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪍㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

Development of Power Assist System for Development of an Active Walker as a New Orthosis Caregiver by Muscle Suit Hiroshi Kobayashi, Takeo Karato, and Toshiaki Tsuji Hiroshi Kobayashi, Hirokazu Nozaki, and Toshiaki Tsuji Department of Mechanical Engineering, Tokyo University of Science Department of Mechanical Engineering, Tokyo University of Science Tokyo, Japan Tokyo, Japan • The active walker consists of • A "muscle suit" that will provide McKibben artificial muscle and the muscular support. Hart Walker. • Muscle suit is directly applicable to • No risk for falling, possible to keep the not only elderly and handicapped right posture, and both hands becomes but also manual worker. completely be free. • Muscle suit is applied to a care giver • Even if user has no muscle power, for supporting transfer motion. he/she can walk. • We confirm efficiency of muscle • Clinical test is undertaken. suit for muscle support. Muscle suit Active walker

㪤㪧㪈㪄㪍㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪍㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Structural Design for Omni-Directional Surface Acoustic Wave Tactile Display Mobile Base of Passive-type Mobile Robot Using a Large Size Glass Transducer Hiroyuki Kotani *†, Masaya Takasaki * and Takeshi Mizuno * Yasuhisa Hirata*, Hamin Song*, Zhidong Wang** and Kazuhiro Kosuge* * * Department of Bioengineering and Robotics, Tohoku University, Japan Department of Mechanical Engineering, Saitama University, Saitama, Japan † ** Department of Advanced Robotics, Chiba Institute of Technology, Japan Research Fellow of the Japan Society for the Promotion of Science

• We introduce a passive-type mobile robot based on the concept Proposition of a method to realize of the passive robotics, which is controlled based on the servo surface acoustic wave (SAW) brake. excitation and propagation on • We investigate the original a large size glass substrate motion characteristics of the passive omni directional Fabrication of a large size glass mobile robot. substrate transducer for SAW tactile display • We consider the appropriate arrangement of the wheels Successful realization of Large Size Glass substrate of the robot for realizing the Passive type Robot Porter reproduction of tactile sensations SAW tactile display human support.

㪤㪧㪈㪄㪍㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪍㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Hybrid Learning Approach based on Multi- Objective Behavior Coordination for Multiple A Variable Strategy Pilot Modeling and Robots Application Zhihao Ge, Haojun Xu and Lin Liu Zhiqi Liu*, Naoyuki Kubota** The Engineering Institute, Air Force Engineering University *Parameter Technology Corporation,**Tokyo Metropolitan University Xi'an, Shaanxi, China • Collision avoidance and target tracing problem for multi • Introduction of the pilot’ behavior models for different characters robots in a dynamic environment • The discontinuous behavior model is developed by using sliding model control. • Robot’s motion is controlled by the multi-objective behavior • For the pilot’s pursuit tracking coordination based fuzzy inference rules character, a variable strategy Y y po model is put off, in which the cmd V y • Hybrid learning approach saturation module is designed to U max sign(V ) replace the switch function in y – Simplified fuzzy inference est sliding model control. – Learning Automaton • Analysis of the simulation Pilot model structure for discontinuous behavior – Steady-state Genetic Algorithm

8 IEEE ICMA 2007 Conference Digest

MP1-7: AUV Control

Session Chairs: Yan gQuan Chen, Utah State Univ. Yan Zheping, Harbin Engineering Univ. Room 7: Chan gchun, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪎㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪎㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Implementation of Auto-Reconfigured Control Multi-Channel Variable Structure System for the for AUV Based on Fault detection and Isolation Control of Autonomous Underwater Vehicle Shuping Hou, Zheping Yan and Jian Xu College of Mechanics & Electronics Engineering, College of Automation, Harbin Engineering University, Harbin, Heilongjiang, China Alexander Lebedev, Vladimir Filaretov Robotics Laboratory, Institute of Automation and Control Processes • An architecture has the ability of Vladivostok, Russia fault detection and isolation in the mission level for autonomous

reconfigured control. A(x, x ,t) x e u x x • The reliable control system tolerates d B x  ku ( ,t) œ œ the faults of sensors &actuators such signɬ as hydroplane or rudder in the AUV. x d s • The system has achieved an optimal K s sign performance with RLQC in both nominal and failure cases and the Auto-reconfiguration Control system is unstable with SLQC. The block diagram of multi-channel variable structure system

㪤㪧㪈㪄㪎㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪎㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 The Cooperative Motion Control of Forward and Robust Controller Design for Supercavitating aft Variable Vector Propeller of Ocean Submarine Vehicles Based on BTT Maneuvering Strategy Liu Sheng, Zheng Xiuli, Li Jialai Maoli Wang ,Guoliang Zhao and Jian li Harbin Engineering University Department of Automation, Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • We mainly studied the cooperative movement control of • Introduction : Give configuration form and end variable vector of supercavitating vehicle . propeller of ocean submarine . • Main Results : Design robust • Analyzing the work mechanism controller. of movement of form and end propeller. • Simulations : simulation for BTT • Studying the cooperative Transverse thrust and longitudinal motion Maneuvering movement control system of form Rotational moment sketch map and end propeller .

㪤㪧㪈㪄㪎㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪎㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Simulation system of Gravity Aided Navigation For Autonomous Underwater Vehicle Optimal Control and Guidance for Homing and Juan Li, Xinqian Bian, Xiaocheng Shi and Zhen Qin Docking Tasks using an Autonomous Mechatronics Research Lab., Harbin Engineering University Harbin, Heilongjiang, China Underwater Vehicle Gravity Aided Navigation Pakpong Jantapremjit and Philip A. Wilson System was composed of four University of Southampton multi-functional computers: United Kingdom Simulation management, Vehicle computer, Navigation • Introduction Equipments Computer and • Sliding Mode Controller Gravity Matching Computer (GMC). Their key functions • Optimal High-order were simulated through this Sliding Mode Control platform. It is a new and effective technical method for • Guidance for Homing and the argumentation, laboratory Docking debugging, demo and • Conclusion and Further verification Gravity Aided Navigation works Homing and Docking Simulation System

9 IEEE ICMA 2007 Conference Digest

MP1-8: Signal Processing Methods I

Session Chairs: Zhaohui Wan g, Alcorn State Univ. Xiufen Ye, Harbin Engineering Univ. Room 8: Shen yang, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪏㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪏㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 New Advance in the Multi-beat Body Surface Perfect-Reconstruction Four-Tap Size-limited Detection of His Bundle Waves Yang Sheng, Chen Dihu and Zhang Bin Filter Banks for Image Fusion Application Dept.of Precision Machinery &Instrumentation, University of Science and Technology of China Hefei,, China Jinshan Tang, Qingling Sun, Alcorn State University, Lorman, MS, USA •Many advanced techniques are used Zhaohui Wang, and Yongyan Cao for recording the signals. Wuhan University of Science and Technology, Wuhan, Hubei,China •Jointly using the Pattern recognition • Perfect reconstruction of the size- technology and the optimal digital limited filter banks constructed with filter to remove the electromyogram 4-tap wavelet filters and linear interference. boundary extension is studied. •the system is non-invasive, with • The proposed size-limited bank was waveform and the accuracy of the applied to image fusion parameters are almost the same as the • Synthetic images were used to do intracardiac electrogram, promising a Fused image His bundle waves recorded by the the experiments good clinical application . proposed method

㪤㪧㪈㪄㪏㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪏㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 An Improved Rapid Timing Acquisition for Airborne Passive Measurements Based on UWB Signals Xiao-yan Bi, Yi-bing Li, Shen-yuan Yang, Qian Yin Angular and Infrared Radiant Information College of Information & Communication Engineering,Harbin Engineering University Bo Ren, Tao Zhou, Lei Yu, Guoqiang Feng Harbin, Heilongjiang, China The Engineering Institute, Air Force Engineering University Xi'an, Shaanxi, China • The timing acquisition algorithm is rt M 21 2 'HOD\ 2 Ts ˜ dt nTf M ¦ ³0 proposed that exploits the rich m 1 'HOD\ T • Introduction of traditional passive multipath diversity only relying on s measurements simple integrate-and-dump &RQWUROOHU • Model of airborne double wave operations over symbol-rate Block diagram of the proposed band passive measurements . samples. timing acquisition • passive measurements based on • Our timing algorithms relies on the fact that the cross correlation modified covariance EKF of “dirty templates” extracted from the received waveform (MVEKF) algorithm exhibits a unique maximum at the correct timing. • Analysis of the Simulation Errors in velocity estimate of • The proposed algorithm improves the energy capture and reduces the proposed measurements considerably the implementation complexity and acquisition time.

㪤㪧㪈㪄㪏㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪏㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 An Approach to Tilt Correction of Vehicle Reconstruction of Natural Crack Shapes From the ECT License Plate Signals By Using an Artificial Neural Networks Forward

Meisen Pan, Junbiao Yan and Zhenghong Xiao Model and an Optimization Approach Department of Computer Science and Technology, Hunan University of Arts and Science Siquan Zhang and Tiequn Chen Changde, Hunan, P.R.China School of Mechanical Engineering , South China University of Technology • By Principal Component Analysis, The feature vector and the Guangzhou , Guangdong , China rotation angle are computed. The whole image is rotated and • This paper presents work on a image horizontal tilt correction is performed. natural crack identification problem • In the vertical tilt correction course, two correction methods are from eddy current testing signals. proposed to compute the vertical tilt angle. The rotated image is done to Shear Transform and the final correction image is • The reconstruction of natural crack obtained. shapes from the ECT signals is realized by utilizing artificial neural networks as the forward solver and iterative inversion method for applying a metaheuristics-based solving crack reconstruction No.1 Experimental Image optimization method.

10 IEEE ICMA 2007 Conference Digest

MP1-9: Modeling Methods I

Session Chairs: Yon g Yu, Kagoshima Univ. Binsheng Liu, Harbin Engineering Univ. Room 9: Dalian, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪐㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪐㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Discontinuous Regression Tree Estimation of The Preprocess of Time Series Data Based on Largest Lyapunov Exponent Wavelet Transform Shengpeng Li Hongli Wang Qiang Gao Binsheng Liu, and Xueping Hu Department Of Mechanics, University of Tianjin, Tianjin, China School of Economics & Management, Harbin Engineering University Harbin, Heilongjiang, China • Largest Lyapunov exponent is a successful method to test for chaos. 500 • A new method, directly calculate • Introduction . 0 0 100 200 300 400 500 600 700 800 Lyapunov exponent from regression • Identification principle of a) data of Oct.2003 after amendment /h) 400 pcu tree without using Jacobin matrix, to outlier. (

ow ow 200 estimate largest Lyapunov exponent fl c

ffi 0

from observed time series is proposed. • The correction of outlier . tra 0 100 200 300 400 500 600 700 800 b) data of Nov.2003 after amendment • A simulation study to evaluate our 400 • The identification and 200 method’s performance is reported. 0 amending of traffic flow 0 100 200 300 400 500 600 700 800 • Two observed daily series are largest Lyapunov exponent c) data of Dec.2003 after amendment outlier . deduced not chaotic both by this estimator of each regression Time series of traffic flow method and artificial neural network. tree by hour after amendment

㪤㪧㪈㪄㪐㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪐㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 The Study on a New RPCCL Clustering Supervisor Synthesis for Enforcing a Disjunction Algorithm of GMECs on Controlled Petri Nets Sanfeng Chen1,2, Taomei1 and Minzhou Luo1 Jiliang Luo 1.Center for Biomimetic Sensing and Control Research ,Institute of Intelligent machines, Chinese Huaqiao University, Quanzhou, China Academy of Science 2.Department of Automation , University of Science and Technology of China Hefei city, Anhui Province, China A controlled Petri net is shown in Fig. 1. t1 and t2 are controllable, • A new advanced RPCCL clustering and the other transitions are all algorithm (Rival Penalized Controlled uncontrollable. The control Competitive Learning) is proposed. problem in this case is to enfore the disjunction of the following • The new algorithm initializes the two GMECs on this control net: clustering centers according to the density of sample points, and the weights are updated according to the °­ wm158˜ mp d mp 5 ® location of input data. The final position w m mp mp 2 A controlled Petri net ¯° 279˜  d • The simulation result is as shown in of four seed points Fig.1 via new RPCCL

㪤㪧㪈㪄㪐㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪐㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

A Near-to-far-field Transformation Method Clustering Analysis Based on the Mean Shift Qingchang Guo1, Xiaojuan Chang2, Hongxia Chu3 for Acoustic Scattering Problems 1.Automation college Harbin Engineering University , Harbin, Heilongjiang, China Tongjing Sun, Guijuan Li, Kejun Wang 2. Acheng College of Harbin Normal University, Harbin, Heilongjiang, China College of Automation, Harbin Engineering University 3.Engineering College of Heilongjiang, Harbin, Heilongjiang, China Harbin, Heilongjiang, China

• Apply Kirchhoff integral to acoustic • The convergence of mean shift produce scattering problems, and present a near- is proved according to Cauchy to-far-field transformation method. Convergence Criterion. • Derive the expressions for steady field • a new rule is used in the clustering and transient field respectively. based on the mean shift • For absolutely hard and absolutely soft objects, simulations were performed and • The validity of the algorithm is testified by the experiment. results were given. Validity and The Clustering Figure accuracy of this method were well Kirchhoff Integral Surface proved.

11 IEEE ICMA 2007 Conference Digest

MP1-10: SLAM

Session Chairs: Ju-Jan g Lee, Korea Advanced Inst. of Science & Tech. Huosheng Hu, Univ. of Essex Room 10: Qin gdao, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪈㪇㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪈㪇㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 A Solution to Active Simultaneous Localization Robot Position Convergency in Simultaneous and Mapping Problem Based on Optimal Control Localization and Mapping Xiucai Ji, Zhiqiang Zheng and Hui Zheng Yang Liu, Fengchi Sun, Tong Tao, Jing Yuan and Chao Li Robot Research Lab., National University of Defense Technology College of Software, Nankai University Changsha, Hunan, China Tianjin, China • The error of robot position estimation 50 • This paper proposes a strategy of generally increases with the movement active SLAM based on optimal of the robot . control. • Enlarging the detecting range and • We firstly introduce the common frequency of sensors will improve the 0 metres EKF-based SLAM algorithm. robot position estimation . metres metres • Then this algorithm is extended to • Closing loop problem may be inevit- active manner from a perspective of able in a completely unknown control. environment. -50 • Simulation results are given as the -50 0 50 • Population of landmarks is also metres figure shows on the right. important to robot position estimation, Changing of robot position and sometimes metric-topological Simulation of Active SLAM estimation error with time approach will be more suitable .

㪤㪧㪈㪄㪈㪇㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪈㪇㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Mobile Robot 3D Perception and Mapping Simultaneous Localization and Mapping for without Odometry Using Multi-Resolution Autonomous Mobile Robots Using Binocular Occupancy Lists Stereo Vision System Julian Ryde and Huosheng Hu Lu-Fang Gao, Yu-Xian Gai and Sheng Fu Department of Computer Science, University of Essex School of Automobile., Harbin Institute of Technology (Weihai) Colchester, England Weihai, Shandong, China • Almost omni-directional 3D scans in 3 seconds. • Binocular Stereo Vision System 2 Modeling •200moffice environment mapped at 0.02m resolution. • Structural Environmental Modeling • Global localization in entire map, 5 seconds on 2GHz CPU. • Simultaneous Localization and Mapping Basing Featured Metric • Achieved by sampling Multi- Maps Resolution Occupancy lists. • The Experiments for Comparing Pioneer II Experimental Robot • Occupancy Lists, an efficient and compact representation. 3D Mapping without Odometry

㪤㪧㪈㪄㪈㪇㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪈㪇㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 SVM based SLAM Algorithm for Global Synchronization of Coupled Map Lattices Zhi Li and Ju-Jang Lee Autonomous Mobile Robots Department of Electrical Engineering and Computer Science, KAIST Jiali SHEN and Huosheng HU Guseong-dong, Yuseong-Gu, Daejon, Korea Department of Computer Science, University of Essex, UK • EKF-based Simultaneously Localization. For coupled map lattices, the • Two-mode SVM-based sufficient condition for global observations and measurements to synchronization is derived by the external beacons introducing a reference state and • SVM-based data association. this condition is simply given in terms of the maximum absolute • A Matlab-based Simulator for 2-d value of eigenvalues of the robotic navigation coupling matrices those are not • Good experimental result. equal to one. Experiment Result Synchronization Error State

12 IEEE ICMA 2007 Conference Digest

MP1-11: Sensor Network I

Session Chairs: Max Q. H. Men g, The Chinese Univ. of Hong Kong Ren C. Luo, National Chung Cheng Univ. Room 11: Xian, 13:30-15:18, Monda y, 6 August 2007

㪤㪧㪈㪄㪈㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪈㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

A Localization Error Estimation Method A Novel Indoor Heat Source Distribution Based on Maximum Likelihood for Wireless Sensor Networks Surveillance System through Sensor Network Ren C. Luo, Chuan Che Hu, Ogst Chen, and Shau Ku Huang Shuai Li1,2, Max Q.-H. Meng1, Huawei Liang1, Zhuhong You1,2, Yajin Zhou1,2 ,Wanming Chen1,2 Department of Electrical Engineering National Chung Cheng University 1Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China Min-Hsiung Chia-Yi, Taiwan, R.O.C. 2Department of Automation, University of Science and Technology of China, Hefei, China

• A novel method is advanced in this approach • Localization error transfer model. • Using cheap sensor module and combining a characteristic of • Simulation and experimentation. sensor networks to attend to an overall monitoring, low-cost, • Application. and simplify • Conclusions. • A concept of image processing is recommended

Distribution of anchor nodes and unknown nodes in the area

㪤㪧㪈㪄㪈㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪈㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Decentralized Fusion with Relative Measurements Research on Task Allocation Technique for for Delayed Sensor Networks Multi-Target Tracking Based on Wireless Sensor Quanbo Ge, Chenglin Wen Department of Electrical Automation, Shanghai Maritime University Network Shanghai, P.R.China Li Haihao, Liu Mei, Shen Yi and Qiao Deli Harbin Institute of Technology Sensor Networks shown by right picture, which Harbin, Heilongjiang, China are composed of many tiny, low-cost and limited power’s sensors, have been extensively applied in • Introduction. many military and civil fields. Because of its • Task Allocation Problem multi-hop and broadcasting communication modes, data delays from local sensor to central processor Description. (CP) often occurs. Accordingly, it makes the • Multiple Elastic Module (MEM). delayed local measurements arrive in the CP out- of-sequence. Thereby, optimal fusion for “Out-of- • Task Allocation Algorithm Based on sequence” measurements (OOSM) is presented. MEM. Aiming at the problem for current OOSM fusion, a novel decentralized estimator based on relative Multisensor tracking networks • Results and Conclusion. measurements for delayed sensor networks, which has better practically and lower computation than The configuration of MEM batch fusion estimator, is proposed in this paper.

㪤㪧㪈㪄㪈㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪈㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

A Clustering Algorithm based on Virtual Tracking Service for Mobile Body Sensor Area Partition for Heterogeneous Networks Based on Transmission Power Aware Wireless Sensor Networks Medium Access Control Rui Wang, Guozhi Liu, and Cuie Zheng Hongliang Ren, Max Q.H. Meng, Chao Hu Underwater Acoustic Engineering College, Harbin Engineering University BME Lab., The Chinese University of Hong Harbin, Heilongjiang, China Hong Kong, China EEG

• Wireless body sensor networks to provide BP Thermometer HR patients tracking service. ECG • Introduction Lung Function • Propose a localization algorithm based on • System Model particle filtering. BAN_Sink • VAP-E Algorithm • A general message passing framework of Position transmission power aware Medium access EMG •Simulation Results control (MAC) is introduced to the tracking service. • Conclusion Accelerometer • Theoretical analysis and simulation. Motion Wireless Sensor Networks Body Sensor Network

13 IEEE ICMA 2007 Conference Digest

MP2-1: Outdoor Robotic Systems

Session Chairs: Shu gen Ma, Ritsumeikan Univ. Xu He, Harbin Engineering Univ. Room 1: Bei jing, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪈㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪈㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Vibration Analysis of Eight-wheel Lunar Rover with the Torsion-bar and Rocker Structure Research on Wheel-walking Motion Control of Zongquan Deng, Xuesong Qiu, Ming Hu and Lifang Li Lunar Rover with Six Cylinder-conical Wheels School of Mechatronics Engineering , Harbin Institute of Technology Harbin, Heilongjiang, China Zongquan Deng, Haitao Fang, Yuhong Dong and Jianguo Tao • The equivalent ground flatness Mechatronics Engineering School., Harbin Institute of Technology function is obtained. Harbin, Heilongjiang, China • the vibration model and differential equation of the vibration system of the 7 DOF lunar rover are • Put forward motion kinematics established , the equation is solved . model • The amplitude-frequency • Put forward power optimum control characteristic curves were got, the model of wheel-walking motion driving smoothness and stability of mode the lunar rover is analysed. Relation between the Root • simulation analysis using Simulink • The variation range of damps for Mean Square of the Rover Prototype improving the driving smoothness Suspension Flexibility and and stability is presented. Damps

㪤㪧㪉㪄㪈㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪈㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Gain Scheduling Control of Vehicle Roll The Analyse of the Influence of External Disturbance on the Motion of a Six-Wheeled Stiffness Distribution Xiujian Yang, Zengcai Wang,Yufeng Lu, Weili Peng Lunar Rover Vehicular Institute, Department of Mechanical Engineering,Shandong University Jinan, Shandong, China Kanfeng Gu, Yingzi Wei, Hongguang Wang, Mingyang Zhao • The influence of lateral load transfer on vehicle’s handling and stability Shenyang Institute of Automation, Chinese Academy of Science, Shenyang behaviors is analyzed • Steering dynamic model of a 6- • The relationship between roll stiffness wheeled lunar rover is established. and stability is presented • The relationship between steering • A roll stiffness controller based on characteristic and Neutral steering gain-scheduling technique is designed point of the rover is discussed. • Simulations present good effects on • Influence of pulsant disturbance handling and stability behaviors by 6-wheeled rocker bogie force on the motion of lunar rover is controlling roll stiffness analysed. lunar rover

㪤㪧㪉㪄㪈㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪈㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Maneuver Control of Mobile Robot Based on Experimental Investigation of Robot Exploration Equivalent Instantaneous Center of Rotation in with Ultrasonic Sensor in Unstructured Rough Terrain Environment He Xu,Wanyi Huang ,Fangliang Peng, Kai Xue, Shuanghe Yu,Xiaozhi Gao,Ouyang Qiuyun, Zhong Luo, Hongyi Liu, Fei Wang and Yilan Sun Qing Chang and Zhimao Lu School of Mechanical Engineering & Automation of Northeastern University College of Mechanic & Electric Engineering, Harbin Engineering University Shenyang, Liaoning, China Harbin, Heilongjiang, China Z13 • A detecting method is presented for a robot • The maneuver of mobile robot in LJ with ultrasonic sensors in unstructured NJ İ T Y3 environment. rough terrain can be realized by a 4 T X3 B 1 T3 • Setting up a structure model of the detecting motion around arbitrary T2 P3 system and describing its operation principle. equivalent Instantaneous Center P4 • exploration experiments are done on some surfaces of unstructured environment, such as of Rotation (EICR) P2 P1 h level plane, cambered surface, inclined plane Z10 • EICR is a vertical line on the r and vertical plane, and some important 4 r P30 3 P Y0 EICR results are obtained. plane of the reference frame 40 O Q • The research provides the experimental basis P20 r X0 r • The pitch and roll and azimuth 2 P10 1 to study robot system with ultrasonic sensors in unstructured environment. and the angle of rocker can affect Principle of Projection Approach of The detecting experimental system the maneuver action Maneuver Control

14 IEEE ICMA 2007 Conference Digest

MP2-2: Automation in Micro and Nano Handling II (Invited Session) Session Chairs: Ser gej Fatikow, Univ. of Oldenburg Quan Zhou, Northestern Polytechnical Univ. Room 2: Shan ghai, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪉㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪉㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Development of the Orthogonal Micro Robot for Robotic Nanoassembly Accurate Microscopic Operations Zuobin Wang1, Sergej Fatikow2, Shizhong Su1, Ming Yang1, and Helge Hülsen2 1Manufacturing Engineering Centre, Cardiff University Ohmi Fuchiwaki, Misaki Daigo, Chisato Kanomori and Hisayuki AoyamaMechatronics Cardiff, UK Department of Mechanical Engineering & Intelligent Systems 2Department of Computing Science, University of Oldenburg 1-5-1, Chofugaoka, Chofu, Tokyo 182-8585, Japan Oldenburg, Germany

Holding pipette positioning robot Injection pipette Nanoassembly by robots: positioning robot • Scanning probe-based 2D nanomanipulation . • Gripper-based 3D nanohandling. • Object-oriented nanoassembly. Micro pump Fig. 18 Cell processing organized by three orthogonal micro robots • Hybrid nanoassembly. Dish positioning robot Robotic assembly

Cell Processing System Organized by 3 orthogonal micro robots

㪤㪧㪉㪄㪉㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪉㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Object Localization with Subpixel Accuracy for System Requirement Analysis of Laser Automated Microinjection Interference Nanolithography 1 1 2 2 3 3 Zuobin Wang1, Ming Yang1, Ana Almansa2 and Ruoya Li3 Zuobin Wang , Jin Zhang , Changsi Peng , Chunlei Tan , Isabel Ayerdi , Ainara Rodriguez , Yury K. Verevkin4, Thierry Berthou5, Stéphane Tisserand5 and Santiago M. Olaizola3 1 Manufacturing Engineering Centre, Cardiff University, Cardiff, UK 1Manufacturing Engineering Centre, Cardiff University, Cardiff, UK 2 Department of Micro- and Nanohandling and Integration, PROFACTOR Research and Solutions 2Optoelectronics Research Centre, Tampere University of Technology, Tampere, Finland GmbH, Seibersdorf, Austria 3CEIT and Tecnun (University of Navarra), San Sebastian, Spain 3 Bioprédic International, Rennes, France 4Institute of Applied Physics, Russian Academy of Sciences, Nizhny Novgorod, Russia 5SILIOS Technologies, Peynier, France Object localization: • Pattern matching - minimisation of Laser interference lithography (LIL): mean-square difference. • Formation of interference patterns. • Curve fitting - subpixel accuracy. • User requirements. • Effect of noise – intensity based. • System architecture. • Automated microinjection in biological • Technological potential – feature sizes Object localization engineering. down to ~30nm and pattern sizes up to LIL surface pattern hundreds of millimetres in diameter.

㪤㪧㪉㪄㪉㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪉㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Using Microgripper for Adhesive Bonding in An improved Auto Focusing Algorithm for a micromanipulation system Automatic Microassembly System R. J. Chang(1) and C. C. Chen(2) Changhai Ru, Xihua Wang, ShuXiang Guo, Xiufen Ye 1- National Cheng Kung University, 2- Industrial Technology Research Institute Mechatronics Research Lab., Harbin Engineering University Tainan, Taiwan Harbin, Heilongjiang, China • In this paper we proposed a novel auto • Implementation: focusing algorithm. The whole Compliant PU microgripper, visualization part includes two parts: Regional-edge-statistics auto locating part and auto focusing algorithm, part. It not only can realize real-time PD controller. monitoring, but also can accurately • Specifications: locate the target’s position by visualization part and human interface Gripping range- 60~80㱘m, Gripping (left), Gluing (middle), Bonding and Releasing (right) Working space- part. The auto focusing algorithm has 7mm㬍5.74mm㬍15mm, high correct ratio and high precision System bandwidth-15 Hz. and stability. System of micromanipulation

15 IEEE ICMA 2007 Conference Digest

MP2-3: Soft Computing for Mechatronic Systems

Session Chairs: Gu Fan g, Univ. of Western Sydney Mohammad Mahjoob, Univ. of Tehran Room 3: Han gzhou, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪊㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪊㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Genetic Programming in Robot Exploration An Enhanced Particle Swarm Optimization Matthew Clifton and Gu Fang Algorithm for Multi-Modal Functions School of Engineering N.M. Kwok(a), G. Fang(b), Q.P. Ha(a) and D.K. Liu(a) (a) University of Western Sydney, Australia Faculty of Engineering, University of Technology, Sydney, Australia (b)School of Engineering, University of Western Sydney, Penrith, Australia • Genetic programming (GP) is used to solve optimal robot exploration problem. • Conventional PSO easily trapped • GP is a computationally expensive and in local optima. 100 time-consuming process. • Alleviated by emulating social 80 • This paper directly incorporates the 60 amount of time evolved solutions into the interaction with diversified 40 fitness function to encourage time specialists. 20 efficient problem solving. 0 • Multiple particle attraction points 5 • Results have shown that while the time 5 used. 0 efficient aspect of the proposed GP 0 algorithm is not conclusive, the robot • Dynamically assigned particle Ý5 Ý5 exploration using GP produces promising velocity weighting. outcomes. The simulated mobile robot exploring a room filled with obstacles. • Satisfactory results obtained from The Rastrigin multi-modal benchmark test functions. function landscape

㪤㪧㪉㪄㪊㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪊㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 An Investigation of Parameters in Ant Colony Knowledge Based Research on Integrated Optimization for a Path Optimization Algorithm Design Methods of Hot-Runner Technology for Farnood Gholami, M.J.Mahjoob Center of Mechatronics and Automation, School of Mechanical Engineering, Tehran University Multi-Cavity Injection Molding Tehran,Iran Jianliang Lai1,2, Shuyou Zhang1, Jianrong Tan1 and Chunwei Xu2 1 State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, Zhejiang, China • Computer simulation is conducted 2 Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou, Zhejiang, China considering two paths both starting from the nest and ending to the food. • Multi-Cavity Injection mold. (b) • Investigation leads to a heuristic (a) criterion for the number of ants • Hot-Runner. needed to find the optimum path. • Simulation is extended over a plane • Knowledge. surface. • Integrated design. • Some optimum parameter values (c) (d) for the plane case is introduced. Path optimization on a plane The 32-Cavity Hot-Runner Mould

㪤㪧㪉㪄㪊㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪊㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Safety Analysis of Process Industry System 3D Reconstruction for Telerobotic Welding Based on Complex Networks Theory Zhimin Liang, Hongming Gao, Liang Nie,and Lin Wu Hongquan Jiang, Jianmin Gao State Key Laboratory of Advanced Welding Production Technology., Harbin State Key Laboratory for Manufacturing System Engineering, Xi'an Jiaotong University Institute of Technology Xi`an, shaanxi,China Harbin, Heilongjiang, China • Based on recent advances in complex networks, a new method for safety • Geometry modeling of environment analysis of process industry systems is is important for telerobotic welding developed. to improve efficiency and safety. • We model the process industry system • Spacetime stereo is employed to as a complex network , and then we reconstruct the scene, including light investigate the cascading failures by pattern design, SSD normalization, constructing a simple model incorporating the loads on nodes and unreliable regions removal and the efficiency of network. subpixel disparity interpolation. • The method can help to identify the • Experimental results are given to critical components and can also be validate the technique. available for failure prevention and The Process of Analysis Based The result of 3D reconstruction . design safety control system. on Complex Networks Theory

16 IEEE ICMA 2007 Conference Digest

MP2-4: Biomimetic Systems II

Session Chairs: H young Seok Kim, Univ. of Ulsan K. H. Low, Nanyang Technological Univ. Room 4: Wuhan, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪋㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪋㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍

A Study on the motion mechanism of articulated Morphologic Optimal Design of Bionic Undulating fish robot Fin Based on Computational Fluid Dynamics

HyoungSeok Kim, ByungRyong Lee and RakJin Kim ZHANG Yong-hua, ZHANG Shi-wu, YANG Jie and K. H. Low School of Mechanical and Automotive Engineering Micro-robot Research Lab., University of Science and Technology of China University of Ulsan Hefei, Anhui, China San 29, Muger 2-dong, Nam-gu, Ulsan, Korea 1) Undulating fin motion that with the khseog, brlee, [email protected] amplitude envelope gradually increased from the anterior part to the posterior produces the highest thrust and efficiency than the other three patterns. The fished robot is model as a three 2) Based on the above-mentioned amplitude envelope, five morphology of fins jointed rigid bodies and its length is (rectangle, trapezoid, parallelogram, square, chosen as about 860 mm, based on the triangle) which are easy to mimic by SMA are compared with the same motion control simulation result. Two servo motors Link 1 equation and surface area. The triangular 40 fin is revealed to produce the highest thrust. with encoders are located at link 1 and 20

deg) 0 This fin shape is observed in numerous link 2, respectively. However, the theta( -20 batoid fishes. -40 0 1 2 3 4 5 6 7 8 9 10 3) A further research on the effect of time(sec) fourth link is connected to link 3 with Link 2 40 geometrical parameters of triangle on a flexible springs to imitate the 20 thrust generation is carried out. The larger deg) 0 thrust appears when a gets smaller and h Batoid Fishes smooth motion of real fishes. theta( -20 gets larger. -40 0 1 2 3 4 5 6 7 8 9 10 time(sec)

㪤㪧㪉㪄㪋㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪋㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Computational Study on Posture Control of Design and Initial Testing of a Single-Motor-Driven Shape Memory Alloy Biomimetic Pectoral Fin Spatial Pectoral Fin Mechanism ZHANG Shi-wu, ZHANG Yong-hua, YANG Jie and K. H. Low K. H. Low*, S. Prabu*, Jie Yang#, Shiwu Zhang#, and Yonghua Zhang# Micro-robot Research Lab., University of Science and Technology of China *Nanyang Technological University, Singapore Hefei, Anhui, China #University of Science and Technology of China, P. R. China 1) Introduce a formerly developed undulatory • Design and synthesis of the pectoral fin biomimetic pectoral fin driven by shape mechanism have been carried out by memory alloy. And four basic postures considering number of important factors, which include aspect ratio of the fin, gear which can be achieved by this robotic ratio, angle range, type of joints, etc. ribbon fin are introduced. • The prototype, which is a paired fined 2) The hydrodynamics of four basic postures mechanism actuated by pair of motors, of robotic fin were studied using three makes use of a planetary gear mechanism and spherical joint to accomplish all dimensional (CFD) modeling methods. The pectoral fin movements. The range to mechanism of drag and lift generation which rowing and flapping angles can during swimming is discussed. vary and give the indication on the amount of thrust generation. 3) A comparison is carried out among these • A future study includes the development fin postures. A detailed discussion on static of alternate design, buoyancy, weight, sine form fin posture and dynamic sine Mechanical structure of biomimetic fin structure, dimension reduction, body Pectoral fin during rowing form undulatory motion posture of the silhouette, and the integration of the fin biomimetic pectoral fin is also executed. to the robotic fish developed. and flapping motions

㪤㪧㪉㪄㪋㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪋㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 A New Jellyfish Type of Underwater Microrobot Kinematic Trajectory Analysis of an ICPF Shuxiang Guo*1*2, Liwei Shi*1, Xiufen Ye*2 and Lingfei Li*3 Actuated Octopod Underwater Microrobot *1Dept. of Intelligent Mechanical Systems Eng’g, Kagawa University, 2217-20, Xiufen Ye*1 , Baofeng Gao*1 , Shuxiang Guo *1 *2 Hayashi-cho, Takamatsu, 761-0369, Japan *1 Automation College, Harbin Engineering Harbin, Heilongjiang Province *2Automation College, Harbin Engineering University, 150001, P.R. China 150001 P. R. China *3Changchun University of Technology, 130022, P.R. China *2 Faculty of Engineering, Kagawa University, Takamatsu 761-0396 Japan • A new type of microrobot using SMA actuator and ICPF actuator that can • We set up the experimental platform to 1 V test and measure the material character- 3 V 5 V imitate the jellyfish is developed. 40 7 V istic of ICPF ,and suggests the main 9 V 30

• The experimental results indicated methods for setting up and solving the 20

10

that the floating, sinking, walking and endpoint kinematic trajectory equation Y Axis of single leg, and depicts and analyzes 0 swimming speed of the underwater å10 40 the endpoint kinematic trajectory of the 30 8 20 6 microrobot can be controlled by 10 4 leg under the representative control 0 2 å10 0 changing the frequency of the input signal. X Axis Time Axis voltage. • The influence of voltage and phase • The proposed of microrobot can be The Developed Microrobot difference to the endpoint kinematic T-X-Y chart used in medical and industrial fields. trajectory of leg is further studied.

17 IEEE ICMA 2007 Conference Digest

MP2-5: Advanced Control and Signal Synthesis in Mechatronics (Invited Session) Session Chairs: Xinkai Chen, Shibaura Inst. of Tech. Mingcong Deng, Okayama Univ. Room 5: Beihai, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪌㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪌㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Swinging up and Stabilizing an Inverted Experimental Studies on Stereo Vision Based Pendulum by Switching Control Motion Recovery with Occlusions Hiroyuki Fujioka and Hiroyuki Kano Guisheng Zhai, Shohei Okuno, Joe Imae, and Tomoaki Kobayashi Department of Information Sciences, Tokyo Denki University Department of Mechanical Engineering, Osaka Prefecture University Hatoyama, Hiki-gun, Saitama 350-0394, JAPAN Sakai, Osaka, Japan

Problem: Swing-up and stabilization • The problem of motion recovery for an inverted pendulum in the theory of machine vision is considered under perspective Control Strategy: Switching control stereo vision. among three candidates (1) Linear optimal regulators for • We show that the so-called motion linearized systems parameters are identifiable generically. (2) State dependent Riccati equation (SDRE) based nonlinear controllers • Using extended Kalman filter for (3) Energy dissipative controllers identification, we examined the validity experimentally. Overview of experimental system

㪤㪧㪉㪄㪌㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪌㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Robust Control for the Uncertain Systems Preceded by Hysteresis Parking Control of a Two Wheeled Mobile Robot Mingcong Deng, Akira Inoue and Katsuya Sekiguchi Xinkai Chen Department of Systems Engineering, Okayama University Dept. Electronic & Information Systems, Shibaura Institute of Technology, 3-1-1 Tsushima-Naka, Okayama, 700-8530, Japan Minuma-ku, Saitama-shi, Saitama 337-8570, Japan • Parking control scheme including the •Hysteresis is represented by Prandtl-Ishlinskii model. mobile robot motion planning and •The unknown parameters of the system together with the density control in the existence of local minima. function of the hysteresis are adaptively estimated. •The robust tracking controller is synthesized. • Step 1: looking the garage as an isolated •The output tracking error can be obstacle when the robot is far from the controlled to be as small as parking area. desired by the design parameters. • Step 2: looking the garage as a flat wall •Simulation results show the when the robot goes into the garage. effectiveness of the method. • Simulation results.

㪤㪧㪉㪄㪌㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪌㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Characterization of Rate Dependent Hysteresis Experimental Study on Operator-based of Piezoceramic Actuators Nonlinear Vibration Control System Mohammad Al Janaideh, Subash Rakheja, and Chun-Yi Su Design of a Flexible Arm with Department of Mechanical and Industrial Engineering Piezoelectric Actuator Concordia University • A generalized Prandtl-Ishlinskii model 100 Mingcong Deng, Akira Inoue, Yusuke Baba and Nobuyuki Ueki is proposed for characterizing the rate 80 Department of Systems Engineering, Okayama University dependent hysteresis of piezoceramic actuator 3-1-1 Tsushima-Naka, Okayama, 700-8530, Japan 60 • Laboratory experiments were • Operator-based nonlinear vibration control of a performed to characterize hysteresis 40 flexible arm experimental system with uncertainties of a piezoceramic actuator under excitation in the 0.1 to 200 Hz 20 using robust right coprime factorization. frequency range. 0 • Robust stability of the system with unconsidered 0 20 40 60 80 100 vibration modes as uncertainties. • Vibration control performance. Rate-dependent P-I model • Simulation and experimental results.

18 IEEE ICMA 2007 Conference Digest

MP2-6: Interactive Computing (Invited Session) Session Chairs: Zhen Liu, Na gasaki Inst. of Applied Science Xiangshi Ren, Kochi Univ. of Tech. Room 6: Shenzhen, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪍㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪍㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Classification of Urinary Sediments Image Based on Bayesian Classifier Research on Scalability of unbalanced- Liyan Dong, Senmiao Yuan, Guangyuan Liu and Lingyan Zhou and Yongli Li nodes PC Cluster college of computer science and technology, Jilin University Zhen Liu, Haruno Hinata, Jia Liu, Chaohai Zhang and Xiangshi Ren Changchun, Jilin, China Graduate School of Engineering, Nagasaki Institute of Applied Science 536 Aba-machi, Nagasaki 851-0193, Japan, [email protected] • Naive Bsyesian Classifier. Identify- Error Correct Accurac Particle ing numbe number y • Feature Extraction. number r 䊶The CPU usage rate of higher per- formance node is low when • Feature Selection. composing with low performance Pipe-type 498 472 26 94.78% • Design of Classifier. Epithelium nodes 465 453 12 97.42% crystal 520 493 17 94.80% none- 䊶A dynamic load balancing method • Result of Experiments. 17 ¥ ¥ ¥ identifying for load balancing of unbalanced- • Conclusion. nodes PC cluster to improve the scalability of unbalanced-nodes PC classifying result cluster is proposed

㪤㪧㪉㪄㪍㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪍㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 New Feature Selection Algorithm based on Application of Improved Analytic Hierarchy Potential Difference Process to AUV’s Decision-making Guangyuan Liu College of Communication EngineeringJilin UniversityChangchun,Jilin Province Xu Jian, Yan Zheping, Bian Xinqian • The new Potential Difference College of Automation, Harbin Engineering University Algorithm for feature selection is a BER_Train BER_Valid Harbin, Heilongjiang, China 0.35 data pre-processing algorithm . 0.3 0.25 When AUV is in subsea, it should

• a new algorithm based on potential BER 0.2 quickly make a decision in order to 0.15 difference for feature selection has 0.1 acclimatize itself to the fateful been brought up . ×0.5 ×1 ×2 ×3 ×4 ×5 ×6 ×7 ×8 ×9 ×10 change of situation. AUV’s decision Characterሲᗻᄤ䲚 Subset is restricted by many factors. Taking • Based on the table, obtain the into account of main restrictions, the decision model of AUV is independent Confidence Level. Two established and decision-making lists are provided for a specific Subsets Classification course based on IAHP is explained feature subset. too. The simulation and lake tests indicate that IAHP can efficiently • From the experiment results could solve the problem of AUV’s see two aspects would affect the decision-making under multi- AUV’s Decision-making accuracy of the algorithm. restrictions. Based on IAHP in Lake Test

㪤㪧㪉㪄㪍㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪍㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Stability Conditions for Scalable TCP-RED An Empirical Evaluation of Seven Mice for based AQM Scrolling Tasks A. Haider, H. Sirisena, V. Sreeram, and R. Harris, Xiangshi Ren, Xiaolei Zhou and Zhen Liu Massey University, Palmerston North, New Zealand, University of Canterbury, Christchurch, Ren Lab., Kochi University of Technology New Zealand, University of Western Australia, Perth, Australia, Massey University, Palmerston Kochi, Japan North, New Zealand • Background • Stability of Scalable TCP • Introduction of seven mice with RED based AQM is investigated. • Seven mice for a dragging task • Dynamical modeling is used • Seven mice for webpage browsing to analyze the stability of the task closed-loop system. • Conclusion • Conditions for designing a a dragging task: Smooth Wheel stable Scalable TCP-RED webpage browsing task: Scroll system for a high capacity Point Gigabit network are also Seven Scrolling Devices derived. Feedback System

19 IEEE ICMA 2007 Conference Digest

MP2-7: Manufacturing Optimization

Session Chairs: Hide yuki Hirata, Kagawa Univ. Hidenori Itoh, Nagoya Inst. of Tech. Room 7: Chan gchun, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪎㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪎㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Assembly Process Planning Using a Research on Algorithm of Optimized Sub- Multi-objective Optimization Method regional Scanning Path Generation for RPM Qin yong-fa1, Xu zhi-gang2 1 Jibin Zhao, Weijun Liu, Renbo Xia, Hongyou Bian Mechanical Engineering College, Yangzhou University ,Yangzhou, , China 2 Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang Institute of Automation, CAS , Shenyang, Liaoning, China Shenyang, Liaoning, China • Assembly process planning is a multi- objective optimization • an algorithm of sub-regional scanning problem. path generation is presented. • A new Pareto-based • The first one is that the joining path multi-objective evolutionary algorithm between the regions is optimized . with fuzzy evaluating • The second one is that the scanning method is constructed. path out of place at extreme points in a • A computation sub-regional zigzag The algorithms flowchart sub-region is optimized. example is presented. scanning path

㪤㪧㪉㪄㪎㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪎㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 A model based approach to assembly sequence Implementing Manufacturing Reconfiguration planning Methodology in Multi Agent System of Zhou Xiaoming1, Du Pingan1, and Zhou Yuge2 Reconfigurable Assembly Line 1. Scholl of Mechatronics Engineering., University of Electronic Science and Technology of China. Chengdu, , China Xuemei Huang 2. Southwest China Institute of Electronics Technology. Chengdu, Sichuan, China Engineering Training Center, Harbin Engineering University Harbin, Heilongjiang, China • Assembly knowledge • Multi agent system of reconfigurable representation with ARM. assembly line is constructed according to • Feasible assembly sequences reconfigurable methodology based on representation with APM. General Structure. • Ontologies model suitable for agent • Generation APM based on communication and coordination for multi ARM with logistic matrix agent platform of reconfigurable assembly algorithms. line is proposed. • Porposed ontology model is composed by • Evaluation and Selection of two parts: general konowledge ontology General Manufacturing optimal sequence with APM. Assembly sequence planning with ARM and APM and reconfiguration ontology. Knowledge Ontology

㪤㪧㪉㪄㪎㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪎㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Double-Objective Optimization for a Pulp Optimization of Low-Pressure Die Casting Washing Process Based on Neural Network Process with Soft Computing Wei Tang and Mengxiao Wang Xiang Zhang, Shuiguang Tong, Li Xu and Shengzan Yan Microcomputer Application and Development Institute, Shaanxi Univ. of Sci. and Tech. Institute of Process Equipment and Control Engineering, Zhejiang University Xianyang, Shaanxi ,China; Hangzhou, Zhejiang, China Yuyan Chao, Lifeng He and Hidenori Itoh • LPDC casting simulation Department of Artificial Intelligence and Computer Science, Nagoya Institute of Technology Nagoya, AiChi, Japan • Taguchi DOE Mill wide MIS • A soft computing approach to Router optimization of the LPDC Ethernet Network process, which combines NN OPU OPU ENG and GA RT Network A & B • Quality Control Neural Network Model - BP network Interface PLC CPU A CPU B Gate Way is used in predict the casting Four-stage pulp washing process To other DCS subsystem performance index The Casting Simulation • Process parameters The DCS schematic diagram of pulp washing process optimization based on GA

20 IEEE ICMA 2007 Conference Digest

MP2-8: Signal Processing Methods II

Session Chairs: Fen g Wang, Xi'an Jiaotong Univ. Jiantong Wu, Harbin Engineering Univ. Room 8: Shen yang, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪏㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪏㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Fitting-correlation Analysis of Pulsed Nonlinear Feature Fusion Scheme Based on Thermographic Sequence Data Kernel PCA for Machine Condition Monitoring Busheng Sun, Qishuang Ma and Hongfeng Zhao Feng Wang, Junyi Cao, and Binggang School of Automation Science and Electrical Engineering, University of Aeronautics Research Institute of Diagnostics & Cybernetics and Astronautics, Bejing, China Xi’an Jiaotong University, Xi’an, Shaan Xi, China • Theory of detection the subsurface corroded defect of the aeroplane The main work of this paper is to use aluminum alloy with pulsed kernel PCA to fuse the acoustic features and thermography vibration features to recognize the different • polynomial fitting in logarithmic scale to conditions of rolling bearing. Experiment eliminate the noise of the raw IR image data are taken from an experiment rig of sequence rolling bearing. The work is supported by the • Use correlation Analysis technique to Nature Science Foundation of China under enhance the defect contrast the Grant No.50475084 and several • Discussion of reference point location colleagues. and optimizing truncation time window issues Effective Image of Processing

㪤㪧㪉㪄㪏㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪏㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Learning High Dimensional Correspondences An Approximate Realization Method of the Based on Maximum Variance Unfolding Square Root Signal Processing Algorithm of the Chenping Hou, Yi Wu Department of Mathematics and System Science, College of Science, National University of Audio Directional Loudspeaker Defense Technology, Changsha, Hunan, China Chen Min, Huang Da-gui, Xu Shou-heng, Xu Li-mei Institute of Astronautics & Aeronautics, UESTC

• Audio directional loudspeaker is a novel loudspeaker. Correspondences • An approximate realization method of of Real World Images the square root signal processing • Goal: Learning correspondences between different image data sets; algorithm is proposed in the article. • Approach: Deriving low dimensional representations by manifold • It is shown that the requirement of the learning separately and transformations can be approximated by l- infinite signal bandwidth of the inear regression ; square root algorithm is loosed • Results: The validity is demonstrated both in theory and experim- successfully by utilizing the nth-order Audio directional loudspeaker ents on synthesized and real world images; approximation algorithm .

㪤㪧㪉㪄㪏㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪏㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Data Fusion Estimation of Inertial Sensors Multi-feature Fusion Based Outdoor Water Based on Multiscale Stochastic Dynamic Models Hazards Detection Tuozhong Yao, Dong Xu, Zhiyu Xiang and Jilin Liu Xuemei Zhou and Jiantong Wu College of Automation, Harbin Engineering University Dept. of Information and Communication Engineering, Zhejiang University Harbin, Heilongjiang, China Hangzhou, Zhejiang, China

1260 • High-Brightness based Water

In the paper, combing with mv) 1255

1250 discrete wavelet transform, 1245 Gyro output output ( Gyro Detection 1240 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Samples dynamic system theory and Measurements at scale 3 1260 • Weak-Texture based Water

stochastic process theory mv) 1255 1250

1245

establish multiscale stochastic output ( Gyro Detection 1240 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Samples dynamic models considering Measurements at scale 2 1260 scale as variable and present mv) 1255 • Stereo Vision based Water 1250

1245 Gyro output ( multiscale fusion estimation 1240 Reflection Detection 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Samples algorithm in order to realize Measurements at scale 1 1260 • Multi-Feature Fusion based the optimum estimation of the mv) 1255 1250 Detected Water Region

1245 Gyro output ( Water Detection state. 1240 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Samples Estiamtion at scale 3

21 IEEE ICMA 2007 Conference Digest

MP2-9: Modeling Methods II

Session Chairs: Yon g Yu, Kagoshima Univ. Hongmei Zhang, Harbin Engineering Univ. Room 9: Dalian, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪐㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪐㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍

Chaotic synchronization of exponent stability Investigation of Bifurcation and Chaos based on nonlinear state observer in Forward Converter Mingjie Chen, Changhong Wang, Hongmei Zhang Chuang Bi, Jingmei Wang, Zhongwen Lan, Kelin Jia, Tong Hu College of Automation, Harbin Engineering University State Key Lab of Electronic Thin Films and Integrated Devices, Harbin, Heilongjiang, China University of Electronic Science and Technology of China Chengdu, Sichuan, China • To realize chaotic synchronization with 600mA

better synchronization capability, an 2 approach of state observer based on • Review the general scheme of 500mA 0 exponent stability was presented on the forward converter. 400mA basis of the bounded property, and it can -2 300mA e1 • Set up the simplified model of make chaotic synchronization error -4 200mA power transformer. satisfy exponent stability. -6 100mA • Derive the iterative map of • Theoretic analysis and simulation results -8 0A 0 1 2 3 t forward converter. had shown that the capability of chaotic -100mA 16V 17V 18V 19V 20V 21V 22V 23V 24V 25V 26V 27V 28V I(L1) synchronization can be improved , while Synchronization error V(C1:2) • Investigate the bifurcation and The v-i phase portrait chaotic systems arrive at chaotic chaos of forward converter. synchronization. in the chaotic state

㪤㪧㪉㪄㪐㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪐㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 The Hopfield and the BP Nouro-humoral Network A New Method for Optimizing Fuzzy FAN Shuhai, NI Weihong, SHEN Wen and WANG Wentong Department of Industrial Engineering, Nanjing University of Technology Membership Function Nanjing, Jiangsu, China Yongsheng Zhao, Baoying Li

• A discrete synchronous Hopfield Dalian Maritime University, Dalian 116026 Nouro-humoral Network was • Fuzzy Membership function is analyzed and its stability was also & validated. z important to a Fuzzy Controller. • Fuzzy Membership functions are • For the BP Nouro-humoral Network, & usually defined by designer & & a useful learning formula of the z G t subjectively. & threshold affected by humor system x • Ant colony algorithm has great & in neural network was deduced. o abilities in searching better solutions. • Finally, in an “anesthetic mode”, the • Simulation results shown that Ant Colony Algorithm has great potential conditions of the loop mode were Self-compensating Nouro-humoral Network in optimizing the membership Step response of a fuzzy deduced and the stability of it was functions of a fuzzy controller. also validated. controller before and after optimization

㪤㪧㪉㪄㪐㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪐㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Neural Network Weight Initialization A Research on Chaotic Recurrent Fuzzy Neural L. M. Waghmare, N. N. Bidwai P. P. Bhogale SGGS Institute of Engineering & Technology College of Engineering Network and Its Convergence Nanded (MS), India Ambejogai (MS), India Mo Tang, Kejun Wang and Yan Zhang • Paper describes importance of College of Automation, Harbin Engineering University initialization of neural network Harbin, Heilongjiang, China weights when it is used in Direct • A type of chaotic recurrent fuzzy Neural Control Strategy. neural network (CRFNN) model • Neural Network with Unity & is proposed. Random weights is used as a • A dynamic back propagation Controller to control CSTR (a algorithm (DBP) with adaptive nonlinear process) and simple DC learing rate is proposed. Motor (a linear process) system. • The convergence is investigated. • The performance comparison of these two neural controller • The results of simulation were configurations has been given in analyzed and confirmed to be The simulation result terms of ISE and IAE. correct.

22 IEEE ICMA 2007 Conference Digest

MP2-10: Localization

Session Chairs: Yon g-Shik Kim, UFRG, AIST Hong Zhang, Univ. of Alberta Room 10: Qin gdao, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪈㪇㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪈㪇㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 A Practical Design towards Vision-based Self- Integrated INS/GPS System for An localization System for Mobile Robot Autonomous Mobile Vehicle Ke Wang, Yan Zhuang and Wei Wang Research Center of Information and Control,Dalian University of Technology Jun Zhou , Hamidreza Bolandhemmat Dalian , Liaoning Department of Mechanical Engineering University of Waterloo • A practical design for on-the-fly self-localization system of vision-based Waterloo, Ontario, Canada, mobile robot is proposed. • We model the issue in a multi-sensor fusion framework to continuously • Design of an EKF to fuse GPS and estimate the robot position and orientation. IMU for real-time state estimation • We build the nonlinear models for two physical sensors and design an of a high performance vehicle efficient method for image feature detection and data association. • The filter representing quaternion • Experimental result rather than Euler angles which is given finally to eliminates the singularities and high computation time evaluate the system • Simulation and real-time performance. experimental results showing the integrated system is better in long- term precision, availability and Centaur---Autonomous mobile vehicle continuity

㪤㪧㪉㪄㪈㪇㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪈㪇㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Localization of Outdoor Mobile Robot with Multi- Localization Research Based on Special Fusion Path Bias Detection Method for Redundancy Ultrasonic Information Yong-Shik Kim, Bong Keun Kim, Kohtaro Ohba, and Akihisa Ohya* Lin Jiang, Jihong Yan, Xizhe Zang and Jie Zhao Ubiquitous Function Research Group, National Institute of Advanced Industrial Science & Robot Research Institute, Harbin Institute of Technology Technology, Harbin, China *Intelligent Robot Lab., University of Tsukuba Tsukuba, Ibaraki Prefecture, Japan • The localization method can well ultrasonic • Localization of mobile robot in eliminate the error about times of ultrasonic BIAS-free Corrected Odometry receivers transmitter Z outdoor environment. Odometry flight. Odometry error a Predicted measurement estimates • The localization method can • Data integration using DGPS & based on corrected Odometry h(xˆ) a † \G Integration accurately calculate the wave h DGPS odometry sensors. filter lagging error. zDGPS zDGPS - h(xˆ) • Detection bias data by multi-path Kalman gain • The localization method can give h BIAS Combination of DGPS sensor and bias filtering an estimation of the measuring Y Robot position accuracy. estimation. estimates • The experiment and the X • Complementary integration simulation results proved the Configuration of the proposed integration localization method is effective. Ultrasonic absolute localization method by bias-free filter decoupling from bias filtering.

㪤㪧㪉㪄㪈㪇㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪈㪇㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 A Modified Kalman Filtering via Fuzzy Logic Automatic Positioning of Spinning Projectile in System for ARVs Location Trajectory Correction Fuze via GPS/IMU Integration Wenrui Jin, Xingqun Zhan Hongbing Xiao, Shiyi Li, Qiang Shen, Huquan Li and Qin Wang Institute of Aerospace Science & Technology, Shanghai Jiao Tong University Department of Mechatronics Engineering, Beijing Institute of Technology Huashan Road 1954, Shanghai, China Beijing, China • This system is designed via • Sensor fusion based on adaptive fuzzy KF was discussed in GPS/IMU integration for spinning GPS/INS navigation simulation for ARVs. projectile. Thus it can realize • Noise covariance of KF was modified on-line by the fuzzy automatic positioning and trajectory adaptive controller correction. • It modulated KF to be optimal and to improve the positioning • With rotation tracking loop, GPS accuracy. can demodulate the rotation- modulated signals and provide • Compared with SKF. correct position information. • FIS KF gives better results, • IMU provides attitude information • in terms of accuracy, than the SKF. to aid GPS. • This design is based on SDR and FPGA to speed it up and get a small GPS/IMU positioning system size.

23 IEEE ICMA 2007 Conference Digest

MP2-11: Sensor Network II

Session Chairs: Yan gQuan Chen, Utah State Univ. Max Q. H. Meng, The Chinese Univ. of Hong Kong Room 11: Xian, 15:30-17:18, Monda y, 6 August 2007

㪤㪧㪉㪄㪈㪈㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪤㪧㪉㪄㪈㪈㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍

A Low-power and Compact AES S-box IP Information-Carrying Based Routing Protocol for in 0.25µm CMOS for Wireless Sensor Network Underwater Acoustic Sensor Network Liu Zhenglin, Zeng Yonghong, Zou Xuecheng, and Lei Jianming Wei Liang, Haibin Yu, Lin Liu, Bangxiang Li and Chang Che Research Center for VLSI and Systems, Huazhong University of Secience & Technology Wuhan 430074, Hubei, China Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang, Liaoning, China

• A full-custom AES S-box • information-carrying based routing protocol hardware IP implementation for (ICRP) :a energy efficient, real-time and Wireless Sensor Network. scalable, reactive routing approach. • Based on asynchronous design • adapts information-carrying mechanism and methodology, pass transmission saves the transmission energy. gate logic, and composite field • eliminates the delay of control packets and arithmetic. decreases the end-to-end delivery delay. • Low power consumption. • requires no state information on the sensor • Compact architecture. AES S-box Layout nodes and is local.

Route Discover

㪤㪧㪉㪄㪈㪈㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪤㪧㪉㪄㪈㪈㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 A Distributed 3 Dimension Relative Localization The Accurate Estimations of Distances Among Algorithm for Mobile Wireless Sensor Networks Nodes in Wireless Sensor Networks in a Complex Environment Based on an Adaptive Kalman Filter Hongjun Li, Jianwen Wang, Xun Li , Hongxu Ma and Qianwei Huang Department of Automatic Control, Naitonal University of Defense Technology Jianwen Wang, Hongjun Li, Xun Li , Hongxu Ma and Qianwei Huang Changsha, Hunan, China Department of Automatic Control, Naitonal University of Defense Technology Changsha, Hunan, China 0.5 • The Assumption Of Location 0.45

0.4

System. 0.35 • Estimations of Nodes’ Positions 0.3 • Location Algorithm For Local 0.25 0.2

• Accurate Estimations of Distances precision location Nodes . 0.15 Among Nodes 0.1 • Separated Portions Sage-Husa • Global Location . 0.05 0 1 2 3 4 5 6 7 8 9 10 Adaptive Kalman Filter R/D • Simulation . The location precision in The curve of the error local coordinate system

㪤㪧㪉㪄㪈㪈㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪤㪧㪉㪄㪈㪈㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Data Dissemination and adaptive backoff Research of task assignment and scheduling algorithm for wireless cement grouting sensor algorithms in Wireless Sensor Networks Weitao Xu, Xiaohong Hao and Ping Zhang networks College of electrical and Information Engineering, Lanzhou University of Technology Lanzhou, , China Qi yan Huang de xiu • Architecture of Wireless Sensor (Jiang han university , Huazhong university science and technology,Wuhan, hubei,430074 ) Networks • Zigbee cement-grouting and • Data information toward cluster head node or sink node by one-hop or multi- monitoring System hop router, then transit it to base station • IEEE802.15.4 CSMA/CA or data center . • Data Dissemination Model Based • We present schedule algorithm of on Confidence Coefficient improving Rate-Monotonic (RM) and • Adaptive backoff algorithm dynamic Preemptive Earliest Deadline First Algorithm, • Industrial cement-grouting and monitoring system based on • Example of IRM and PFEDA algorithm, Fig. Network Architecture respectively JN5121.

24 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪈㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪉㪀㩷㩷 Dynamic Analysis on Fingers of the Off-line programming of Spot-weld Robot for Underwater Multi-fingered Robot Hand Car-body in White Based on Robcad Peng JIA, Qingxin MENG and Liquan WANG Wan Dong, Hui Li Xiaoting Teng College of Mechanical and Electrical Engineering Institute of Astronautics and Aeronautics, Department of Technique Harbin Engineering University University of Electronic Science and Technology of China Xichang Satellite Launch Center Harbin, Heilongjiang, China Chengdu Sichuan Province, China Xichang, Sichuan, China • The coordinate system of the • CAD data with different formats can thumb rod is set up . be integrated together. • The dynamics equation of Fingers • Motion simulation and collision of the underwater-multi-fingered detection of equipments, such as robot hand is set up. fixture, robots and transfer. • Eliminate differences between the • The finger dynamics of underwater virtual working environment of multi-fingered robot hand are robot and real environment by analyzed. Calibration. • The dynamic simulation is carried • Interface between real robot out by SimMechanics. controller and virtual robot Underwater Multi-fingered Robot Hand controller. Path-design of a robot in a virtual enviroment

㪤㪧㪊㪄㪧㩿㪊㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪋㪀㩷㩷 Research on Novel Underwater Mating Application of Hinf Control in Rudder/Flap Device with Articulated Skirt Vector Robust Control for Ship Course Liquan Wang, Dedong Tang, Zhonglin Zhang LIU Sheng, FANG Liang, LI Jia-lai College of Mechanical and Electrical Engineering., Harbin Engineering University Department of Automation, Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • The parameter uncertainty and • A novel underwater intelligent mating device with articulated skirt is designed. disturbance randomicity exist in ship w This device is used to transfer underwater course motion. \ r goods and people. W z2 • The robust controller is designed on P 2 • Articulated skirt allows the underwater ' the base of rudder/flap vector control. \ '\ vehicle to mate to disabled submarines G0 W1 z1 lying at angles up to 60 degrees. • The different weighting functions are • Articulated skirt has following characters: Its mechanical structure ensures the skirt designed for different encounter angles. K move agilely and seal reliably. Its hydraulic • Because of the pole of nominal model The mixed-sensitivity question system makes the skirt start smoothly and existing in imaginary axis, the bilinear- locate reliably. Its control system can of ship course precisely control the location and direction transform method is used to handle it. of angle skirt mating surface. Articulated Skirt

㪤㪧㪊㪄㪧㩿㪌㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪍㪀㩷㩷 Multi-Agent Based Modeling: Methods and Research on Error Model for a Novel Parallel Techniques for Investigating Human Behaviors Robot Coordinate Measuring Machine Xiu-Long Chen Yong-Sheng Zhao, Ling Lu Zhuo min Sun Department of Mechanical and Electronic Department of Mechanical Engineering, College of International Cooperative Education, Harbin Engineering University Engineering, Shandong University of University of Yanshan Harbin, Heilongjiang, China Science and Technology Qinhuangdao, ,066004, China Qingdao, Shandong, China • Introduction. 1 • A novel 5—Degree of Freedom • Building an agent based 0.8 fully PRCMM (parallel robot modeling. 0.6 coordinate measuring machine) • Benefits of agent-based 0.4 is proposed, and its inverse 0.2 modeling a new product--V of Value position model is established. 0 0 50 100 150 • The error model of PRCMM is • Application of agent-based Time presented. modeling. Diagram of differential equation result • The correctness of error model is • Conclusion verified by computer simulation. Mechanism diagram of the PRCMM

25 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪎㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪏㪀㩷㩷

A New Machine Double-Layer Learning Method and Its Kinematic Calibration of Parallel Robots Based on Application in Non-Linear Time Series Forecasting Guo Chen1) Rongtao Hou2) Total Least Squares Algorithm 1)College of Civil Aviation University of Aeronautics and AstronauticsNanjing China, [email protected] 2)College of Computer and SoftNanjing University of Science and Technology, China, [email protected] Dayong Yu1, Xiwei Sun and Yu Wang Automation College, Harbin Engineering University 1) To load samples and Harbin, Heilongjiang, China generate training and test [email protected] samples; 2) To start up GA, and • The paper presents a kinematic generate initial outer parameters; calibration method of the parallel robot 3) To learn Inner parameters, shown in the right figure. obtain recognition rate to test samples, and compute • The poses are measured by coordinate the fitness of GA. measuring machine shown under the figure. 4) If stop condition is met, • Simulation and experimental results then to stop; otherwise, to acquire the new population demonstrate the effect of the calibration by selection, crossover algorithm. Experimental setup and mutation, obtain new outer parameters, return 3) and continue.

㪤㪧㪊㪄㪧㩿㪐㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪈㪇㪀㩷㩷 Design and Passable Ability of Transitions The Method of Recovering Robot TCP Positions Analysis of a Six Legged Wall-Climbing Robot Yang Li, Mantian Li, Lining Sun in Industrial Robot Application Programs Robotics Institute, Harbin Institute of Technology Frank S. Cheng, Ph.D. Harbin, Heilongjiang, China Department of Engineering and Technology, Central Michigan University Mount Pleasant, Michigan 48859, USA • Anti-terrorism scouting robot. • Voiceless vacuum generators with • Robot tool-center-point (TCP) plunger structure is hardly noticed. positions are critical elements • Six legged structure can go across in industrial robot programs. the convex and concave transition • Tiny changes of a robot cell is to on walls and ceilings. cause inaccuracies of TCP positions. • Passive joint on its ankle can fit the • Methods of performing robot cell surface quickly to increase speed. calibration allow recovering the The Six Legged • Passable ability is discussed in this accuracies of the TCP positions. Wall-Climbing Robot paper.

㪤㪧㪊㪄㪧㩿㪈㪈㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪈㪉㪀㩷㩷

Small Packet Threshold Adaptive Expression of Sensorless Speed Estimation in Sampling for Network Management Direct Current Motor with Simplex Lap Winding Like Zhang, Tao Zhang Baoguo Yuan, Member,IEEE, Zhihua Hu and Zhengxin Zhou Department of Automation., Harbin Engineering University Electronic Electrical Engineering Faculty Harbin, Heilongjiang, China Shanghai Second Polytechnic University • Analysis conventional Shanghai, China sampling. • The special expression of sensorless speed estimation for DC • Attack packet size motor with simplex lap windings is derived. distribution. • An experiment is carried out with a 2 pole-pairs and 16 commutator-bars’ permanent magnetic DC motor, which • Small packet threshold supports our results. adaptive sampling 60 f algorithm. n n • Experiment results. 2 pk /K Sampling Results

26 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪈㪊㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪈㪋㪀㩷㩷 Predicting Parameters of Nature Oil Reservoir A Methodology for Determining the Maximal using General Regression Neural Network Regular-shaped Dexterous Workspace of PMs Kejun Wang, Bo He and Ruolei Chen Zhongfei Wang, Shimng Ji, Jianhui Sun, Yuehua Wan, Qiaoling Yuan, and Limin Zheng College of Automatio, Harbin Engineering University The MOE Key Lab. of Mech. Manuf. Aotu., Zhejiang University of Technology Harbin, Heilongjiang, China Hangzhou, Zhejiang, China

ș21 (ȣ2) y ș12 l1u1 • In this paper the present statement • A methodology for determining the B1 O ș11 (ȣ1) A2 A1 x l1u2 e e of forecasting nonlinear systems and maximal regular-shaped dexterous ș22

r w kinds of factors influencing the data workspace (MRsDW) of parallel B2 l2 1 w of oil reservoir parameter were manipulators (PMs) is proposed. l2 2 discussed. Based on these, a general P(x, y) • The method is consisted of three regression neural network (GRNN) (a) Original values figure predicting model for oil reservoir algorithms. The Planar 2-DOF PM z y L1 parameters was presented. Bi • The concept of the utilizable ratio of the O I i x Comparing with corresponding real di dexterous workspace (URDW) is Ci values, simulation results could M 2 introduced, which is a new measure for the M 1 show the effectiveness to improve L2 rationality of design parameters of a PM . w the predicting accuracy and training v P L3 E speed by the proposed GRNN (b) Predicted values figure • the validity and efficiency of the proposed u i predicting models. method are verified. Predicted effect figure The Linear Delta Robot

㪤㪧㪊㪄㪧㩿㪈㪌㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪈㪍㪀㩷㩷 Comparison Study on Self-Calibration Level Short-Term Load Forecasting Based on The Fusion Algorithm with Bayes Estimation Theory Method of Genetic Programming for Wood Drying Kiln Industry Process Limin Huo, Xinqiao Fan,Yunfang Xie and Jinliang Yin Department of Mechanical and Electronic Engineering , Agricultural University of Hebei Jun Cao , Jiawei Zhang and Yixing Liu Baoding, Hebei, China Northeast Forestry University, Harbin, China • In order to eliminate the fault data, the [email protected] load samples are filtered and processed generally.

Multi-sensors Self-calibbration Correlation Sensor management • Consistent test to all sampling level level level level • The load series of the same time but data different days are chosen as the training

Sensor 1 Data calibration 1 Action Sensor samples. • Remove false and error data estimation management Timber Sensor 2 Data calibration 2 drying Data • The future short-term load model of kiln corral- • Fuse the data possessing the industry ation State Precise pre- process different time point is forecasted consistent trend with the true estimation estimated value Sensor n Data calibration n according to time-sharing by Genetic value Programming (GP). Simple-level Fusion Adcanced-level • Estimate the true value with processing center processing • According to comparison with the Short-term load forecasting result of statistic estimation theory Architecture of multi-sensor data fusion for results forecasted by means of time one day by Genetic Programming lumber moisture content measuring system series, it proves that GP in short-term load forecasting is better.

㪤㪧㪊㪄㪧㩿㪈㪎㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪈㪏㪀㩷㩷

Implementation of SRM Principle Based on Improved Dynamic Wavelet Process Neural Wavelet Multi-resolution Approximation Network And Its Application Jintao Yu , Guangbin Yu, Xiangyang Jin Yinguo Li, Liangfei Zhang, Dongjin Guo School of Computer and Information Engineering, Harbin University of Commerce University of Posts and Telecommunications, P. R. China Harbin, Heilongjiang, China

• A novel idea is proposed to measure original curve • To solve the problems of slow convergence y fourth approximating curve the learning capability of function sets 0.6 speed and low accuracy of the process neural Ȉ e by adopting high-frequency spectrum networks, this paper presents the tuning of the d 0.4 feature in the discrete wavelet base structure and parameters of a dynamic u1 u function set. j 0.2 wavelet process neural network(DWPNN) v1 • An approach to implementation of using an improved particle swarm v j 1 y 0 Ȉ ³ f f f SRM learning strategy is given, which optimization(IPSO), A DWPNN with Ȉ ³  Ȉ ³ sj is based on wavelet multi-resolution switches introduce to links is proposed. By å0.2 s bj approximation, and a method for tuning the structure and improving the 11 Z11 å0.4 connection weights of PNN simultaneously, it s1 j smoothing the learning surface are Z1, j also put forward. eliminates some ill effects introduced by å0.6  redundant in features of DWPNN. The x (t) 1 • Simulations indicate effectiveness of 1  xn (t) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 effectiveness of this method is proved by the proposed methods in the x Proposed process approximation of the noise-spoiled The approximating curve dynamic optimal design of RV (Rot-vector) nonlinear signals. • Reducer. neural network

27 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪈㪐㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪉㪇㪀㩷㩷 Study on Vibration Analysis for Printed Circuit Online Smooth Trajectory Generation for Board of An Electronic Apparatus Industrial Mechatronic Systems Weibin Tang[1], Jianfeng Ren[2], Gangying Feng[2] and Limei Xu[1] 1.Institute of Astronautics & Aeronautics, UESTC, Chengdu, Sichuan, China Chunhong Zheng 2. Institute of southwest electronics technology, Chengdu, Sichuan,China School of Electronic Engineering, Xidian University, Xi’an, China Yuxin Su • The vibration often plays the key cause of the PCB’s invalidation. School of Electro-Mechanical Engineering, Xidian University, Xi’an, China • This paper addresses basic modeling issues and choice of four Peter C. Müller modes of boundary condition to simulate the solder joints on the School of Safety Control Engineering, University of Wuppertal, Germany PCB. • Two modified nonlinear tracking differentiators are proposed to • The mode shapes and natural generate smooth trajectory from a rough reference (step and frequencies of the PCB are ramp, etc.) with bounded velocity and acceleration. computed and correlated with • The simulation results show the proposed methods could deal measurement by a vibration with velocity/acceleration saturation problem and control torque experiment. The experiment FRFs(above) and vibration problem. Curve fitting(below)

㪤㪧㪊㪄㪧㩿㪉㪈㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪉㪉㪀㩷㩷 Ant Colony Optimization Algorithm-Based A Modified Constrained Delaunay Triangulation Disassembly Sequence Planning Algorithm Based on Extracted Boundary Characteristic Points Hongbo Shan1, Shuxia Li2, Jing Huang3, Zhimin Gao1, Wei Li1 (1:College of Mechanical Engineering2:Department of Management Science and Gang Li, Yan-ling Hao and Wei Zu Engineering3:Greatwall International System Technology Company, Shanghai, 201620, P.R. 407 Lab., College of Automation, Harbin Engineering University China ) Harbin, Heilongjiang, China • Introduction This paper presents an algorithm for constrained Delaunay triangulation based on extracted bound • The Construction of Optimization ary characteristic points. The essential of this alg Model for Disassembly Sequence orithm is extracting all characteristic points whic h can construct real terrain and omitting extra po • The Features of nts, then constructing Delaunay Triangulation net Assembly/Disassembly Sequence work to ensure its third dimension. Main works a Optimization Model s follows : ¾ Constrained Delaunay Triangulation • The solution of Disassembly ¾ Issues Sequence Optimization Model ¾ Existing solutions ¾ Constraint Delaunay Triangulation algorithm • Case Studies, Conclusions and based on Extracted boundary characteristic Future Works points ¾ Conclusion

㪤㪧㪊㪄㪧㩿㪉㪊㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪉㪋㪀㩷㩷 Bond Graph Modeling and Simulation of Static Anlysis of Nano Fixed-Fixed Beam Based on Molecular Dynamics Simulation Dynamically Tuned Gyroscope Lianchao Zhang, Dapeng Fan, Xinliang Pang and Shixun Fan Na Gong, Yingchun Liang and Bingguo Liu Department of Mechanical and Electrical Engineering, Harbin Institute of Technology School of Mechatronics Engineering and Automation National Univ. of Defense Technology Changsha, Hunan , China Sf :sf_1Sf :sf_2Sf :sf_3 Harbin, Heilongjiang, China -1 sin • Models the open loop system of a in_xdot:1 1 :in_ydot MTF. . MTF. . :cos_th cos_th: MTF -sin_th sin_th MTF cos DTG using bond graph. R :r_1 • The atom position of solid beam has a 16 constant temperature zone 7 1j_15: 1 0 :0j_1 0 :0j_2 Intgtheta Ø little departure after relaxation. • Performs the simulation of bond 8 Intggama C :c_1 Ø MTF:gama 1j_4: 1 3 • The atom position of hollow beam after graph model using 20-sim software. MGY _1 MGY. . _ 2 . . . . I :b MGY MGY 5 . a. .c . relaxation is far from the ideal lattice and 1 I I 1j_6:1 4 MGY 1:1j_7 • It is proved that the bond graph . . the section of beam is flat shape along MGY _3 model of DTG is valid by comparing 6 :1j_10 Intgphi -phi. . 1 diagonal line. MTF -1 Ø C:c_2 the simulation results with the 0j_6: 0 I :C 0j_9:0115 :1j_14 • Comparing the simulation date with the MGY:MGY_4 MGY:MGY_5 Newton zone 10 17 A transfer function simulated in Matlab. . . 12 11 B I . . R :r_2 I 2 traditional data. 13 1j_11: :1j_12 1 MGY. . 1 border zone • Bond graph method is useful for MGY _6 14 • The two end of beam only can affect no MSe:Tx3 MSe :Ty3 more than 2nm long distance from the Model of Nano fixed-fixed Beam integrative design and simulation of puls_genx puls_geny support base. structure and control. Bond Graph Model of DTG

28 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪉㪌㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪉㪍㪀㩷㩷 Dynamic Characteristics on the Dual-Power Comparison of Unscented Kalman Filters Yanling Hao, Zhilan Xiong, Feng Sun and Xiaogang Wang State of Flow in Hydro-Mechanical Transmission College of Automation., Harbin Engineering University Jibin Hu, Shihua Yuan, Xiaolin Guo Harbin, Heilongjiang, China School of Mechanical and Vehicular Engineering Beijing Institute of Technology,Beijing, China Department of Automotive Engineering, Tsinghua University, Beijing, China • Rao-Blackwellised additive 1 UKF unscented Kalman filter (RBAUKF), 0 Error • Schematic of the HMT system -1 0 10 20 30 40 50 and is specially designed for the 1 AUKF and modeling based on bond 0

dynamic system with the additive Error -1 graph 0 10 20 30 40 50 noise, the nonlinear state equation 1 RBUKF 0

• State equations of the HMT Error and the linear measurement equation.-1 0 10 20 30 40 50 1 system RBAUKF • Three kinds of UKF are introduced 0 Error • The response curves of the -1 at the same time for the purpose of 0 10 20 30 40 50 Time (s) output speed of system and the comparing their advantage and oil pressure in main pipe of the disadvantage. bump-motor system under varied • Give their simulation results Simulation comparison of nonlinear filters input signals Schematic of the HMT system

㪤㪧㪊㪄㪧㩿㪉㪎㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪉㪏㪀㩷㩷 Improved Prediction and Compensation Forward Kinematics Analysis of The New 3-CCC Algorithm about Time-delay Based on Large-scale Parallel Mechanism Dongming Gan, Qizheng Liao and Shimin Wei Systems Automation School, Beijing University of Posts and Telecommunications Wei Guo, Zhe Liu Beijing, China College of Information and Control, Nanjing University of Information Science and Technology, Nanjing, China • This new mechanism consists of cylindrical joints only, and it has • Time-delay is analyzed in the three angular and three distance method of Dynamic Matrix Control. constraints . • TDCDMC algorithm is introduced • The position and orientation of the to compensate time-delay in large- platform are independent and the scale systems. forward solutions of them are both eight-order polynomial equations . • The relationships among the subsystems are well concerned. • Velocity and acceleration equations and Jacobean matrix are • The algorithm is available for those obtained by taking the derivative The 3-CCC parallel platform systems which fluctuate frequently. The Effect of TDCDMC of the constraint equations.

㪤㪧㪊㪄㪧㩿㪉㪐㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪊㪇㪀㩷㩷 A Low Power Consumption Implementation for The A New Federated Filtering Method for WSN Nodes in Lumber Drying Kiln Integrated Navigation of Vehicles Author1, Author2, …, and AuthorN Mechatronics Research Lab., Harbin Engineering University Hongmei Zhang, Sheng Liu, and Chunyang Du Harbin, Heilongjiang, China College of Automation, Harbin Engineering University • Sensor network is receiving considerable Harbin, Heilongjiang, China attention as one of the key technologies to keep track of parameters in industrial filed. • A new federated filter is proposed, • Wireless sensor networks integrate sensor and the sub-filters are composed Z1 (k ) ˆ Subfilter 1 X 1 , P1 GPS technology, embedded technology, and by a Kalman filter and an unscen- GPS-KF distributed information processing and tedKalmanfilter. Fusion filter Fusion Xˆ , E ˉ1P network communication. 1 1 g Xˆ , P • The information allocation factor g g • In this paper, we analyzed the power ˆ ˉ1 is adopted as a form of minimum X 2 , E 2 Pg consumption of nodes in the network. Some mean square error (MMSE) base methods are given in terms of hardware and Z (k ) ˆ 2 Subfilter 2 X 2 , P2 on observation error. DR software to reduce the sensor power DR-UKF consumption. • the position precision is compara- • A low power wireless sensor network nodes tive as that of the UKF, and is in the lumber drying kiln is designed and Lumber Drying Kiln higher than that of the EKF. Frame of the fusion filter tested.

29 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪊㪈㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪊㪉㪀㩷㩷 Gravity Deformation and Gain Loss of 12m Research on Absolute Positioning System Reflector Antenna for High-speed Maglev Train Wei Wang, and Baoyan Duan Cunyuan Qian1,2, Zhengzhi Han1, Weida Xie2 School of Electromechanical Engineering, Xidian University 1. Department of Automation, Shanghai Jiaotong University, Shanghai, China Xi’an, Shaanxi Province, China 2. Railway & Urban Mass Transit Research Institute, Tongji University, Shanghai, China • Gravity deformation over all elevation angles is derived by superposition • Introduction based on the structural analysis. undeformed • Overview of the absolute • Surface accuracy is calculated over positioning system the best-fit paraboloid (BFP).

• Design of the absolute • The gain loss variation over the entire deformed positioning system range of elevation angles is derived • Experiments and results using the Ruze formula. • Conclusion • A finite element model of antenna The Antenna Structure Location reference flags on guideway structure is created and input to the ANSYS program.

㪤㪧㪊㪄㪧㩿㪊㪊㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪊㪋㪀㩷㩷

Research on Air Fuel Ratio Predictive Model of Study on Fuzzy Control of Inverted Pendulum Gasoline Engine during Transient Condition System in the Simulink Environment Zhixiang HOU; Yihu WU Hong Liu, Fengyang Duan and Ying Gao College of Automobile and Mechanical Engineering Electronic Engineering Department Air Force Aviation University Changsha University of Science and Technology, Changchun, Jilin Province, China Changsha, Hunan, China

In order to overcome air fuel ratio transmission delay influence on air fuel ratio control •The Method of Fuzzy accuracy of gasoline engine during transient conditions, a new multi-step predictive model Controller Design of air fuel ratio based on BP neural network was provided in this paper. Input vectors of neural network multi-step predictive model were determined by the mathematic model of •The input parameter is: air fuel ratio, and the derivation of air fuel ratio reflecting the air fuel ratio tendency was input 1, input 2; output included within input vectors of neural network to improve the prediction accuracy of air parameter is: voltage u. fuel ratio model. The simulation was accomplished using the experiment data of HL495 gasoline engine during transient conditions, and weight values of back propagation neural network were adjusted by gradient algorithm and adaptive method, and the results show the maximal error of air fuel ratio predictive model is less than 3% and the average error of that model is less than 2%, and the air fuel ratio predictive model can accurately approximate air fuel ratio process of gasoline engine during transient condition.

㪤㪧㪊㪄㪧㩿㪊㪌㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪊㪍㪀㩷㩷 Reconfiguration of Oilfield Distribution Network Based on Genetic Algorithm Study on Correlation of Micro Stereovision with Duan Yubo, Zhou Qun stereo light microscope School of Electric and Information Engineering DaQing Petroleum Institute Yuezong Wang , Jinghui Liu, Desheng Li DaQing,HeiLongJiang, China College of Mechanical Eng and Applied ET,Beijing University of Technology Beijing,China According to the data coming from locale, the tidal current is ർචᚲব⬉ •Development of correlation function. calculated for 45 transmission ർච৾ᚲব⬉ •Experiments also show that value of ർ౎ᚲব⬉ lines. Then, the distribution imaging error is approximatively network is reconfigured by the 0.08% with constraint k0=1 when method discussed . The figure is ർਃੑᚲব⬉ pinhole imaging model is used to the topology of optimal operation. ർੑੑᚲব⬉ describing object-image relationship According to the operation of G-SLM. Structure of couple structure, the line loss decrease The topology structure of network with optical paths for SLM 60.5kW, the line loss rate declines the center of transformer NO.1 form 4.7% to 3.8% averagely.

30 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪊㪎㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪊㪏㪀㩷㩷 A Two-dimensional Structure Analysis On-road Obstacle Detection based on Method of Printing Mathematical Formula Stereovision Analysis Yi Wei, Yu Li and Shushu Hu Based On Characteristic Characters School of Automation, Wuhan University of Technology Yonghua Li, Kejun Wang, Liqun Tang, Junfei Wu Wuhan, Hubei, China College of Automation, Harbin Engineering University Harbin, Heilongjiang, China • On-road obstacle detection based on the stereovision analysis plays a • This article presents the concept of the vital role. characteristic character. • Mainly targets the obstacle detection • presents a block incision method to recognize printing formula based on from the images with constant characteristic character. changing and complicated • The paper designs different kinds of background. recognition algorithms based on • Combing with the V-disparity different characters to complete the coordinate axes definition algorithm, improvement to eliminate two-dimensional structure analysis. the background prior to the detection Obstacle detection results is proposed and yields better results

㪤㪧㪊㪄㪧㩿㪊㪐㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪋㪇㪀㩷㩷 The Detection and Recognition Algorithm Research of the Improved of Safety Glass Fragment Xueqin Zhou and Xiaohong Liu Camshift Tracking Algorithm School of Computer Science and Technology, Shandong University of Technology Xia Liu, Hongxia Chu, Pingjun Li Zibo,Shandong, China Department of Automation , Harbin Engineering University Harbin, Heilongjiang, China • Apply digital image processing techniques to the image of safety glass • Improved Camshift algorithm is a fragments, obtain their shape, size, and algorithm that H, S and V components space is used to track a count. moving target in HSV space. • Based on the characteristics of the • According to H and S and V, it can images, propose an image segmentation be appropriate to determine the track algorithm based on edge detection. The Initial Image and of moving target. • Detect the crack lines using edge Segmentation Result of • The next position of the moving detection with edge growth techniques Safety Glass Fragment object is estimated by the Kalman. first, and produces the thick crack lines. • The improved Camshift algorithm The result of improved based on the Kalman filter is applied • Next applies image segmentation with algorithm for tracking the watershed transformation. to track a moving target.

㪤㪧㪊㪄㪧㩿㪋㪈㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪋㪉㪀㩷㩷

Research on Dynamic Model and Control Strategy A Multi-Agent Approach to the More Electric Aircraft of Auto-Leveling System for Vehicle-Borne Power System Reconfiguration Platform Xiangnan Bian, Yuying Zhou and Qishuang Ma School of Automation Science and Electrical Engineering , Beihang University, Beijing, CHina Jiangang Zhang, Dagui Huang and Chaoshuang Lu Systems Engineering Research Institute China State Shipbuilding Corporation, Beijing, CHina School of Mechatronics Engineering, University of Electronic Science and Technology of China Chengdu, Sichuan, China • Use linear graph method build the dynamic model of the auto- • More Electric Aircraft leveling system. Power System • Build state equations of the • Restoration Problem dynamic system. Formulation • Get the incidence matrix of linear • MULTI-AGENT graph of the model. Framework • Find a better control strategy to improve the leveling-precision The Model of Auto-Leveling • Simulation and leveling-time System Multi-Agent Framework

31 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪋㪊㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪋㪋㪀㩷㩷 Design of Fuzzy-PI Compound Control System Forward kinematics of the Variable Vector for Three-cylinder Hydraulic Parallel Robot Propeller Based on HGANN Qidan Zhu, Xunyu Zhong and Bo Xu Liu Sheng, Song Jia, Ge Yaming and Zheng Xiuli Robotics & Intelligent Control Lab., Harbin Engineering University Harbin, Heilongjiang, China Department of Automation., Harbin Engineering University Harbin, Heilongjiang, China • Use DCS based on CAN-bus and • Proposed modified Hybrid encoding “PC + multi-DSP”. Genetic Algorithm Neural Network • Use PWM driving signal to improve (HGANN) for solving the FK the cold operation performance and problem of the VVPCMP low speed performance of the • Used the binary system and the real number hybrid encoding scheme control system . cooperate with the 3 chromosomic • A kind of fuzzy-PI compound structures, modifies the GANN controller which based on fuzzy algorithm switch has been adopted, so it makes • Combination of genetic algorithm smooth transition from one pattern Three- cylinder Hydraulic with progeny generated by Solis& Parallel Robot Wets operation Comparation Of Experiment Results of controller to another.

㪤㪧㪊㪄㪧㩿㪋㪌㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪋㪍㪀㩷㩷

Design of a Power Amplifier for Magnetic Actuation and Study on a New Injecting Hybrid Active Power Study on Its Actuation Characteristics Filter Zhang Kai, Zhao Xia, Dejin Hu and Chengliang Liu Xing Hai-ying, Chen Bai-chao ,Zhang Ya-di , Tian Cui-hua and Wang Qi Nanjing University of Information Science and Technology, Nanjing, Jiangsu, China School of Electrical Engineering, Wuhan University Shanghai Jiao Tong University, Minhang, Shanghai, China Wuhan, Hubei, China

• To bore noncircular hole, a magnetic • According to commonly used actuation mechanism composed of stator hybrid avtive power filter, the and rotor has been designed. injecting active power filter is • While the currents in stator coils change, the actuation force would vary change introduced to reduce the correspondingly and drive the rotor to capacidance as much as possible displace radialy. without taking first –harmonic • To meet the need of high frequency voltage. This paper illustrates the actuation of inductive load, a PWM power amplifier has been set up. working principle of hybrid and The mechanism and power amplifier • Actuation characteristics of the power injecting active power filter and Injecting mixed affluxing amplifier has been studied. proves with experiment. APF circuit

㪤㪧㪊㪄㪧㩿㪋㪎㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪋㪏㪀㩷㩷 The Research of Performance Evaluation Research of Multipolar Permanent Magnet System on Manufacturing System with Synchrounous Submersible Motor for Screw Reconfigurable Configuration Pump Zhang Bingyi, Liang Bingxue, Feng Guihong and Zhuang Fuyu Chao LV, Aiping LI, Liyun Xu Faculty of Electrical Engineering, Shenyang University of Technology Institute of Advanced Manufacturing Techonology, TongJi University Shenyang, Liaoning, China Shanghai, China STATOR IRON • The special structures of the STATOR WINGDINGS

• Reconfigurable Manufacturing stator and motor have been PERMANENT MAGNETS ROTOR IRON System. analyzed. • How to select the length of air- • A performance evaluation gap and the size of permanent structure. magnet is discussed.

• Performance analysis with • The distance d between the top of SCREW ROD different configuration. permanent magnet and rotor external diameter must be proper. • An integrated performance • The computer simulation results Cross section of motor evaluation system. of magnetic field of the motor are under construction Performance Evaluation System given by ANSOFT.

32 IEEE ICMA 2007 Conference Digest

MP3-P: Poster Session I (cont.)

Session Chairs: Shunichi Doi, Kagawa Univ. Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Monday, 6 August 2007

㪤㪧㪊㪄㪧㩿㪋㪐㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪌㪇㪀㩷㩷 Application of Fractal Research and Implementation of Simulated in Machine Downtime Control Annealing Algorithm in the Large-Scale Xuanxuan Li,11 Bo Li, Limei Xu, 1 Sean Li 2 1 Institute of Astronautics and Aeronautics,UESTC, Chengdu, Sichuan, China Rectangular Optimal Cutting Stock Problem 2 Intel Products (Chengdu) Ltd. Chengdu, Sichuan, China Qi Yue , Jun Cao and Fenghu Wang Northeast Forestry University • This paper is devoted to propose a fractal based DowntimeDowntime record method to give statistical insight for potential • The raising temperature SA Metrics identification unstable or downtrend hazard of machine Metrics identification algorithm was employed to the performance. Data pre-processingpre-processing large-scale rectangular cutting stock Hurst exponents calculation • We gave the way to distinguish the • AR (Auto Regression) model, rescaled range Hurst exponents calculation Mathematical modeling local optimization and to determine (R/S) analysis, Lo’s modified rescaled range the bound of the raising temperature (R/S) analysis and high order Hurst exponents Model validation • We discuss how to choose the are employed for mathematical model building. Downtime predictionprediction parameters properly to guarantee the Downtime forecasting optimization degree of the solution • Numerical case study in a chipset factory Downtime forecasting effectively. demonstrates its feasibility and effectiveness. Research Flow

㪤㪧㪊㪄㪧㩿㪌㪈㪀㩷㩷 㪤㪧㪊㪄㪧㩿㪌㪉㪀㩷㩷 Dynamic Design of High Speed Precision Kinetic Emulation of Blade in Variable Positioning System Xingyu Zhao, Yimin Wu and Dawei Zhang Rotation Speed School of Mechanical Engineering, Tianjin University Wu Yanhong Tianjin, China College of Mechanics and Electronics Engineering, Harbin Engineering University • A high speed precision positioning x-y Harbin, Heilongjiang, China table with new elastic decoupling mechanism. • Kinematics analysis of rotating blade. • By use of the FEA and dynamic simulation method, the dynamic • Discretization of the blade and the kinetic energy and characteristics of the high speed table the potential energy of elements. are studied. • Some Derivation of dynamic equation of motion of the • Based on the dynamic response of High Speed Precision element. rigid and elastic body, the spring as Positioning System the key component in the decoupling • The analysis of the equation. mechanism is investigated.

㪤㪧㪊㪄㪧㩿㪌㪊㪀㩷㩷 Research on a New Type Motion-Decoupling Hydraulic Servo Shoulder Joint and Its Control System Zhenzhong Yang, Jiping Zhou and Xinglong Zhu Institute of Mechanical Engineering, Yangzhou University Yangzhou, Jiangsu, China • A new type 3-DOF (degree of freedom) motion-decoupling hydraulic servo shoulder joint is designed. • The control system of the motion- decoupling hydraulic servo shoulder joint is researched and developed. • Experiment has been done to prove that the proposed design project is feasible and it provides a solid foundation and references for the The Motion-Decoupling Hydraulic research work in the future. Servo Shoulder Joint

33 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷

34 Tuesday August 7, 2007 㩷 㩷 㩷 㩷 Morning Sessions 㩷 TA1-1 Medical Applications I TA1-2 Analysis and Design of Micro and Nano Systems TA1-3 Control of Complicated Systems TA1-4 Humanoid Robots TA1-5 Sliding Mode Control I TA1-6 Image Processing TA1-7 Manufacturing Management TA1-8 Signal Processing Methods III TA1-9 Robot Modeling TA1-10 Mobile Manipulators TA1-11 Sensor Network and Multi-agent Systems

35 Afternoon Sessions

TP1-1 Medical Applications II TP1-2 Micro and Nano Positioning TP1-3 Control of Vehicles TP1-4 Biped Robots TP1-5 Sliding Mode Control II TP1-6 Vision Systems TP1-7 Analysis and Design of Mechatronic Systems I TP1-8 Signal Processing Applications I TP1-9 Mechatronic System Modeling I TP1-10 Mobile Robots TP1-11 Telerobotics TP2-1 Parallel Manipulators I TP2-2 Micro and Nano Sensing TP2-3 Control of Ships and Mobile Agents TP2-4 Biped and Multi-legged Robots TP2-5 Control Theory I TP2-6 Sensing Systems I TP2-7 Analysis and Design of Mechatronic Systems II TP2-8 Signal Processing Applications II TP2-9 Mechatronic System Modeling II TP2-10 Mobile Motion Planning and Control TP2-11 Human Motion Detection and Assist TP3-P Poster Session II

36 IEEE ICMA 2007 Conference Digest

TA1-1: Medical Applications I

Session Chairs: Xiongbiao Chen, Univ. of Saskatchewan Dong-Geol Choi, Hanyang Univ. Room 1: Beijing, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪈㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪈㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 A Force Sensors-based Catheter Operating Design and development of a Da Vinci Surgical System simulator System L.W. Sun, F. Van Meer, Y. Bailly, and C. K.Yeung Jian Wang1, Hidekazu Kondo1, Jian Guo1 Shuxiang Guo1,2 and Takashi Tamiya3 Department of Surgery, Prince of Wales Hospital, The Chinese University of Hong Kong, HKSAR, China 1 Faculty of Engineering, Kagawa University, Japan 2 Harbin Engineering University, China This paper has discussed the design and development of a 3 da Vinci system simulator that delivers a 3D virtual School of Medicine, Kagawa University, Japan reality training and learning environment for MIS. • Develop a highly precise remote control system by using a Master- Simulator Features: Haptic interface: Slave system . - Adapted SensAble Phantom • Design a force sensors-based - Design a new hand gripper to clone 3D positions/orientations, opening/closing Simulation kernel: feedback system. - Interface (MS C++, OpenScenceGraph & Open GL) • Carry out the operating simulation - Motions controlled by Inverse kinematics Modeling: experiments “in Vitro” - Exact kinematics & geometric model of the robot • Precision of the developed system - Totally 13 DoFs (2 Translations & 11 rotations) Operating Simulation Training scenario program: Practice the pick & paste, simple intervention is better than 0.015mm. Experiments “in Vitro”

Fig. (Upper) Simulator interface (Middle) Medical robot simulator snapshot (Lower) Assembled hand gripper & setup simulation of robot modeling

㪫㪘㪈㪄㪈㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪈㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 Position Planning for Laparoscopic Robot in Automation of Surgical Illumination System Minimally Invasive Surgery Using Robot and Ultrasonic Sensor Bo Pan, YiLi Fu and Shuguo Wang Dong-Geol Choi, Byung-Ju Yi, and Whee-kuk Kim Robotics Institute., Harbin Institute of Technology Human Robotics Lab, Hanyang University Harbin, Heilongjiang, China Ansan, Kyungkido, Korea • Analyzing structure of laparoscopic robot and its configuration space. • 5-DOF serial type manipulator. • By the concept of configuration • 4 ultrasonic transmitted space, analyzing dexterity and sensors and 3 ultrasonic manipulability of robot. receiving sensors are used for • Giving position planning strategy of surgeon’s position information. laparoscopic robot in minimally • The illumination robot can invasive environment. move automatically using • Simulation validate effectiveness of position data by ultrasonic sensors. position planning strategy Laparoscopic robot mentioned in paper. Surgical Illumination Robot

㪫㪘㪈㪄㪈㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪈㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 Research on Workspace Design and Experiments of a Catheter Side Wall of A Two-arm Surgical Robot Mingbo Piao, Yili Fu and Shuguo Wang Tactile Sensor for Minimum Invasive Surgery Robotics Institute, Harbin Institute of Technology Feng weixing, Wang huanran, Guo shuxiang, Wang kejun and Ye xiufen Harbin, Heilongjiang, China Automation Scool, Harbin Engineering University • 1 Introduction Harbin, Heilongjiang, China • 2 Mechanism of the robot • PVDF characteristic analyze • 3 Workspace analysis • Side wall tactile sensor 3.1 Forward kinematic model design and relative sample of the robot circuit design 3.2 Movement space • Experiment design to test 3.3 Original workspace side wall tactile sensor 3.4 Redefined workspace • Experiment Result and relative analyze 3.5 An example • 4 Conclusion Model of the robot The Sensor Output

37 IEEE ICMA 2007 Conference Digest

TA1-2: Analysis and Design of Micro and Nano Systems

Session Chairs: Hideyuki Hirata, Kagawa Univ. Yong Yu, Kagoshima Univ. Room 2: Shanghai, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪉㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪉㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 Development of Pulseless Output Wireless Powered Microrobot for Micropump using Magnet-Solenoid Gastrointestinal Detection Actuator Guanying Ma, Guozheng Yan Shuxiang Guo*1*2,Zhi Pei*1,Tian Wang*1,Xiufen Ye*1 Department of Instrument Science and Engineering *1Automation College, Harbin Engineering University Harbin, Heilongjiang Shanghai Jiaotong University, Shanghai, China Province 150001 P. R. China * 2Faculty of Engineering, Kagawa University Takamatsu 761-0396 Japan • Earthworm-like microrobot with • We developed a novel type of diameter of 12mm and length of pulseless output micropump that has Solenoid 150mm. Inlet Outlet the characteristics of flexibility, low • Wireless power transmission driving voltage, good response and Chambers system based on inductive safety in body coupling. Received power up to • The flow 0.05ml/min~0.9ml/min and 800mW at efficiency of 3~8%. output pressure 0.6Pa~18Pa can be obtained. Diaphragms • Miniature PAL modulation video Magnetic system. • The output of micropump is pulseless Wireless Powered Microrobot and is suitable for the use in medical Total Structure of the • Digital communication at 50kbps applications and in biotechnology. Micropump

㪫㪘㪈㪄㪉㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪉㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉

Gray Incidence Analysis of Protein 3D Structural Evaluation of Scale Dependent of Fast Fracture Strength of Micro Component Similarity Toshikazu Okazaki, Shunsuke Nakamura, Hideyuki Hirata, Yutaka Mihara Qi Chen, Changying Wang, Shuyan Wang and Hidenori Yoshimura Dept. of Computer Science and Technology, South China University of Tropical Agriculture , Department of Intelligent Mechanical Systems Engineering, Danzhou, Hainan , China Faculty of Engineering, Kagawa University, Japan

• Several fatigue testing machine for the micro specimens were successfully • Introduce the study made. • The driving force of each fatigue testing background machine was measured and the correction factor of static electricity force • Introduce the early work F which occurred in the comb actuator was determined. • The precise evaluation of the applying • Gray Incidence Analysis of load becomes possible by using the correction factor. Protein Structural Spectra • The fast fracture strength was evaluated for four kinds of micro specimens being • Results and discussion made of single crystal silicon. • The distribution of the fast fracture • Conclusion strength was evaluated as the Weibull probabilistic distribution. The micro fatigue testing X direction of Protein 3D Structure Spectrum • It was clarified that the volme dependency of the strength could be in the Unified Coordinates System described by the weakest linkage model. machine

㪫㪘㪈㪄㪉㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪉㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏

Analysis on Dynamics of ICPF Actuated Workspace Optimal Design of a 2 DOF Micro Parallel Tortoise-like Flexible Micro-robot’s Leg Robot Using Genetic Algorithms and Simulated Lin Nie, Desheng Li and Shuxiang Guo Annealing Optimization Methods School of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China Sergiu Stan, Vistrian Maties, Radu Balan Dept. of Mechanics and Computer Programming., Technical Univ. of Cluj-Napoca, Romania

• Introduction on the robot. • A multiple-objective optimum P - P P • Motion mechanism and dynamic P N . . . design procedure for parallel analysis. + © ) © 7 robot is outlined by using % 6 • Characteristic analysis of the P ' optimality criterion of workspace, © P * © . transmission quality index and robot. . ( .

© . © numerical aspects . • Conclusion and . * $ . & The GUI for calculus of Acknowledgement. • Optimization was performed workspace for the planar The Tortoise-like Robot using Genetic Algorithms 2 DOF micro parallel robot optimization methods.

38 IEEE ICMA 2007 Conference Digest

TA1-3: Control of Complicated Systems

Session Chairs: Mingcong Deng, Okayama Univ. Xinkai Chen, Shibaura Inst. of Tech. Room 3: Hangzhou, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪊㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪊㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 Tracking Control of Ball and Plate System with Self-tuning Regulator for Order-varying Systems a Double Feedback Loop Structure Based on Particle Swarm Optimization Hongrui Wang, Yantao Tian, Zhen Sui, Xuefei Zhang and Ce Ding Weixing Lin1,2 , Chao Ou1 Peter X. Liu2 ,Max Q.-H. Meng3 Institute of Automation, College of Communication Engineering, Jilin Univercity 1) Faculty of Information Science and Technology, Ningbo University , Zhejiang , China Changchun, Jilin, China 2) Department of System and Computer Engineering, Carleton University , Ottawa, Canada • This paper proposes a double feedback loop 3) The Chinese University of Hong Kong ,Shatin, N.T. Hong Kong structure for tracking control of ball and plate system on the experimental platform BPVS-JLU I. ¾ PSO Algorithm • A single input rule modules fuzzy logic controller with dynamic importance degree ¾ STR Algorithm of is used in external loop, while a switching servo controller is used in the inner loop. General Minimum • Experiments have proved that tracking Mean Square Error controller does stabilize ball and plate system. When given trajectory is a circle ¾ PSO-Based STR with radius 150 (mm) and the desired ball Ball and plate system Simulation and tracking velocity is 3 (mm/s), average BPVS-JLU I ¾ position tracking error is 10.761 (mm). Experiment Process of PSO-based STR

㪫㪘㪈㪄㪊㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪊㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉

Special Guaranteed Cost Control for Uncertain Supervisor Synthesis for a Class of Forbidden Time-delay Singular Systems State Problems in Discrete Event Systems Rui Yang, Tianmin Huang, Cuihong Wang Jiliang Luo School of Electrical Engineering, Southwest Jiaotong University Huaqiao University, Quanzhou, China Chengdu, Sichuan, China • we are concerned with a special guaranteed cost control An ATM switch is used to route for time-delay singular systems with norm-bounded segments of a 53 byte data stream unmatched uncertainties. referred to as ATM cells. Incoming cells are directed by a series of routing • The purpose of the problem is to develop certain networks to the OPC's. Each OPC holds conditions such that not only the systems are regular, the outgoing cells in a buffer as they wait impulse free and stable for all admissible uncertainties, to be transmitted. The OPC is capable of inhibiting the transmission of further but also the cost function has an upper bound. cells from routing networks if its buffer • we derive Linear Matrix Inequalities (LMIs) by is too full. A PN model of the portion of interest of the ATM switch is shown in regarding the parametric uncertainties as disturbance Fig.1. The method proposed in this paer input. is illustrated to synthesize the output-port controllers (OPC) of an asynchronous Control Petri net model of ATM • Finally, a numerical example is given to demonstrate transfer mode (ATM) switch. the effectiveness of the proposed method.

㪫㪘㪈㪄㪊㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪊㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 Comparative study of SMC and SMFLC Robust Hinf Control for Discrete Time- Robustness Property Delay Fuzzy Systems R.M. Nagarale*, R.H. Chile **,B. M. Patre ***and Pramod Kulkarni**** Cheng Gong, Baoku Su * Assistant professor, Department of Instrumentation Engineering, College of Engineering Space control and Inertial Technology Research Center, Harbin Institute of Ambajogai, India Technology ** Assistant Professor, Department of Instrumentation Engineering, S.G.G.S. I. E &T. Nanded, Harbin, Heilongjiang, China India ***Professor, Department of Instrumentation Engineering, S.G.G.S. I. E &T. Nanded ,India • We address the robust Hinf control ****Assistant professor, Department of Electronics & telecomm. Engineering ,College of problem of norm bounded uncertain Engineering Ambajogai ,India T-S fuzzy systems with state delay. • In this paper, compare the sliding mode fuzzy • By using a new basis-dependent controller (SMFLC) design method to avoid lyapunov-krasovskii function, a the chattering phenomena in traditional sufficient condition is derived on sliding mode controller (SMC), and shorten Hinf disturbance attenuation. the hitting time of the controlled system. • The effectiveness of the proposed • Chattering reduction is an important issue in z(k) and disturbance input w(k) Fig. Non-linear method is illustrated by an example the sliding mode controller that has been switching curve and shown in the right figure. wildly discussed.

39 IEEE ICMA 2007 Conference Digest

TA1-4: Humanoid Robots

Session Chairs: Youngchul Bae, Chonnam National Univ. Kejie Li, Beijing Inst. of Tech. Room 4: Wuhan, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪋㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪋㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 Motion Planning for Stepping On/Off Obstacles Object Manipulation of Humanoid Robot Based on by Humanoid Robot Combined Optimization Approach Ali Raza JAFRI , Qiang HUANG, Jie YANG, Zhijie WANG and Tao XIAO Altaf Hussain RAJPAR, Qiang HUANG, Weimin ZHANG, Dongyong JIA and Kejie LI School of Mechatronics Engineering School of Mechatronics Engineering, Beijing Institute of Technology Beijing Institute of Technology, China Beijing P.R. China • A Humanoid Robot BHR-2 capable of performing stepping on and off a • Transport pre-grasping flat obstacle of known dimension is • Course Alignment presented. • Grasping • Trajectory comprises of two phases. • The first phase starts with the left foot • Simulated and Experimental stepping on the obstacle followed by Results right foot. • The second phase starts with the left foot stepping off an obstacle tracked by right foot. Object manipulation process. • ZMP criterion is used to ensure Dynamic Stability of Humanoid Humanoid Robot BHR-2 Robot

㪫㪘㪈㪄㪋㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪋㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉

Virtual Reality Based Teleoperation Control of Distributed Control System for a Humanoid Humanoid Robot BHR-2 Zhangguo YU*1, *2, Qiang HUANG*1,Jianxi LI*1, Qing SHI*1, Xuechao CHEN*1,and Kejie LI*1 Muhammad Usman KEERIO, Qiang HUANG, Junyao GAO, Jiapeng YANG and Yuepin LU *1School of Aerospace Science and Technology, Beijing Institute of Technology, Beijing, China Department of Mechatronics Engineering *2 School of Information Engineering, Southwest University of Science and Technology, China Beijing Institute of Technology, P.R China. • Present distributed control architecture for • Visualization based joystick humanoid robot based on Memolink and control of humanoid robot BHR-2 CAN bus to ensure high communication is developed for human robot speed and quantity, real-time and reliability. interaction. • Adopt two operating system with Windows • Collision free manoeuvring . and RT-Linux. • Implement the software of motion control based on RT-Linux and the specific CAN The Humanoid BHR-2 protocol. • Provide walking experiments. Humanoid Robt BHR-2

㪫㪘㪈㪄㪋㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪋㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 The design of Humanoid Robot Arm based on Morphological Geometrical Analysis of Inverse Kinematics and Neurological Analysis of Human Arm Y. Moon, K.S Lee,C.H Yun,T.U Jung ,N. Y Ko and Y.C Bae* Solutions and Fuzzy Control of Humanoid Robot School of Information CommunicationSunchon National UniversitySuncheon,5407-42.Korea Arm under Kinematics Constraints Deok Hui Song and S. Jung • Modeling of morphological and ISEE Lab., Chungnam National University neurological analysis of human arm Daejeon, Korea • verifying applicability and • Kinematic analysis of the effectiveness of humanoid robot ROBOKER is presented. arm system based on SERCOS • Simulation and experimental studies network are conducted. • The concept of opening, networking • Fuzzy controller is developed to and modularizations that are control the position of the progressive direction of future robot. ROBOKER by using kinematic analysis. Humanoid robot arm ROBOKER

40 IEEE ICMA 2007 Conference Digest

TA1-5: Sliding Mode Control I

Session Chairs: Wenfang Xie, Concordia Univ. Hidenori Ishihara, Kagawa Univ. Room 5: Beihai, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪌㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪌㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍

A Sliding Mode Observer for a Typical Diesel An Adaptive Fuzzy Sliding Mode Control Engine Particulate Aftertreatment System Fan Su, Brandon W. Gordon and Henry Hong for Networked Control Systems Mechanical and Industrial Engineering Dept., Concordia University Li-jie XU, Chao-yang DONG, Yu CHEN Montreal, Quebec, Canada School of Automation Science and Electrical Engineering, • A differential-algebraic system Beijing University of Aeronautics and Astronautics model for a typical diesel engine Beijing, China particulate aftertreatment system. 900 800 X3_Experimental For Networked control X3_Observer_SMO Plant • Singularly perturbed sliding 700 systems (NCS) with nonlinear manifold approach for model 600 and uncertain parameters, a realization. Model verification using 500 Sensor 1 … Sensor N Actuator 1 … Actuator M experimental data. 400 novel adaptive fuzzy sliding • A sliding mode observer (SMO) and 300 mode control method for 200 DPF Outlet Temperature, x3 (deg C) x3 (deg Temperature, DPF Outlet solving the dynamic model Serial Bus its comparison with a Luenberger- 100

like pole placement observer. 0 with network-induced delay, 0 100 200 300 400 500 600 700 Controller Other nodes • Application of the SMO on actual Time (sec) nonlinear and uncertain engine aftertreatment tests. SMO Prediction on x3 parameters is proposed in this Encouraging results! paper. A basic NCS configuration

㪫㪘㪈㪄㪌㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪌㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉

Sliding-Mode Observer Based Adaptive Control Sliding Mode Control with Parameter Adaptation for Servo Actuator with Friction for a Class of Cable Feed System Jin Huang, Bin Zi and Jinzhu Zhou Wen-Fang Xie and Zhong-Yu Zhao School of Electro-mechanical Engineering, Xidian University Department of Mechanical & Industrial Engineering, Concordia University, Montreal, Quebec, Xi’an, Shaanxi, China Canada

• Introduction • Motivation. • Problem Statement • Modeling of Cable • Sliding-Mode Friction State Feed System Estimator • Sliding Mode Control • Adaptive Controller Design Design • Experimental Results • Simulation Results. • Conclusion Harmonic Drive Simplified Model of Cable Feed System

㪫㪘㪈㪄㪌㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪌㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 A Modified Direct Torque Control Using Space Non-linear Observer for Slip Parameter Vector Modulation (DTC-SVM) for Surface Estimation of Unmanned Wheeled Vehicles Permanent Magnet Synchronous Machine Zibin Song, Xiaojing Song, Kaspar Althoefer, Yahya Zweiri, Lakmal D Seneviratne (PMSM) with Modified 4-order Sliding Mode Department of Mechanical Engineering, King’s College London, U.K Observer • A non-linear sliding mode Sheng Zhao and Xiafu Peng observer is designed Department of Automation, Xiamen University • Rigorous stability proof is Xiamen, P.R. China given and sliding gains are • Introducing additional speed selected feedback in torque close loop. • A specially designed test rig • Modifying the signal function is used to validate the observer in Sliding Mode Observer to achieve better performance. • The observer is compared to the Kalman Filter, showing The 2D test rig proposed DTC-SVM with speed feedback good results

41 IEEE ICMA 2007 Conference Digest

TA1-6: Image Processing

Session Chairs: Seji Hata, Kagawa Univ. Zhen Shi, Harbin Engineering Univ. Room 6: Shenzhen, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪍㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪍㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 Curvature Calculation and Corners Extraction Infrared Image Segmentation Algorithm Based of Image Contour on Improved Variational Level Set Model Wenguang Qian, Xiaozhu Lin Xue Mei1) 2) , Jinguo Lin1), Liu Zhang1), and Liangzheng Xia 2) School of Information Science and Technology., Beijing University of Chemical Technology, 1) School of Automation, Nanjing University of Technology 2) Southeast University Beijing, China Nanjing, Jiangsu, China • Corner points contain important • Infrared images always have smooth information about the shape of an boundaries or even discontinuous object. boundaries. • Firstly the method of curvature • A variational formulation level set calculation at multiple scale model is presented, which can detect previously is introduced. contours, both with and without gra- • An effective technique for dient based on global information. extracting corners is presenting • The model forces the level set based on curvature calculation. Curvature calculation based on local region of support function to close a signed distance • The rationality and feasibility of function and discards the re- algorithm is verified The Result of Segmentation mathematically. initialization procedure.

㪫㪘㪈㪄㪍㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪍㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 Enhanced Gaussian Mixture Models for Object Nondestructive Testing Wood Internal Defects Recognition Using Salient Image Features by Fractional Brownian Motion Processor Kejun Wang, Zhen Ren Dawei Qi, Li Li Pattern Recognition Lab., Harbin Engineering University College of Science, Northeast Forestry University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • An effective combination of SIFT • Applying the fractional Brownian motion model, we investigate fractal features with random features. dimension of the x-ray image of log • PCA transformation reduces the with rotten knot. dimensionality of feature vector • Derive fractal dimension estimation reasonably. algorithm based on the fractional • Reduced vectors are categorized by Brownian motion model and calculate Gaussian Mixture Models (GMMs) fractal dimensions of all the sub areas in witch the mixture weights are in wood image one by one. adjusted iteratively using gradient • The fractal dimensions in the normal Image after fractal regions are higher than that of the dimension processing descent. rotten knot edges. We can extract the • Experiment results on Caltech data edges of wood defects effectively set is given. Correct Classification Images according to this rule.

㪫㪘㪈㪄㪍㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪍㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 Achieving Low-Power Consumption by Using The Medical Image Retrieval Based on Fractal Coding in PVP the Fuzzy Feature Shicai Lin, Tiecai Li, Xianglong Tang Jin Li, Hong Liang , Lei Wang and Jingnan Zhang School of Computer Science and Technology, Harbin Institute of Technology Aotomation College, Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • The medical image retrieval is used • Dual-layer display output of Video to manage large numbers of medical image data and then apply them into • Improvement of fractal coding the clinic in the process of diagnoses. algorithm • A new retrieval algorithm based on • Complexity reduction of the the fuzzy feature of medical images algorithm is proposed in this paper. • Low-power of consumption in • The experimental results among embedded system three algorithm are presented. • The experimental results indicate that the focus distribution The retrieval result based Embedded PVP information of the medical images can be labelled exactly by using the on the fuzzy feature proposed algorithm.

42 IEEE ICMA 2007 Conference Digest

TA1-7: Manufacturing Management

Session Chairs: Gancho Vachkov, Kagawa Univ. Jun Liu, Lanzhou Univ. of Tech. Room 7: Changchun, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪎㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪎㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 A Near-optimal Buffer Size Control Problem for Product Growth Design Based Product Gene Hybrid Production System with Bursty Demand Hongwu Chen, Shiming Wang, Xiufang Cui and Kezheng Huang Arrivals Engineering College, Shanghai Fisheries University Liu Jun, Rui Zhi-Yuan, Zhao Jun-Tian,and Su Wang-Hui Shanghai, China School of Mechanical & Electronical Engineering, Lan Zhou University of Technology, Lan Zhou, Gansu 730050,China • Product Gene (PG) is a big extension The failure prone production system with bursty demand to current non-human process of arrivals is examined, where the demand arrival is Possion process and the burst size is exponentially design, which is valuable for new distributed. For the hybrid systems, the buffer is generation of CAD systems; controlled and the buffer size should be changed by the • Growth Design is the bottleneck of demand rate. The continuous flow model of the PG; unreliable manufacturing systems is considered and the hedging point control policy is involved in. The demand • Example of mechanical product with burst size is dealt with by an approximate design shows that PG is general- technique and then a decomposition method is utilized purpose and that growth design is to determine the near-optimal buffer size. Meanwhile, an idea of purchasing extra capacity is introduced to the very effective in representing hybrid system and a so-called blockage hedging point is different kinds of product structures. GUIZI Design Process obtained. Numerical results not only testify the method Optimal buffer sizes but also show us the failure transition rate of the downstream machine has a stronger impact on the vs. machines’ failure optimal buffer size than those of the upstream machine. rate

㪫㪘㪈㪄㪎㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪎㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 Optimization for Flow-Line Configurations of The Combination of Grey System RMS Based on Graph Theory and BP Neural Network Jianping Dou, Xianzhong Dai and Zhengda Meng FAN Shuhai, FANG Yexiang, LI Wenping and MA Yungao School of Automation,University of Southeast Department of Industrial Engineering, Nanjing University of Technology Nanjing, Jiangsu, China Nanjing, Jiangsu Province, China • The flow-line configurations include • “Simple Combination”, “Serial arrangement of machines ,equipment Combination”, “Strengthening Grey selection and operations assignment 1 in an RMS. System with Neural Network”, 0.9 1 0.8 “Building Neural Network with the 0.9 • Flow-line configuration optimization (a)Original network 0.8 0.7 Aid of Grey System” and “Grey 0.7 problem is modeled as a constrained 0.6 0.6 Neural Network”. 0.5 0.5 K-shortest paths (CKSP) problem on 0.1 0.08 0.4 an augmented digraph. • Finally, an example of a typical grey 0.06 0.1 0.04 0.08 0.3 0.06 0.02 0.04 • A graph theory based approach is BP neural network was given where 0.02 0.2 0 0 0 5 10 15 20 25 30 introduced to find the optimal and the crosswise method was used and K-1 suboptimal configurations for a successfully applied to mass (b)Augmented network Optimization Course of GNN single part or multiple parts. customization manufacturing quality • A case study shows the proposed CKSP model of a part control. method is valid and efficient. with five operations

㪫㪘㪈㪄㪎㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪎㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 Application of the Hybrid Genetic Algorithm to Combinatorial Optimization Problems in Flow- Study on Job Shop Scheduling with Many shop Scheduling Function-Same Machines Jingjing Wu, Kelin Xu, Qinghua Kong and Wenxian Jiang Zhiqiang Xie,Guangjie Ye,Yong Liu,Guangyu Tan College of Mechanical Engineering, Tongji University College of Computer Science and Technology Shanghai , China Harbin University of Science and Technology •To compensate each other for the Harbin, Heilongjiang, China general permutation model, genetic algorithm and neighborhood search improvement are incorporated as the • Study motivation hybridization in this study. • Problem statement. •Objective function • Scheduling algorithm of operations D ¦ C  E C max  JT max  TE max •In consideration of a multicriteria • The complexity analysis of algorithm flowshop scheduling problem with setup times, an integer programming Structure of the proposed hybrid GA • Assembly example and comparison model is developed for the problem. •The HGA gives fairly good results Gantt chart of operations heuristic solution  optimal solution in terms of error and it is quite Error effective in this multicriteria optimal solution problem.

43 IEEE ICMA 2007 Conference Digest

TA1-8: Signal Processing Methods III

Session Chairs: Hong Zhang, Univ. of Alberta Fanming Liu, Harbin Engineering Univ. Room 8: Shenyang, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪏㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪏㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 Traveling Wave Fault Location for Power Cables MEMS Gyro’s Output Signal De-noising Based on Wavelet Transform Based on Wavelet Analysis Jiantao Sun, Xishan Wen, Xinlao Wei , Qingguo Chen Fuqiang Liu, Fanming Liu, Wenjing Wang, and Bo Xu Wuhan University, Harbin University of Sci & Tech Department of Automation ., Harbin Engineering University Wuhan Hubei, China; Harbin, Heilongjiang, China Harbin, Heilongjiang, China „ A travelling wave fault location T1 T2 DR G ~220V equipment for power cables is C • Analysis of MEMS Gyro’s Output designed. L error characteristics and mathematic Data acquisition „ A new traveling wave fault card model formulation. location method is developed Scheme of fault location equipment • Signal de-noising algorithm research based on wavelet denoising and base on the wavelet multi-resolution 2.55 22 singularity detection theory. 1.55 analysis. 11 ) 0.55 „ The percentage error of fault 0 • Efficiency comparison between the ltage (V -0.55 o X: 639 V -11 Y: -1.295 location can be within 2%. 5 㫧 X: 373 -1.5 scaled approximation and wavelet Y: -2.02 -22

-2.55 „ The result of fault location can 0 2 4 6 8 10 12 14 threshold methods via gyro output Time (µs) de-noising experiments in both static MEMS Gyro’s Output Signal be not influenced by the change The result of singularity detection of the traveling wave speed. and dynamic states.

㪫㪘㪈㪄㪏㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪏㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 Research on State Estimation of Oil Pipeline An Adaptive Anisotropic Diffusion Filter for Noise Considering Adaptive Extended Kalman Filtering Reduction in MR Images Jing Gong1, Jian Cai2 ,Xiaoping Li3 and Shengkui Song4 Jinshan Tang, Qingling Sun, Beijing Key Laboratory of Urban Oil and Gas Distribution Technology Alcorn State University, Lorman, MS, USA China University of Petroleum (Beijing) Jun Liu, and Yongyan Cao Beijing 102249,China Wuhan University of Science and Technology, Wuhan, Hubei,China • Based on extended Kalman ,QLWLDOYDOXH • Noise reduction is an important filtering, the robust adaptive 600 7KHWKLWHUDWLRQYDOXH 7KHWKLWHUDWLRQYDOXH image processing method which has 550 7KHWKLWHUDWLRQYDOXH Kalman filter was designed with 7KHWKLWHUDWLRQYDOXH ˄P˅ 500 7KHWKLWHUDWLRQYDOXH wide applications in different fields fictitious noise compensation 7KHWKLWHUDWLRQYDOXH 450 &RQYHUJHQFHYDOXH • In order to remove or reduce the method. . 400 350 noise in the MR images, the • the errors between the measured 300 modelling of the noisy images is values and the estimated values of 250 200 very important

the mid point on the oil pipeline 3LH]RQHWULFKHDGDORQJWKHOLQH 150 0 1020304050 • we will investigate the anisotropic were compared. 'LVWDQFH˄.P˅ diffusion filter for noise reduction in Synthetic image • This can offer a good scheme for Iterated Process of Pressures MRI images. monitoring control and operation of the oil pipeline. Between Stations

㪫㪘㪈㪄㪏㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪏㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 An Improved Median filter Based on Automatic A comparison of nonlinear filtering approaches Parameter Tuning Approach for in-motion alignment of SINS Lin Zhao, Qi Nie and Wei Gao Dali Chen, Dingyu Xue and Feng Pan 407 Lab., College of Automation, Harbin Engineering University School of Information Science & Engineering, Northeastern University Harbin, Heilongjiang, China Shenyang, Liaoning, China • A simple effective improved median This paper presents two groups of filter: nonlinear filtering approaches: Gaussian approximation (UKF, EKF) (1). Filter Definition and Monte Carlo simulation (2). Boundary Conditions (PF). Main works as follows : • A technique of automatic parameter ¾ Introduce nonlinear filtering tuning based on noise estimation. algorithm • Many computer simulation ¾ Set up the mathematical model of in-motion alignment experimentations have been ¾ Carry on numerical simulation performed in order to validate the under the sway motion of SINS Azimuth estimation proposed method. Results of computer experiment ¾ Conclusion using PF, UKF and EKF

44 IEEE ICMA 2007 Conference Digest

TA1-9: Robot Modeling

Session Chairs: Huosheng Hu, Univ. of Essex Takahiro Wada, Kagawa Univ. Room 9: Dalian, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪐㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪐㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 A Methodology of Modelling Fish-like Dynamic Modeling of Multi-link Swimming Robot Capable of 3-D Motion Swim Patterns for Robotic Fish Junzhi Yu, Lizhong Liu, and Min Tan Jindong Liu and Huosheng Hu Institute of Automation, Chinese Academy of Sciences, and Peking University Department of Computer Science, University of Essex, Beijing, China Colchester CO4 3SQ, United Kingdom • Design and control of biomimetic swimming ™ A novel method was proposed robots have received more to model real fish swimming. and more attention. ™ This method can be generalised • Establish a three- for the control of any multiple- dimensional (3-D) joint robotic fish. dynamic model for free- swimming, flexible multi- ™ 3 basic swimming movements, link robots using namely swim patterns, were Schiehlen method. modelled. • The matching results ™ Experimental results show its between simulation with feasibility and performance. experimental results show Illustration of a fishlike robot capable of Essex robotic fish in action at London Aquarium good agreement. three-dimensional motion

㪫㪘㪈㪄㪐㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪐㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 The Kinematics Analysis of a Novel 5-DOF Angular Glint of Aircraft Formation and Its Series-Parallel Machine Tool and Study on Its NC Applications Architecture Axiaoli SHI, yongcai LIU , xinmin WANG and changqing WANG Qi Jiang-bo, Gao Tie-hong, Zhi Jin-zhang, Wang Wei, Xing Tian-yi Automation Colloge, Northwestern Polytechnical University School of Mechanical and Electronic Engineering, Tianjin Polytechnic University xi’an, , China Tianjin, P.R. China • Angular glint phenomenon is an inherent • A novel 5-DOF series-parallel characteristic of radar extended targets. machine tool has been proposed. • The angular glint of the aircraft formation is • The inverse and direct kinematics modeled, analysised and calculated. • Simulations of conflicts of a formation and workspace have been obtained. against a radar guided surface-to-air missile • NC architecture of the series-parallel Prototype of The Machine Tool verified the effectiveness of the thought machine tool is built up . and Its NC System proposed. • It shows good prospects of application of A vivid application of angular • The prototype of the series-parallel formation and cooperation of each aircraft glint of aircraft formation machine tool has been in real applications. manufactured.

㪫㪘㪈㪄㪐㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪐㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏

Research on Undercarriage Model Based on Six- 3-D Kinematics Modeling for Mobile Robot DOF Platform with Steering Castered-and-Cambered Wheels He Xu, Kai Xue, Fangliang Peng, Shuanghe Yu, Xiaozhi Gao, Qiuyun Ouyang Xian Wu , Qidan Zhu ,Shuang Gao , and Guoqiang Wu College of Mechanic & Electric Engineering, Harbin Engineering University Robotics& Intelligent Control Lab., Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China 3 4 Zs3 ¥ˆ S3 ZS4 R3,S3 Y 3 XS4 ¥ˇ 4 4 3 ¢˵ l m • The effect of caster and camber R,S ZB . 2 4 £˵ Zw3 • This paper analyses the force of ZS2 . W3 2 4 XS3 of a wheeled robot not only can M l 4 YS4 1 Zc3 ¥˅²˅ 2 m W M XM Xw3 Yw3 the landing gear during the process XS2 2 M1 c 2 2 . ZM B,BYB Z Y R,S XB 3 change the equivalent wheel 2 Xw4 Yw4 w4 Xc M Z 2 Y M1 1 . X 1 C3 3 of taking off and landing of the 2 Zc1 Yc4 ZS1 YM C l ²˄ base and equivalent wheel stance m YS2 Xc4 ¥˄ . ¢ ˹ C4 C4 XS1 aircraft on six-DOF platform, and YS1 . £˹ 1 R1,S1 • The wheel is non-redundant 1 simulates the running of the W2 w2 ¢. ˹ X Zw2 l wheel except at singularity Zc2 Yw2 m

system. Most studies of the Yc2 £. ˹ points c2 landing gear models are based on C2 C2 W1 Zw1 Xw1 Zc1 Yw1 the steady ground. In this paper, • The universal forward Yc1 Xc1 the model supports for anomaly. kinematics and backward C1 C1 kinematics model of a robot with Analysis for Mobile Robot with Four • It makes good sense for treating four caster-cambered wheels the carrier-borne fighters to land Castered-and-Cambered wheels on the aircraft carrier safely. The Undercarriage Simulator

45 IEEE ICMA 2007 Conference Digest

TA1-10: Mobile Manipulators

Session Chairs: Yasuhisa Hirata, Tohuku Univ. S.Ali A.Moosavian, K.N. Toosi Univ. of Tech. Room 10: Qingdao, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪈㪇㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪈㪇㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍 Adaptive Robust Trajectory and Force Tracking Tip-Over Stability of Control of Constrained Mobile Manipulators Suspended Wheeled Mobile Robots Zhaoxian Xie, Aiguo Ming and Zhijun Li S. Ali A. Moosavian Khalil Alipour Dept. of Mechanical Engineering and Intelligent Systems Department of Mechanical Engineering, K. N. Toosi Univ. of Technology The University of Electro-Communications, Tokyo, Japan Tehran, Iran, P.O. Box 16765-3381 • Simultaneous trajectory and force control problem of constrained wheeled mobile manipulators with uncertainties and external • A general systematic procedure for disturbances is addressed dynamics modeling of such • An adaptive robust control strategy complicated systems is presented. is proposed • The effectiveness of the proposed • The new Moment-Hight Stability controller is verified both measure is introduced. analytically and in simulation • The tip-over stability of such A Constrained Nonholonomic Mobile Manipulator systems will be investigated. A suspended mobile robot moving on a rough terrain.

㪫㪘㪈㪄㪈㪇㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪈㪇㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 Stable PD and Internal Force Control of Motion Control and Computer Simulation for Omnidirectional Wheeled Mobile Manipulators Underwater Vehicle-Manipulator Systems Guohua Xu, Ying Guo, Xianbo Xiang, Zhihu Xiao Dong Xu, Dongbin Zhao, Jianqiang Yi, Xuyue Deng and Guosheng Yang Underwater Technology Laboratory, College of Traffic Science and Engineering Key lab of Complex Systems and Intelligence Science Huazhong University of Science and Technology Institute of Automation, Chinese Academy of Sciences, China Wuhan, Hubei, China • The system is composed of a autonomous .Dynamic model of the omnidirectional underwater vehicle and a robot manipulatorك wheeled mobile manipulators using Newton-Euler method • Use Quasi-Lagrange formulation to gain the model of UVMS. A stable PD controller to regulate the • A sliding mode controller is designed toك integrated system motion implement control of the trajectory tracking. • Use a fuzzy logic to turn for the gains of The Coordinated .A PI type internal force control scheme to the sliding modeك reduce energy waste • Performance the computer simulation to Frames for UVMS The Omnidirectional Mobile Manipulator verify the efficacy of the control scheme.

㪫㪘㪈㪄㪈㪇㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪈㪇㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 A Novel Control Architecture and Design of Hybrid Obstacle Performance Analysis of Mine Locomotion and Manipulation Tracked Mobile Robot Research Robot Based on Terramechanics Pinhas Ben-Tzvi, Andrew A. Goldenberg, and Jean W. Zu Weidong Wang, Zhijiang Du and Lining Sun Robotics and Automation Lab; Vibration and Computational Dynamics Lab, University of Toronto Robotics institute, Harbin Institute of Technology Toronto, Ontario, China Passive Harbin, Heilongjiang, China wheels • Design of a mobile robot based on Back CCD • A tracked robot is designed for mine hybridization of the mobile platform Camera research and rescue. Back LED and manipulator arm as one entity light • The CG position effects on obstacle for robot locomotion as well as performance are discussed. manipulation. • The interaction between robot and terrain are analysed based on • Virtual prototype development in Pliable rounded Front CCD side covers Camera terramechanics. ADAMS for dynamic motion Embeded flat data Front LED • The robot system can move in wheel RF antenna (A/V light The Mine Research Robot simulations of the robotic system. RF on left cover) mode, track mode and leg mode. The locomotion performance of the three • Novel Control hardware architecture Hybrid Mobile Robot modes are discussed. with on-board inter-segmental RF communication among robot links.

46 IEEE ICMA 2007 Conference Digest

TA1-11: Sensor Network and Multi-agent Systems

Session Chairs: Dongbing Gu, Univ. of Essex YangQuan Chen, Utah State Univ. Room 11: Xian, 10:00-11:48, Tuesday, 7 August 2007

㪫㪘㪈㪄㪈㪈㩿㪈㪀㩷㩷㪈㪇㪑㪇㪇㪄㪈㪇㪑㪈㪏 㪫㪘㪈㪄㪈㪈㩿㪉㪀㩷㩷㪈㪇㪑㪈㪏㪄㪈㪇㪑㪊㪍

Online Monitoring Of Tool Wear In Drilling And Communication Range of Virtual Node Milling By Multi-sensor Neural Network Fusion Based on Cooperative Communication Xiongwei Zhao, Jinhuai Guo, Hongyi Yu and Hanying Hu ñsmet Kandilli, Murat Sönmez, Huseyin Metin Ertunc, Bekir Çakòr Dept. of Commun. Engineering, Information Science and Technology Institute Kocaeli University/TR Zhengzhou, Henan, P.R. China

The use of ANN for continuous Computer DAQ • Problem formulated St monitoring of tool wear in op CNC drilling operations seems to • System model

Curren have promise as a real-time and t • Communication Range

Fx Fy Fz Cuttin Sound data-trainable system that does g tool • The condition of transformation A A A mp mp mp Vibration not require any mathematical lifi lifi lifi of the range of virtual node Workpiece er er er model of the machine tool and Dynamometer Dinamometre • Conclusions machining operation. Tool rack cooperative communication with three nodes

㪫㪘㪈㪄㪈㪈㩿㪊㪀㩷㩷㪈㪇㪑㪊㪍㪄㪈㪇㪑㪌㪋 㪫㪘㪈㪄㪈㪈㩿㪋㪀㩷㩷㪈㪇㪑㪌㪋㪄㪈㪈㪑㪈㪉 An Agent Communication Language for Multimedia Research of Directed Spanning Tree Routing Communication Task and Its Application Protocol for Wireless Sensor Networks Xiantai Gou, Na Qin, Zhimin Li Peng Ji, Chengdong Wu, Yunzhou Zhang and Zixi Jia School of Electrical Engineering, Southwest Jiaotong University, Chengdu, P.R.China Institute of Artificial Intelligence and Robot, Northeastern University Shenyang, Liaoning, China • KQML and FIPA ACL are based on the knowledge sharing and operation of speech-act . • The features and defects of current • The ACLMC language defines some interactive Resource Manager Agent tree-based protocols are discussed. primitives which can expresses the interactive Service/ intention of multimedia communication task Application Call Routing Interface Agent • Directed Spanning Tree (DST)䋺 an more directly. Generic Call Control Agent Agent energy efficient and failure-tolerant • Softswitch system needs to accomplish the routing protocol is proposed. signalling and media interaction based on Protocol Agent Ethernet Switch Protocol various multimedia communication Agent • The construction, data aggregation protocols over IP(MoIP), such as H.323, SIP, MGCP, H.248 etc. and reconstruction methods of DST Protocol Protocol Agent Uniform Interface Agent are detailedly described. • design a new method of Communication of Agent Agents Over Ethernet (CAOE). In • Network lifetime, time delay and comparison CAOE has shorter message The contrast of STP packet loss are simulated to verify length, and faster information exchange, IP Network which is more suitable for the multimedia the efficiency of DST. DST and MEST communication of softswitch. Architecture of MABS

㪫㪘㪈㪄㪈㪈㩿㪌㪀㩷㩷㪈㪈㪑㪈㪉㪄㪈㪈㪑㪊㪇 㪫㪘㪈㪄㪈㪈㩿㪍㪀㩷㩷㪈㪈㪑㪊㪇㪄㪈㪈㪑㪋㪏 Collaborative Monitoring Using UFAM and Mobile An Integrated Fuzzy and Learning Approach to Performance Improvement of Model-Based Multi-Agent Robotic Control Systems Robot Erfu Yang and Dongbing Gu Takahiro Miyauchi, Tomohito Takubo, Tatsuo Arai (Osaka University, Toyonaka, Japan), and Department of Computer Science, University of Essex Kenichi Ohara(National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan) Wivenhoe Park, Colchester CO4 3SQ, United Kingdom • An integrated approach to improving the • We propose collaborative monitoring system with mobile robot performance of model-based control for and UFAM (kind of RFID) to reduce operating time of robot. multi-agent robotic systems (MARS) is • UFAM has sensors, communication, presented. and ID functions. • The fuzzy logic and learning techniques • Mobile robots provide for a wide are compactly and efficiently integrated range and flexible monitoring for into the proposed approach to yield an improved formation controller for MARS. various situations. • As a case study the proposed approach is • By the characteristics of UFAM applied to a leader-follower MARS. and the mobile robot, each monitoring • Simulation results are presented to error can be checked. Integrated fuzzy and learning demonstrate the effectiveness of the approach for model-based MARS Concept of proposed system integrated fuzzy and learning approach.

47 IEEE ICMA 2007 Conference Digest

TP1-1: Medical Applications II

Session Chairs: Xiufen Ye, Harbin Engineering Univ. Shuxiang Guo, Kagawa Univ. Room 1: Beijing, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 A Method for Modeling Time-Dependant Fabrication Interior Micro-structure of Artificial Mechanical Properties of Tissue Scaffolds N. K. Bawolin, X. B. Chen, and W. J. Zhang Bone by Squeezing Filament Process Department of Mechanical Engineering Xilan Feng, Zhiqiang Jiang, Zhongzhong Chen and Shenggang Ma University of Saskatchewan Department of Industrial Engineering., Zhengzhou Institute of Aeronautics Saskatoon, SK S7N 5A9, Canada Harbin, Heilongjiang, China

ƒ Tissue scaffolds are for • A new rapid prototyping (RP) facilitating tissue regeneration; I am technology — air-pressure jet and their mechanical properties wondering solidification (AJS) system. must match those of the tissue at how strong the site of implantation. it is ? • both exact external structure and inner ƒ The techniques of finite element three dimensions (3D) scaffolds. modeling and model updating will • proper porosity and pore size of the 3D allow us to know how the scaffolds. mechanical properties change with • satisfy the histological criteria of time. carrier scaffolds. Microtubule Structure in Natural Bone

㪫㪧㪈㪄㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Design of Transcutaneous Energy Transmission An Analytical Method to Compare Image Processing Filters for 3D Reconstruction of Ultrasonic Images System for Artificial Anal Sphincter Babakhani Asad, DU Zhi-jiang,SUN Li-ning, Cheng Wen Guozheng Yan, Peng Zan, Dongdong Ye, and Hua Liu Robotics Institute of Harbin Institute of Technology , Harbin Medical University, China School of Electronics, Information and Electrical Engineering., Shanghai Jiaotong University Shanghai, China • Precise 3D reconstructions of 2D ultrasonic images are important for robot navigation . • Introduction. • In this Paper a new analytical method to select the best image processing filters for • System overview. 3D reconstruction of ultrasonic images will be proposed . • Artificial anal sphincter. • It is based on four goals: signal to noise enhancement, errors caused by filters in • Wireless power supply 2D images and 3D shapes and visual appearance. subsystem. • It is found the Adaptive Nonlocal Filtering (OFS) has the best quality in aspect of errors in 2D and 3D features, and • Experiments. promoting signal to noise. • The method will be examined by real The AAS ultrasonic images of patients and simulated images made by Field II simulator.

㪫㪧㪈㪄㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Control Paradigm and Design for a Novel The Development of a Self-assisted MR-Compatible Tele-Robotic System for Rehabilitation System for the Upper Limbs MRI-Guided Neurosurgery Based on Virtual Reality Shuxiang Guo*1*2 , Gang Song*1, Zhibin Song*1 Cyrus Raoufi, Andrew A. Goldenberg, and Walter Kucharczyk *1Dept.of Intelligent Mechanical Systems Eng’g, Kagawa University, Japan Robotics and Automation Lab., University of Toronto *2Harbin Engineering University, China Toronto, Canada • A novel self-assisted rehabilitation system • A novel MR-compatible modular has been developed, which is fit for the tele-robotic system for closed rehabilitation of mild stroke patients’ upper MRI-guided neurosurgery was limbs. • Based on the virtual force model, the exerted designed and developed. forces on the styluses can be calculated with the position and orientation information of manipulator’s hands. • Two control paradigms including • The experiment results indicate the proposed fiducial and semi-autonomous system has advantages of high safety, Developed a new rehabilitation system tracking methods for MRI guided A 3D model of the slave manipulator compaction and elf-assistance. • The self-assisted rehabilitation will be suitable intervention have been developed. for home rehabilitation.

48 IEEE ICMA 2007 Conference Digest

TP1-2: Micro and Nano Positioning

Session Chairs: Changhai Lu, Harbin Engineering Univ. Yonmook Park, Samsung Electronics Co.,Ltd. Room 2: Shanghai, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪉㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪉㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Precision Motion Control of a Three Degrees of Modeling of Piezo-Actuated Positioning Systems Freedom Hybrid Stage With Dual Actuators X. B. Chen, Q. S. Zhang, and D. Kang Yonmook Park and Hyuk Kim Department of Mechanical Engineering Mechatronics & Manufacturing Technology Center University of Saskatchewan Samsung Electronics Co., Ltd. Saskatoon, SK S7N 5A9, Canada Suwon-city, Gyeonggi-do, Republic of Korea • If a piezoelectric actuators • The hybrid stage consists of two Xe(t) individually operating x-y-㱔 stages, (PEA) is used to drive a PEA called coarse stage and fine stage. Coil Magnet positioning mechanism in a Positioning • The coarse stage is driven by the three given application, the combined Mechanism linear motors and produces the initial dynamics is then different from movement of an object. the one where only a PEA is • The fine stage is driven by the four voice coil motors and provides the considered. What is the dynamics final alignment of an object with sub- • The question of “what is the micron meter accuracy. of Xe(t) ? • Precision motion control algorithm is dynamics?” is answered in the developed to control the hybrid stage. work, which is also validated by • The dSPACE hardware control system experiments. is used as the hybrid stage control platform. Hybrid Stage with Dual Actuators

㪫㪧㪈㪄㪉㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪉㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉

Design, Control and Application Enhancement of Tracking Performance of a PZT-driven for Piezo-Nanopositioning Stage Zugen Yan, Lining Sun Changhai Ru1, Bohui Pang2, Kejun Wang1, Chun Huang1 Light Industry College, Harbin University of Commerce College of Automation., Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • The PZT-driven micro-stage is • This paper describes a method for simultaneous compensation of H designed by theoretical calculation H(U ) hysteresis and creep of piezoelectric n and finite element analysis. actuator based on an inverse controller. Dn(u) • An adaptive inverse control approach is Qi(u) H(U ) • The fuzzy PI controller is designed i presented for improving tracking H(U ) Q (u) to overcome the inherent hysteresis performance of piezo-nanopositionig. j n • The inverse model of creep is identified Dj(u) and creep of PZT. H(U ) by using LMS algorithm. 0 U0 Ui Uj Un u • The micro-stage is used to realtime • The realization of an adaptive inverse compensate the yaw error of the controller for the linearization of a Hysteresis curves of piezoelectric actuator The Macro/micro Stage piezoelectric actuator is formulated. macro-stage.

㪫㪧㪈㪄㪉㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪉㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Design and Experiment of The Wafer Pre- Analysis and Design for the nano-positioning alignment System XY-Stage Based on the MEMS Technology Qu Dongsheng, Qiao Suilong, Rong Weibin, Song Yixu, Zhao Yannan Lining Sun, Jiachou Wang, Weibin Rong, and Liguo Chen Robotics Institute, Harbin Institute of Technology Robotics Institute, Harbin Institute of Technology Harbin, Heilongjiang, China Harbin, Heilongjiang, China • A system for automated pre- alignment of wafer with a diameter of 8 inches is developed. • Introduction. • Major methodology issues, • The design of the XY-Stage including Least Square circle fitting structure. approach for calculating the center and radius of the wafer, an edge • Analysis on the flexion method for detecting the electromechanical range of wafer notch, of alignment characteristic. strategies are introduced. • FEM analysis on the XY- Stage. • The accuracy of the wafer notch XY-Stage integrating position The Wafer Pre-alignment System • Conclusions detection is 3.49um and the overall sensor accuracy of wafer positioning is 6.11um.

49 IEEE ICMA 2007 Conference Digest

TP1-3: Control of Vehicles

Session Chairs: Zhidong Wang, Chiba Inst. of Tech. Yong Yu, Kagoshima Univ. Room 3: Hangzhou, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪊㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪊㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Analyses and Comparisons of Some Nonlinear Kalman Filters in POS for Airborne SAR Motion A Guidance Law for Multipurpose Unmanned Compensation Attack Air Vehicle Based on the Nonlinear Xiaolin Gong䋬Jiancheng Fang Department of Instrumentation, Beijing University of Aeronautics and Astronautics Predictive Control Beijing, China • Position and orientation system (POS) is Feng Geng, Xiaoping Zhu the key technique of high resolution School of Astronautics, Northwestern Polytechnical University airborne synthetic aperture radar motion Xi’an, China compensation. • Two nonlinear methods --unscented z The continuous time nonlinear predi Kalman filter (UKF) +extended Kalman ctive control theory is reviewed. filter (EKF) and model predictive filter z The formulation of the guidance law +EKF are used in POS. based on the nonlinear predictive cont • Comparing these two methods with EKF rol and a novel target acceleration esti and KF in precision and real time. mation approach are presented. • The results of flight tests show UKF + Multipurpose Unmanned EKF has the best precision and z Introduces the simulation research Attack Air Vehicle convergence, but need more time than Latitude error and the RMS about the proposed guidance law and other methods, it is very suitable for the gives the final results. post-processing of POS. error of estimated latitude

㪫㪧㪈㪄㪊㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪊㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 A Fuzzy Control Method to Improve Vehicle Yaw Robust Optimal Control Technology for Stability Based on Integrated Yaw Moment Four-wheel Steering Vehicle Control and Active Front Steering Zhang Rong-hui[1][2] Cheng Guo-ying[1][2] Wang Guo-qiang[1][2] Jia Hong-guang[1] Chen Tao[1] WU Yihu, SONG Dandan, HOU Zhixiang, YUAN Xiang 1. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences School of Automobile and Mechanical Engineering , Changsha University of Science & 2. Graduate School of Chinese Academy of Sciences Changchun, Jilin Province, 130031, China Technology , Changsha, Hunan Province , China z A optimal controller and Kalman filter is In this paper, a fuzzy control method is proposed designed when the control mathematics to improve vehicle yaw stability by integrated yaw moment control and active front steering. model is certainty. This control system is designed by actively controlling the front steering angle and the z A optimal controller is designed with the distribution of braking forces, using feed-forward method of control theory to solve the regulation and feedback revision control strategy, and a fuzzy controller is designed to suppress the problem about model uncertainty. output error of yaw rate and side slip angle, which can keep the vehicle to follow the desired Vehicle Engineering z The simulation results show that the trajectories. controller designed by the proposed method.

㪫㪧㪈㪄㪊㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪊㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Flying-Wing UAV Landing Control and Simulation on Multiple Impulse Correction Control System of Rockets Simulation Based on Mixed H2/H㺙 Rui Wang, Zhou Zhou, and Yanhang Shen Jie Hu, Changqiang Huang School of Aeronautics, Northwestern Polytechnical University Department of Aeronautic Weapon Engineering, Air Force Engineering University Xi’an, Shananxi, China Xi’an, Shanxi, China • Flying-Wing UAV landing control • A scheme that is based on semi- under the influences of ground effect active laser-guided technology and multiple impulse correction and atmospheric disturbances. technology. • The mixed H2/H㺙 robust control • Trajectory model of rockets with method integrates the advantages of multiple impulse correction control system was established. H2 and H㺙 control. • On certain conditions, the correction • Nonlinear simulation and compared system could reduce the distance to classical PID controller. between a target and the point of fall of rockets from 70.3m to 2.1m. • The mixed H2/H㺙 controller • According to an adaptive Configurationof an impulse provides excellent performance and Desired and Actual correction arithmetic, the correction robustness characteristics to Landing Trajectories coefficient can be changeable correction rocket during correction. uncertainties.

50 IEEE ICMA 2007 Conference Digest

TP1-4: Biped Robots

Session Chairs: Chenglong Fu, Tsinghua Univ. S.Ali A.Moosavian, K.N. Toosi Univ. of Tech. Room 4: Wuhan, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪋㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪋㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Section-Map Stability Criterion for Biped Robots Section-Map Stability Criterion for Biped Robots Part I: Theory Part I I : Applications and Experiments Chenglong FU and Ken CHEN Chenglong FU, Jianmei WANG, Yuanlin HUANG, and Ken CHEN Robotics and Automation Lab., Tsinghua University Robotics and Automation Lab., Tsinghua University Beijing, China Beijing, China • An overall mathematical modelling method for biped walking is • A planning method for walking proposed based on dimension-variant hybrid automata. patterns based on indices atlases is • A rigorous mathematical definition of biped walking stability is proposed. presented by combining the character of biped locomotion with • Stable transition of walking the notion of classical stability from the view of hybrid trajectory. patterns is achieved, and the • Section-map stability criterion is V S1 S 2 S 3 0 1 2 conditions of stable transition are 1 P 2 P * 1 applicable not only to dynamic 0 z * 1 z analyzed. z * 2 0 walking which ZMP criterion can z* 0 • Dynamic walking is realized by a not solve, but also to non-periodic planar biped robot THR-I, which Z Z Z T walking which Poincare return map 0 1 2       can walk with the period of 0.64s, T0 T0 T1 T1 T2 T2 criterion can not solve. Section sequence and section map and the step of 0.56 leg lengths. Walking experiment of THR-I

㪫㪧㪈㪄㪋㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪋㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Regulated Sliding Mode Control of a Biped Gait Planning and Control of A Novel Robot Biped Robot S. Ali A. Moosavian, Amir Takhmar and Mansoor Alghooneh Sheng Tao, Wang Jian, Ma Hongxu Department of Mechanical Engineering, K. N. Toosi Univ. of Technology Robot Lab, Lab,National University of Defense Technology Tehran, Iran, P.O. Box 16765-3381 ChangSha,Hunan, China • A desired trajectory for the lower body is designed to alleviate the • Dynamical Model impacts due to contact with the ground. • Gait Planning • The upper body motion is planned • Control and Stability based on the Zero Moment Point • Simulation (ZMP) criterion to provide a stable motion for the biped robot. • Walking Velocity Control • A new chattering elimination method using Sliding Mode Control An animated view of the Biped Robot approach is proposed to regulate biped robot in both SSP major controller parameters. and DSP motion .

㪫㪧㪈㪄㪋㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪋㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Design and Implementation of Coordinated Research on Biped Robot Gait in Double-support Control for Biped Robot with Heterogeneous Phase Legs Liquan Wang, Zhiwei Yu, Feng He and Yu Jiao Fei Wang, Chengdong Wu, Yunzhou Zhang and Xinhe Xu College of Mechanical and Electrical Engineering ., Harbin Engineering University Key lab. of IAPI, Ministry of Education, Northeastern University Harbin, Heilongjiang, China Shenyang, Liaoning, China • Biped robot with heterogeneous legs • Presented the gait of biped robot with (BRHL) is an integration of a actively driven toe-joint, compared three common biped robot leg and an different gaits in double-support phase . intelligent bionic leg, which is a • The gait of biped robot with actively significant subject. driven toe-joint has many advantages • To realize stable walking, dual-leg over the others without it, such coordination becomes very important. advantages include torques, angles and • Master-slave coordinated control angle velocities of ankle joints and knee strategy is adopted and experimental joints are smaller; Gait A, B, C results demonstrate its effectiveness. Coordinated control structure

51 IEEE ICMA 2007 Conference Digest

TP1-5: Sliding Mode Control II

Session Chairs: Juntao Fei, Univ. of Akron Prashant Bhogle, College of Engineering Ambajogai District Beed Room 5: Beihai, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪌㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪌㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Energy-Regenerative Fuzzy Sliding Mode Adaptive Sliding Mode Control with Bound Controller Design for Ultracapacitor-Battery Estimation for MEMS Angular Rate Sensor Juntao Fei Hybrid Power of Electric Vehicle Department of Mechanical Engineering, University of Akron Jianbo Cao, Binggang Cao, Zhifeng Bai, and Wenzhi Chen Akron, OH, U.S.A R&D Center of Electric Vehicle, Xi’an Jiaotong University • Adaptive controller can real-time Xi’an, Shaanxi, China estimate the angular rate, and 8 • Designed a hybrid power system of the damping and stiffness 6 electric vehicle with four batteries, coefficients. 4 a ultracapacitor and a bi-directional 2

• Adaptive law to estimate the 0 DC/DC converter. unknown upper bound of the -2 • Applied fuzzy sliding mode control Angular Rate -4 to the hybrid power system. parameter uncertainties and -6 external disturbance. -8 • Did different experiments, and get • Numerical simulation is investigated -10 the conclusions as: the hybrid -12 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 power system with Fuzzy-SMC to verify the effectiveness of the Time(Second) has better performance and can proposed adaptive control scheme. Adaptation of MEMS angular rate recover more energy, increase the Driving Range Experiments driving range.

㪫㪧㪈㪄㪌㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪌㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Sliding Mode Control of DC Drives Adaptive Sliding Mode Control for a Class of V. M. Panchade*, L.M. Waghmare **,B. M. Patre ***and P.P. Bhogle**** *Lecturer, Department of Electrical Engineering, College of Engineering Ambajogai, India Uncertain Markovian Jump Systems with Time- ** Professor, Department of Instrumentation Engineering, S.G.G.S. I. E &T. Nanded, India ***Professor, Department of Instrumentation Engineering, S.G.G.S. I. E &T. Nanded ,India Delay ****Assistant professor, Department of Instrumentation Engineering ,College of Engineering Youguo He and Yuanwei Jing Ambajogai ,India Faculty of Information Science and Engineer, Northeastern University • In this paper different sliding mode control Shenyang, Liaoning, China strategies are formulated for different control objectives (speed control, position control • Introduction. 1.2 1 and torque control) of dc machine. • Problem Formulation and x1 0.8 • Sliding mode control are order reduction, Preliminaries. x2 decoupling design procedure, disturbances 0.6 x1 x2 x1 rejection, fast response and robust to the • Matched known upper bound 0.4 parameters variation. Chattering phenomenon system uncertainties. 0.2 is eliminated by constructing the sliding manifold based on reduced order with • Matched unknown upper 0 -0.2 observer state 0 0.5 1 1.5 2 2.5 3 3.5 4 bound system uncertainties. time(s) • The integral square error (ISE) performance index for reduced order with observer state is • Example and Conclusion. Responses of system state better than reduced order with measured state.

㪫㪧㪈㪄㪌㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪌㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 An Adaptive Fuzzy Sliding-mode Technique for Robust Control of the Robot Manipulator via an Attitude Control of Launch Vehicle Improved Sliding Mode Scheme Zhao WANG, Qing WANG, Xin-juan ZHANG Yew-Wen Liang, Sheng-Dong Xu,and Tzu-Chiang Chu School of Automation Science and Electrical Engineering Department of Electrical and Control Engineering Beijing University of Aeronautics and Astronautics National Chiao Tung University, Hsinchu, Taiwan Beijing, China • Launch vehicle attitude control • An improved Sliding Mode Control Adaptive fuzzy sliding-mode control system system is a very complex system (SMC) scheme is developed for Fuzzy rule base position tracking of a robot with real parameter uncertainties and D manipulator with parameter * sCeCe  xr x  e 0 Fuzzy Center of external disturbances in the process m s Singleton uncertainties and external disturbances. x Ax Bu t mpmp wC fuzzifier inference gravity  kedp W  ³0 we mechani sm defuzzifier Reference model of flight for launch vehicle. xr Sliding surface Dˆ • The scheme, which uses saturation- Adaptive algorithms type SMC laws, is shown to be able to • In the AFSMC system, a priori surpass the level of uniformly ultimate r1 M knowledge of the system D Perturbed attitude control system boundedness to achieve asymptotic information is not required. D stability. x 1 xr uu r B atsmc s p • This scheme can also alleviate the Moreover, the gradually increasing A p Time histories of sliding variables estimate upper bound would not undesirable chattering behavior that is characteristic of sign-type SMC laws. with magnified scale from t = 3 to exist. AFSMC for Attitude control t = 10.

52 IEEE ICMA 2007 Conference Digest

TP1-6: Vision Systems

Session Chairs: Marcus Strand, Univ. of Karlsruhe Hong Zhang, Univ. of Alberta Room 6: Shenzhen, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪍㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪍㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Feature Initialization in Bearing-Only Visual SLAM A Quick Feature Detecting Method Using Triangulation and the Unscented Transform Applied in Robot Vision Jonathan Klippenstein, Hong Zhang, and Xiang Wang University of Alberta Jian Gao, Xinhan Huang, Gang Peng, Min Wang and Xinde Li Edmonton, Alberta, Canada Department of CSE, Huazhong University of Science and Technology • We first use a feature detector (SIFT Wuhan, Hubei, China for example) to extract visually • The method is based on Harris corner interesting points. and difference of Gaussian. • With two or more images and robot • It uses the nonholonomic pyramid frame in scale space to reduce the odometry, 3D position of a landmark computation. is triangulated using DLT method. • It can ensure the performance and • Its covariance matrix is calculated by decrease the computation time at the propagating camera and position same time. uncertainties via unscented transform. • It can be applied in the fields where • The result is incorporated in a visual there is high real-time demand, such SLAM algorithm (e.g., EKF). as robot vision. Point Matching in Two Images

㪫㪧㪈㪄㪍㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪍㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Visual Odometry for Velocity Estimation of UGVs Real Time Mean Shift Tracking X.J. Song, L.D. Seneviratne, K. Althoefer, Z.B. Song and Y. H. Zweiri using the Gabor Wavelet Mechanical Engineering Department, King’s College London London, UK Li-ke Zhang and Hongguang Zhao Department of Automation, Harbin Engineering University • Using image sequences captured by Harbin, Heilongjiang, China a monocular camera mounted under an UGV (unmanned ground vehicle), • Mean Shift Algorithm: it is the image velocities are obtained from basic tracking Algorithm . the optical flow technique. Combining with a camera model, • Gabor wavelet: it calculate the the velocities of the UGV are rates of the bandwidth matrix directly estimated. changes and angle. • Camera model and camera velocity • Total processing : it adapt to • Optical flow technique track the object with rotation • Velocity estimation algorithm flow Plane Sequence Test Rig Overview and zoom . • Experimental results and height compensation

㪫㪧㪈㪄㪍㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪍㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Range Image Registration Using an Octree Time-to-contact Computation from Monocular based Matching Strategy Image Sequences Marcus Strand, Frank Erb, Rüdiger Dillmann Polley R. Liu1, Max Q.-H. Meng2 Institute for Computer Science and Engineering (CSE), Universtiät Karlsruhe 1Dept. of Biomedical Engineering, Dalian University of Technology, Dalian, Liaoning, China 2Dept. of Electrical Engineering, The Chinese University of Hong Kong, Hongkong, China Karlsruhe, Germany v • Creation of consistent 3D models through robust • Time-to-contact provides vital information for obstacle avoidance registration methods and for the visual navigation of a robot. L L • Octree based matching l(t) • Take a different approach and strategy for successive f t express the time-to-contact as a refinement of the results function of the temporal derivative D • Registration with large of the area enclosed by the object o odometry errors possible contour and its time derivative. D(t) • The contour of the moving object • Using Intensity and Registration of two point clouds can be detected and segmented Optical geometry for color as additional information based on the active contour model. the time-to-contact

53 IEEE ICMA 2007 Conference Digest

TP1-7: Analysis and Design of Mechatronic Systems I

Session Chairs: Wei-Hsin Liao, The Chinese Univ. of Hong Kong Yi-Hsiang Cheng, National Tsing Hua Univ. Room 7: Changchun, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪎㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪎㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Shock Resistance of a Disk-Drive Assembly Using Research on a New Composite Ultrasonic Energy Piezoelectric Actuators with Passive Damping Transmission System with the Serial Structure Kwong Wah Chan and Wei-Hsin Liao Smart Materials and Structures Lab., The Chinese University of Hong Kong Lemin Zhang, Yanjie Liu and Lining Sun Shatin, N. T., Hong Kong, China Robotics Institute, Harbin Institute of Technology Harbin, Heilongjiang, China • Proposed enhanced active-passive hybrid piezoelectric actuators for • Present a composite ultrasonic transmission higher precision and better shock system with the serial structure. resistance. • Weaken the coupling effect, take fully • Finite element analyses of different advantage of ultrasonic energy and types of piezoelectric actuators in a disk arm assembly under external shorten the bonding time. shock are performed. • Increase the output amplitude of the • Reduce the residual vibration in in- ultrasonic horn and enhance the ultrasonic plane motion induced during the energy density with the ultrasonic shock frequency unchanged. • Resist lift-off motion, and relief the Composite Ultrasonic System impact damage while the head slaps.

㪫㪧㪈㪄㪎㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪎㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉

Intelligent Code to Design Thermoelectric Heat Pumps Yi-Hsiang Cheng and Chunkuan Shih Synchronization Control Study for Two Cylinders Department of Engineering and System Science National Tsing Hua University Electro-hydraulic Grasping System Hsinchu, Taiwan, R.O.C. Xiaodong Liu, Changchun Li, Xin Zhou and Yadong Meng • A hybrid methodology of combining an original School of Mechanical, Electronic and Control Engineering of Beijng JiaoTong University genetic algorithm and local search method, named hybrid genetic algorithm (hGA), is developed to Beijing, China maximize the cooling capacity of two-stage TEHP. •Introduction • Thermoelectric heat pumps (TEHPs) are solid- state devices that use the Peltier effect to convert Schematic diagram of a • System Descriptions And electrical energy into a temperature gradient. two-stage TEHP TEHPs are especially used in fiber optic laser Mathematic Analysis drivers, infrared detectors, charge-coupled devices (CCDs) and others. • Asymmetric Dynamics • The design parameters of each stage: the applied Simulation electrical current, the number of thermoelectric elements, and the ratio of area to length of the • Synchronization Control thermoelectric elements, are optimized. • Experimental Results And • The computer experiments show that the method proposed in this study excels in solving the Discussion optimization design of two-stage TEHPs. Convergence curve for Qc,c in the hGA • Conclusions

㪫㪧㪈㪄㪎㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪎㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

The Integrated Control System Conjugate Numerical Investigation of a Miniature in Automatic Transmission Flat Plate Evaporator of Capillary Pumped Loop Nuo Xu, Huiyan CHen, Yuhui Hu, and Haiou Liu 1 1 1 2 School of Mechanics and Vehicular Engineering, Beijing Institute of Technology Z.M. Wan , W. Liu ,Y.L. Liu , and A. Nakayama 1 Beijing, China College of Energy and Power Engineering, Huazhong University of Science and Technology,Wuhan, China • Introduction of the system. 2Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan • Difficulties of the problems. • Numerical model for global evaporator of miniature flat CPL. • Analysis of gear shift process • Liquid flow and heat transfer with phase change in the • Approach to solve the problem: evaporator are presented. integrated control strategy. • The side wall effect heat transfer limit is introduced to estimate the Schematic of miniature flat plate • Field trial results Schematic Diagram of performance of the evaporator. Capillary Pumped Loop • Conclusion. the Driveline System • The heat transfer limit of evaporator are discussed in detailed.

54 IEEE ICMA 2007 Conference Digest

TP1-8: Signal Processing Applications I

Session Chairs: Masamitsu Kurisu, Tokyo Denki Univ. Deshen Li, Beijing Univ. of Tech. Room 8: Shenyang, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪏㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪏㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Bearings Fault Diagnosis based HMM and Polarization-Based Water Hazards Detection for Autonomous Off-road Navigation Fractal Dimensions Spectrum Bin Xie, Huadong Pan, Zhiyu Xiang and Jilin Liu Tao xinmin, Du baoxiang and Xu Yong Department of Information Science and Electronic Engineering, Zhejiang University Communication Department., Harbin Engineering University Hangzhou, Zhejiang, China Harbin, Heilongjiang, China

• Light reflected from water surface is • Introduction: Fault Detection and other existing approaches. Dimension of q partial linearly polarized. 5.5 • Definition of Strange Attractor and • Water hazards can be detected by 5 comparison of polarization degree Fractal Dimension and How to normal 4.5 inner calculate. outer and similarity of the polarization q D ball phases. • The proposed approach based on HMM 4 • This method has significant and Fractal Dimensions Spectrum 3.5 including Single fault detection and complementary advantages with 3 respect to existing techniques. Water hazards detection result multiple fault detection. 0 5 10 q 15 20 25 • The experiments and conclusions. Dimension of q

㪫㪧㪈㪄㪏㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪏㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 A Method of Suppressing Arrival Skywave Signal An Intelligent Home Environment for Radio Positioning Operating in CDMA Mode Inspecting Robot Ruijie Zhang1, Fujun He2, Zhijiang Du2, Lining2 Jingjuan Zhang 1 Daqing Petroleum Institute, 2 Harbin Institute of Technology Department of Instrument Science & Opt-electronics Engineering Daqing, Harbin, Heilongjiang, China BeiHang,Beijing, China • A robot that can detect home • Creation of sky-wave reflecting signal environment and give alarm in multiple and its effect in CDMA means is presented. • Mathematics mode construction of • A humanized mode of giving alarm is receiver multi-path acquisition strategy presented based on Gauss distribution • Simplification of constructed mode model. when processing sky-wave signal, and • The fire alarm grade determining parameters estimation of the sky-wave approach based on SVM is discussed signal with information from sensors. • Algorithm implementation and The inspecting robot Signal Processing Flow • The gradual danger source tracing and simulation evaluation alarm sending strategy is discussed

㪫㪧㪈㪄㪏㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪏㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Defining the Parameters of Truncated Square- A Dynamic Recognition Method Study Using rooting DSB for Parametric Loudspeaker the Support Vector Machine 1 3 4 2 Ying Wang , Min Chen , Hui Li Zhe Zhou Guangzhi Shi , Junchuan Hu Institute of Astronautics & Aeronautics Dep. of Experimentation Technology of xx Department of Navigation and Communication , Navy Submarine Academy Qingdao, Shandong Province, China University of Electronic Science &Technology Experimentation and Training Base Chengdu, Sichuan, China Xichang, Sichuan, China • A dynamic recognition method using SVM is researched, which • Used in the Parametric Loudspeaker. is made up of the SVM based on • Based on Berktay’s far-field solution. target feature and the k-nearest • The carrier frequency is close to the neighbors. resonance frequency of transducers. • The SVM based on target feature • The modulation index, m=0.7 is is put forward by integrating the chosen. (THD<30 % ,SPL㻃60dB) target feature with SVM, whose • As a result, the angle of direction is role is recognition of the target only about 㫧15º. The directivity of the system feature. A sample of Dynamic Recognition

55 IEEE ICMA 2007 Conference Digest

TP1-9: Mechatronic System Modeling I

Session Chairs: Wenyong Li, ITI GmbH Farnaz Mahan, Islamic Azad Univ. Room 9: Dalian, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪐㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪐㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

Dynamic Model and Simulation for a 6/4 Modeling and Simulation about an Electric Car’s Switched Reluctance Machine System Assisted Regenerative Braking System Zuowu Ding and Dongbiao Zhao by Maxwell SPICE and Simplorer College of Mechanical-Electrical Engineering, Nanjing University Ding Wen, Liang Deliang, Chen Zhuping of Aeronautics and Astronautics, Nanjing, Jiangsu, China School of Electrical Engineering, Xi’an Jiaotong University, Xi’an, P. R. China Zuowu Ding and Jianmin Zuo Jiangsu Key Laboratary of Advanced NumericalControl Technology, S1 Nanjing Institute of Technology, Nanjing, Jiangsu,China S2 • The Structure And E Characteristics For SRM. R C1 • It is a good way to store an electric A car’s braking energy with a hydraulic • Modeling The Srm System. A A A system. AM1 AM2 AM3

• System Control Strategies. A • How to modeling and simulating B N_6 N_5 C N_4 relevant parameters when braking and D2D • Simulation And N_3 N_2 N_8 S4 D2D N_1 EC EN_7 ccelerating. RO T ECELink1 Experimental Results. D2D GA IN • The regenerative braking system can Electric Car & S3 VM • Conclusion. D2D Z meet the needs. + Accumulator SRM System

㪫㪧㪈㪄㪐㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪐㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉

Hybrid Vechicle Power Transmission Modeling CAN Modeling and Network Simulation for City- ® and Simulation with SimulationX Bus Information Integrated Control System Wenyong Li1, Tong Zhang2, A. Abel, K. Todtermuschke1 Jian Hu, Gangyan Li, Xiangpeng Yu and Jianhua Zhou 1. ITI GmbH, Dresden, Germany, 2 Jeely Holding Group, China School of Mechanical & Electronic Engineering, Wuhan University of Technology, 1. System Simulation and Software Wuhan, Hubei Province, China Concept of SimulationX • CAN Modeling of City-Bus 2. Modeling (HEV) Information Integrated Control –Engine System. – Electric machine – The remaining component of • Definition and Theoretic Calculation powertrain: Planetary set, of Network Statistics of City-Bus Simple battery system, Information Integrated Control Differential, vehicle with System. driving resistances 3. Simulation results • CAN Network Simulation and 4. Summary Analysis of City-Bus Information Integrated Control System.

㪫㪧㪈㪄㪐㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪐㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

Using Multi-Agents Model in Development of Power Flow Calculation Based on Non-linear Negotiation Based on Combined Method and Programming Model and Vectorization Mode Fairness in Bilateral Contracts for Electricity Yang Yude, Qin Zhijun and Wei hua Market Department of Electrical Engineering, University of Guangxi Farnaz Mahan , Mohammadreza Kangavari Nanning, Guangxi, China Department of computer EngineeringIran , Islamic Azad University of Tabriz, Tabriz, Iran Department of computer EngineeringIran University of Science & Technology,Tehran , Iran • Converting power flow calculation of power system into the solution searching of a non-linear programming model. • Using Multi-Agents Models • Get the correction equations by Newton method, LDLT decomposition method will be used to solve it. The coefficient • Seller and Buyer Agents Structure Buyer ---- • The Combined Negotiation Seller --- matrix of correct equation is reordered by using AMD reordering Method algorithm • Evaluation of Agents • Proposed module and algorithm possess significant simplifying •Case Study Average of profit for seller and structure and can be implement or program easily with a novel buyer agents vectorization expression

56 IEEE ICMA 2007 Conference Digest

TP1-10: Mobile Robots

Session Chairs: Simon X. Yang, Univ. of Guelph Dong-Geol Choi, Hanyang Univ. Room 10: Qingdao, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪈㪇㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪈㪇㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Screw-Based Kinematic Modeling and Geometric An alysis of Planar Mobile Robots Fuzzy Logic Control vs. Nonlinear P Control of a Three Wheeled Mobile Robot (TWMR) Byung-Ju Yi and Wheekuk Kim Behnam Dadashzadeh and M.J. Mahjoob Hanyang University and Korea University Center for Mechatronics and Industrial Automation , University of Tehran 䎇 䎕䎔 Tehran, Iran \ • Proposition of screw-based ki  b nematic modeling of mobile r 䏜 • The inverse and forward kinematics 䎔 䎇 䏕䎖 䎕䎇 䏕䎖 O䎑 modeling of a three wheeled mobile obots, O 䏛 a a robot (TWMR) is investigated. 䎑 䎑 䎔䎇䏕䎔 䎇 䎔䎖 • which allows geometric analy 䎇 䎕䎖 • To verify the results of kinematics l /2 l /2 sis of the mobile mechanism, modeling , the TWMR is modeled in • facilitates kinematic modeling forward kinematics using simulation ¡ as well as experiment.

for different OTsVYSGWSGWP T X a • A fuzzy logic controller is designed X Ÿ XK\ XYK\ for a specific lane change duty and its generalized inputs, XKYZ OsVYSGWSGWP K XKZ TY X X performance is compared with a GA T YKY K • and provides a tool to analyze Š K Y \ j X XKX Y YKZ optimized nonlinear P controller. OTsVYSGWS T™GP XK[ T the Š jY Desired lane change of the robot YK redundant actuation case. OsVYSGWS T™GP YK[ X

㪫㪧㪈㪄㪈㪇㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪈㪇㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Human-friendly Cell-production Support Robot Mechanical Design and Control System of a Takashi Anezaki Miniature Autonomous Surveillance Robot Department of Media Information Engineering Change Zheng1,2, Qiang Huang1, Wenhua Sang1, Yibo Liu1, Liang Wang1 and Yuancan Huang1 Okinawa National College of Technology 1.Intelligent Robotics Institute, Beijing Institute of Technology 905 Henoko,Nago 905-2192,Japan 2.Department of Mechanical Engineering, Beijing Forestry University Human-followingHuman-following basicbasic pathpath teachingteaching:: HumanHuman position position detectiondetection withwithan an omnidirectionalomnidirectional Beijing, China cameracamera andand realtimerealtime trackingtracking withwith stereostereo cameracamera • In this system, the robot follows the • The design objective and the human teacher to learn the safe This is the entrance. crucial problem for this kind basic path, and plays back the taught Playback-Type of robot Navigation information. STEP1 • The mechanical design and • Using this function, the robot can the choice of material

learn the routes of the parts-supply AutonomicAutonomic robotrobot transfer:transfer: • The control system based on Playback-Type TheThe robotrobot usesuses thethe taughttaught basicbasic from a stock yard to the production Navigation pathpath asas aa basebase forfor movement.movement. DSP Robot position correction by STEP2 Robot position correction by usingusing ceiling ceiling images images andand ceilingceiling cells in a short time. positiondetectionpositiondetection • The communicative and withwith an an omnidirectionalcamera. omnidirectionalcamera. sensing module • Experiment and conclusion BMS-1

㪫㪧㪈㪄㪈㪇㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪈㪇㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

Methodic Design of Robot Vision Systems Kalman Filter Enhanced Tracking Controller for Joaquin Sitte Petra Winzer Mobile Robots with Bounded Accelerations Faculty of Information Technology Dept. of Product Safety and Quality Queensland University of Technology Bergische Universitaet Wuppertal Jeff Buecker, Simon X. Yang, Hongyin Yuan and Max Q. H. Meng , Brisbane, Australia Wuppertal, Germany University of Guelph, Guelph, Canada • The design space for vision systems for • A new neurodynamics based robots is very large. tracking controller is proposed using • The system has to meet many demands, a biological gated dipole model. that change with the task domain. • A extended Kalman filter position • Effective exploration of the design tracker and an orientation sensor are space requires a systematic procedure. used for more reliable navigation. • The Demand Compliant Design method • It is capable of eliminating speeds provides the framework for such a jumps, handling discrete paths, systematic exploration. Mini-robot with removing the perfect velocity • Matrix based tools assist in representing on-board vision tracking assumption and is the complex design element interrelations computationally efficient.

57 IEEE ICMA 2007 Conference Digest

TP1-11: Telerobotics

Session Chairs: Tetsuo Tomizawa, National Inst. of AIST Seul Jung, Chungnam National Univ. Room 11: Xian, 13:30-15:18, Tuesday, 7 August 2007

㪫㪧㪈㪄㪈㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪫㪧㪈㪄㪈㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

Remote Food Shopping Robot System Animal Robot Prototypes Guided by in a Supermarket Telestimulation System †‡ ‡ † † Tetsuo Tomizawa , Kohtaro Ohba , Akihisa Ohya , and Shin’ichi Yuta Yongling Wang, Kui Yuan, Jianfeng Li and Weiguo Song † Intelligent Robot Lab, Univ. of Tsukuba, Japan Institute of Automation, Chinese Academy of Sciences ‡ Ubiquitous Functions Research Group, National Inst. of AIST, Japan Beijing, China

• The purpose is to help buying • A telestimulation system to foods in a supermarket from a train animal robots. remote location. • Hybrid conditional reflex • The prototype system is built by training method. integrating custom designed • Rat-robot, rabbit-robot and components. dog-robot prototypes • The selection and examination of the food item by the remote user, and placement into the Train a Rabbit as a Robot shopping basket were realized. The Developed Shopping Robot

㪫㪧㪈㪄㪈㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪫㪧㪈㪄㪈㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Control using Prediction for Teleoperation Congestion Control over Internet with of Mobile Robots Uncertainties and Input Delay Based on Variable Emanuel Slawiñski, and Vicente Mut INAUT, University of San Juan Structure Control Algorithm San Juan, Argentina Ming Yan, Yuanwei Jing and Yaliang An • Control scheme for teleoperation of Faculty of Information Science and Engineer, Northeastern University a mobile robot in presence of time Shenyang, Liaoning, China delay. • Introduction. • The human operator’s decision is • TCP Network Dynamical included in the controller design. model. • Predictor and Kalman filter are used to estimate the human operator’s • Design of Variable Structure decision. Control Algorithm. • The position generated by the • Simulation Results. predictor is overlapped with the Teleoperation using prediction • Conclusion. image acquired from a video camera. Instantaneous queue length using VSC

㪫㪧㪈㪄㪈㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪫㪧㪈㪄㪈㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Implementation of Tele-operation Control with Force Teleoperation System of the Feedback of Omni-Directional Mobile Robot (ODMR) Internet-based Omni-directional Mobile Robot Jeong H. Lee, Hyung J. Lee and S. Jung with A Mounted Manipulator ISEE Lab., Chungnam National University Dawei Wang, Jianqiang Yi, Dongbin Zhao, Guosheng Yang Daejeon, Korea Key Laboratory of Complex Systems and Intelligence Science Institute of Automation, Chinese Academy of Sciences, Beijing, China • Teleoperation control of OMDR by the joystick is • A platform of the Internet-based presented. teleoperation system with an omni- directional mobile robot. • OMDR is designed and implemented. • Remote control of the robot through the Internet is implemented. • Force feedback is tested by the master robot and the • The system is featured as low-cost operator feels the contact and user interface friendly. force. • The client computer can receive the The schematic map of the system OMDR live video, and there is an virtual environment in the client.

58 IEEE ICMA 2007 Conference Digest

TP2-1: Parallel Manipulators I

Session Chairs: James K. Mills, Univ. of Toronto Yanzhi Zhao, Yanshan Univ. Room 1: Beijing, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪈㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪈㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Study on the Effect of Elastic Deformations on A Study on Five–bar Manipulators for Rigid Body Motions of a 3-PRR Flexible Parallel Semiconductor Packaging Applications Manipulator Shibo Sun, Jacob W.F. Cheung and Yunjiang Lou Xuping Zhang, James K. Mills, and William L. Cleghorn Harbin Institute of Technology, Harbin, Heilongjiang, China Department of Mechanical and Industrial Engineering, University of Toronto 5 King’s College Road, Toronto, Ontario, Canada, M5S 3G8 • The potential advantages of 5-R and D 2 PRRRP for semiconductor packaging A • Model a 3-PRR parallel manipulator with three 2 applications are compared based on

flexible links based on the assumed mode U F 2 a2 kinematics accuracy, stiffness and method E2 B 2 velocity transmission. w2(x)

• Develop the equations of motion with the one- C 2 Y • Regular square workspace and machine pass method and the two-pass method O X P C envelop size are considered in the 1 w1(x) U w3 (x) 3 M p E 1 U C3 1 optimization design. • Study the effect of elastic motions on rigid E3 Fa3 D1 B3 B1 F body motions of a 3-PRR flexible parallel D3 a1 A1 • The workspace volume index (WVI) is manipulator with open-loop simulation and A3 closed-loop simulation A 3-PRR Parallel Manipulator defined and used as an objective function. Regular workspace with three flexible links and envelope size

㪫㪧㪉㪄㪈㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪈㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Over-actuated Manipulator Fault Tolerant Control Stiffness Characteristics and Kinematics Based On Minimum Difference Oriented Smooth Analysis of Parallel 3-DOF Mechanism Transition Method with Flexible Joints Tieshi Zhao, Yanzhi Zhao, Liju Shi, and Jian S. Dai Yan Caixia , and He Guangping College of Mechanical Engineering, Yanshan University School of Automation Science and Electrical Engineering , Beijing University of Aeronautics and Qinhuangdao, Hebei, China Astronautics, Beijing, China • Based on the principle of virtual work, the constraint equation of the • Definition of active joint force mechanism was established, the jjj abrupt change 'TTTif in  if stiffness matrix was deduced, and • Taking a new optimization the direction stiffness characteristic objective: of the mechanism was discussed. 3 ­½jTj • So, a novel and general method are min ®¾¦ ''TTif if ¯¿ij,1 raised for analysis stiffness of • Smooth transition method planar parallel mechanism with The model of 3-RRR manipulator Force distribution of T3 before and after failure flexible joints.

㪫㪧㪉㪄㪈㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪈㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

On Singularity of a Planar Parallel Manipulator A Case Study of Planar 3-RPR Parallel Robot with and without Actuation Redundancy Singularity Free Workspace Design Yawei Yang, John F. O’Brien Xin Liu, Yuanying Qiu and Ying Sheng Department of Electrical Engineering University of Wyoming School of Electromechanical Engineering, Xidian University Dept. 3295 1000 E. Univ. Ave. Laramie, WY, USA Xi’an, Shaanxi, China • Differential Kinematics of planar • Description of the two planar 3-RPR; parallel manipulators. • Unmanipulable and unstable • Three kinds of singularities of the singular configurations of 3- two manipulators. RPR; • The corresponding singularity loci. • Geometrical constraints to avoid • A Contrastive analysis of the singularities; singularities. • Examples of 2-DOF and 3-DOF • Some conclusions. singularity free workspace Planar redundant parallel design. Planar 3-RPR parallel Robot manipulator

59 IEEE ICMA 2007 Conference Digest

TP2-2: Micro and Nano Sensing

Session Chairs: Hong Liu, Peking Univ. Nozomu Mishima, Advanced Manufacturing Research Inst., AIST Room 2: Shanghai, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪉㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪉㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Real-time Recognition of Multi-category A Novel MEMS Based Piezoresistive Vector Human Motion using uIMU Data Hydrophone for Low Frequency Detection Weiwei Wan, Guangyi Shi, Hong Liu, Wen J.Li, Lianzhi Wang and Yuexian Zou State Key Lab of Machine Perception, Peking University Shang Chen1, Chenyang Xue2, Binzhen Zhang3 , Bin Xie4, and Hui Qiao5 Center for Micro and Nano Systems, The Chinese University of Hong Kong Key Lab of Instrumentation Science & Dynamic Measurement • A novel approach for human motion recognition via motion feature vectors Taiyuan,Shanxi, China collected from a micro Inertial Measurement Unit is presented • Angular rates and accelerations of three • The structure of this hydrophone consists of two parts: different directions are collected from MEMS sensors high-precision four-beam micro-structure and rigidity • Machine learning technology is introduced plastic cylinder . (Vector Quantization and Hidden Markov • The fabrication of the micro-structure is completed by Model means of standard silicon-based MEMS technology . • A two-layer classifier with the second-layer an efficient criteria is built • The hydrophones has been measured both by vibration- • Sliding window method is used to detect platform and in sound absorbing pool. corresponding motions accurately. • The receiving sensitivity of the hydrophone is up to • 200 sequences (about 100,000 vectors) Vector Hydrophone for 10 different kinds of motions were • -197.7 dB . It has good low-frequency characteristic tested in the work, including falling-down and possesses directional pattern in form of "8"-shape. motion and other typical human motions. • For the given 10 different categories, correct recognition rates range Data from uIMU from95%~100%, of which the falling-down Observed by Mat Lab motion can be classified from others with a 100% recognition rate.

㪫㪧㪉㪄㪉㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪉㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Infrared Motion Guidance and Obstacle A Cantilever Accelerometer Based on Resonant Avoidance of An ICPF Actuated Underwater Tunneling Diode Microrobot Jie Hu1, Chenyang Xue 2, Wendong Zhang 3, Jijun, Xiong 4, Binzhen Zhang 5, Hui Qiao 6䋬 and Shang Chen 7 Xiufen Ye, Yudong Su, Shuxiang Guo and Tian Wang Key Lab of Instrumentation Science & Dynamic Measurement Automation College, Harbin Engineering University Taiyuan,Shanxi, China Harbin, Heilongjiang, China • The GaAs piezoresistive accelerometer • Drived by two pieces of ICPF Actuators. based on the GaAs/AlAs Resonant Tunneling Diode structure (RTD ). • Acheived motion guidance and obstacle • RTD and seismic mass are successfully avoidance functions with the help of fabricated by air-bridge and control hole infrared sensor. technique separately . • Proposed speed strategy, shortest path • The static pressure experiments prove that strategy and energy saving strategy of the piezoresistive coefficient of resonant tunneling device change with the bias motion guidance. voltage . • In centimeter scale microrobots driven by • The accelerometer shows the sensitivity of ICPF actuator, it is smarter than those 87and non-linearity is less than 0.2% in the Resonant Tunneling Diode positive difference resistance region . presented in previously published papers. The Underwater Microrobot

㪫㪧㪉㪄㪉㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪉㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Signal Detection of Bulk-Silicon Capacitive Dual- Design And Analysis Of The Micro Force Axis Micro-Accelerometers Sensor In The Apparatus For Micro Chao Wang, Xiaowei Liu, Yichao Ren and Mingxue Huo Friction Testing Department of Microelectronic Science and Technology, Harbin Institute of Technology HuaDong Yu, Yiquan Li, Jinkai Xu, Ping Zhao Harbin, Heilongjiang, China Department of Mechanical Engineering Changchun University of Science & Technology • Work Principle And ,Changchun, Jilin Province, P. R. China Detection Principle Of Dual-Axis Sensing 䃂The configuration of the sensor element. structure is shown as Figure. • Interface Circuit 䃂 It consists of two groups parallel Design Of Dual-Axis plate-springs. The structure is fixed Micro-Accelerometer. at one end and free at the other. The • The Results Of horizontal part is used to measure Complete interface circuit structure Simulation. the normal force, and the vertical of micro-accelerometer part is used to measure the friction force.

60 IEEE ICMA 2007 Conference Digest

TP2-3: Control of Ships and Mobile Agents

Session Chairs: Zhidong Wang, Chiba Inst. of Tech. Ming Ji, Harbin Engineering Univ. Room 3: Hangzhou, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪊㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪊㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 The Design of a Self Adaptive Controller Study on Control Strategy of Integrated with Nerve Cells for SWATH Ship Hydraulic Propulsion Ship Ming Ji, Qiang Liu, and Lihua Liang College of Automation., Harbin Engineering University Ji Yulong, Sun Yuqing, Chen Haiquan, Chen Lei, Zhang Yindong and Zhang Hongpeng Harbin, Heilongjiang, China Marine Engineering Department, Dalian Maritime University Dalian, Liaoning, China • Fin stabilizer is useful to improve stability and to reduce heave and • A control strategy, Constant power and Variable power pitch motions of the SWATH Combination Control (CVCC), was put forward for Integrated ship. Hydraulic Propulsion (IHP) ship against its characteristics. • The Single Nerve Cell Controller is extended to Nerve Cells Net • Research results show that CVCC Controller(NCNC) ,and can be is suitable for IHP ship, the diesel used in MIMO system. engine can always works under • NCNC is applied to control Fin design working condition stabilizer in SWATH ship. independent to the ship working • The simulation is done, and the conditions, put out rated power and result shows that it is useful to Motion Coordinate System run at rated rotation speed. reduce heave and pitch motions of SWATH Ship Principle of IHP ship of the SWATH ship.

㪫㪧㪉㪄㪊㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪊㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Tracking Control of Underactuated Surface CourseRudder/Flap Joint Intelligent Control for Ships: Using Unscented Kalman Filter to Ship Course System Estimate the Uncertain Parameters LIU Sheng, FANG Liang, LI Jia-lai Department of Automation, Harbin Engineering University Yan Peng , Qi Song , and Jianda Han Shenyang Institute of Automation, Harbin, Heilongjiang, China Chinese Academy of Science • The calculation models of hydrodynamic coefficients of rudder/flap are acquired by means of • Kinematic and Dynamic the least square algorithm. u D Model Development • The thought that rudder and flap are • UKF-Based Estimation for considered as two independent planes E Model Parameters . to design control rules is put forward. • Simulations of Ship • The decision-making rules of Rudder/flap structure section Tracking Control rudder/flap angles are researched. Definition of the Six-Degree-of • The genetic algorithm is adopted to –Freedom Motion optimize the rudder/flap angles.

㪫㪧㪉㪄㪊㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪊㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Preliminary study on adaptive control modeling of a Research on the Intelligence Control manure spreader for precision agriculture Yang Zidong of the Laser Welding Manufacturing School of Agriculture Engineering and Light Industry System Using Multi-Agents Shandong University of Technology Shandong Province, China Shiyi Gao, Mingyang Zhao, Lei Zhang, Yuanyuan Zou • This paper describes a general modeling and control approach Shenyang Institute of Automation, Chinese Academy of Science for automating various Shenyang, Liaoning, China agricultural machines for precision farming applications. • The LWMS is a complex FMS. • An adaptive numerical • A new control model about modeling approach for LWMS has been built up based describing the system input– on the multi-agent technology. output dynamics is proposed, and an optimal control that • This model is divided into three accounts for the control levels agents and each hardware limits is developed. Schematic representation of the components of a VRT manure spreader department has different role. The LWFMA control architecture • Field tests have demonstrated The tasks is fulfilled by all the effectiveness of the based on multi-agent system theoretical development. agents of each level together.

61 IEEE ICMA 2007 Conference Digest

TP2-4: Biped and Multi-legged Robots

Session Chairs: Toru Oshima, Toyama Prefectural Univ. Qiang Huang, Beijing Inst. of Tech. Room 4: Wuhan, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪋㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪋㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 The Effects of Parameter Variation on the Efficient Walking With Torso Using Basins of Attraction of Passive Walking Models Natural Dynamics on ICMA 2007 Ning Liu, Junfeng Li and Tianshu Wang Yuji Otoda and Hiroshi Kimura School of Aerospace, Tsinghua University Robotics Research Lab., University of Electro Communications Beijing, China Chofu, Tokyo, Japan • Passive dynamic walkers have high energy- • We report on a biped robot efficient and natural gaits.. “Tetsuro”. • With the aid of cell mapping method, the basins of attraction of planar passive straight leg model and kneed model are studied. • It designs with consideration of natural dynamics. • The effects of parameter variation on the basins of attraction of the two models are discussed. • A group of parameters has been chosen, and the • We indicate the control method model with this set of parameters has relatively based inverted pendulum, simulation large basin of attractions on different slopes. and experiment results which achieved efficient walking. Tetsuro

㪫㪧㪉㪄㪋㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪋㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 1,2 Jumping Mechanism Imitating Vertebrate Control System of a Modular and by the Mechanical Function of Bi-articular Reconfigurable Multilegged Robot Muscle Xuedong CHEN , Huayan PU , Xinjie WANG , Yi SUN and Wenchuan JIA Toru Oshima, Noboru Momose Tomohiko FUJIKAWA State key Laboratory of Digital Manufacturing Equipment &Technology Ken'ichi Koyanagi and Takayuki Matsuno Huazhong University of Science and Technology Wuhan, China Dept. of Intelligent Design Systems Eng., Dept. of Biomedical Eng., Toyama Perfectural University Osaka Electro-Communication University •The modular and reconfigurable Imizu, Toyama, Japan Shijonawate, Osaka, Japan multilegged robot MiniQuad is built 䍃Muscular arrangement of Vertebrate leg. • A distributed hierarchical control 䍃Unique mechanical function of system of a modular walking robot bi-artticular muscle. is proposed 䍃Pantograph leg mechanism •Simulation and experiments were imitating vertebrate leg.. carried out To verify the validity of 䍃Ground reaction force and control system jumping motion. 䍃Jumping robot.

㪫㪧㪉㪄㪋㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪋㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Forward Kinematics Analysis and 3-Dimmision Research on a Six-Legged Robot with Gait Simulation of a MiniQuad Walking Robot Omnidirectional Steering Mechanism 1 1,2 2 2 Xinjie WANG, Xuedong CHEN , Wenchuan JIA,2 Yi SUN and Huayan PU 1 Ying Cui, Feng Gao College of Mechanical and Electrical Engineering, Zhengzhou Institute of Light Industry, Department of Automobile Engineer Beihang University Zhengzhou, 450002, P. R. China 2 Beijing, China State key Laboratory of Digital Manufacturing Equipment &Technology ,Huazhong University of Science and Technology, Wuhan, 430074, P. R. China • The six-legged robot for rugged terrain consists of a special steering The forward kinematics of a mechanism which includes two parallel multilegged walking robot is very mechanisms complicated due to its complex mechanism and redundant actuation. • It can reduce the difficulty of control, In this paper, the forward kinematics turn a random angle and realize the of reptile-like multilegged robots is pivot steering without the motion of analyzed by considering the basic foothold . walking pattern with three supporting • the robot’s performances such as legs. The redundant joint variables are mobility, stability and trafficability, first derived and expressed in terms of The buaa spider the independent joint variables. have been verified with great MiniQuad satisfaction.

62 IEEE ICMA 2007 Conference Digest

TP2-5: Control Theory I

Session Chairs: Victor Sreeram, Univ. of Western Australia Simon X. Yang, Univ. of Guelph Room 5: Beihai, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪌㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪌㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Geometric Approach to Fault Detection and Synthesis of Discrete Nonlinear Passive Isolation in Multivariate Dynamical Systems Systems via Affine T-S Fuzzy Models Nasser Rahimi, Morteza H. Sadeghi, and Mohamad J. Mahjoob Mechanical Engineering Department, University of Tabriz with Input Energy Constraints Tabriz, Iran Wen-Jer Chang, Chien-Hsun Huang and Cheung-Chieh Ku FDI-Process Department of Marine Engineering, National Taiwan Ocean University • Capable of isolating faults of Keelung 202, Taiwan, R. O. C Fault different sizes associated with Injection • Modeling discrete nonlinear system 7 Parameters x1 sensors, actuators and system in Estimation by affine Takagi-Sugeno fuzzy x2 Feature Extraction 6 model x3 stochastic environments 5

Feature Extraction • Stability analysis via the concept of 4 Hyper-plane • Performance of the scheme Forming the passivity properties and improves by increasing the number Lyapunov theory 3 2 off-line of inputs and/or outputs Distance • Fuzzy controller design subject to 1 Calculation input norm constraints • Performance of the scheme in the 0 Decision on-line Making • A numerical example is given to -1 probabilistic space is better than 0 5 10 15 20 25 30 35 40 45 50 show the applications of the present that of in the deterministic one Responses of States Block-diagram representation of the geometric approach fuzzy controller design approach

㪫㪧㪉㪄㪌㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪌㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Performance Comparison of Two Filtering A New Frequency Weighted Model Reduction Approaches for INS Rapid Transfer Alignment Technique and Error Bounds Wei Gao, Yueyang Ben, Feng Sun and Bo Xu Abdul Ghafoor, Shafishuhaza Sahlan and Victor Sreeram College of Automation, Harbin Engineering University School of Electrical, Electronic and Computer Engineering Harbin, Heilongjiang, China The University of Western Australia, WA 6009, Australia • A new frequency weighted • The mathematical model of velocity model reduction method based matching is presented firstly. on partial fraction expansion. • The method produces stable • The kalman filter and robust filter reduced order models and formulations are introduced . carries error bounds. • Three-axis sway model simulation • Applicable for controller order based on 10 dimensions states and 5 reduction. dimensions states is carried out . • Choice of free parameters to reduce frequency weighted • The results of simulation was errors and error bounds. compared and analyzed. The simulation result • Choice of having anti-stable weighting functions.

㪫㪧㪉㪄㪌㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪌㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Analysis and Anti-Windup Design for Time-Delay On the Existence and Design of Functional Systems subject to Input Saturation Observers for Linear Systems Yong-Yan Cao, Zhaohui Wang, and Jinshan Tang Department of Automation, Wuhan University of Science and Technology H. TRINH+ and T. FERNANDO++, Wuhan, Hubei, China + School of Engineering and Technology, Deakin University, Geelong, 3217. ++ School of EECE, The University of Western Australia, Nedlands 6907, Australia. This paper is devoted to stability analysis and anti-windup design for linear time-delay systems subject to actuator saturation. A new Lyapunov-Krasovskii approach is • This paper presents new conditions for the existence of a general presented, and a direct design algorithm is derived to pth-order functional observer. compute the anti-windup compensator gain, which reduces the conservatism greatly. Both delay-independent • Systematic procedures for the synthesis of reduced-order asymptotic stability (DIAS) and delay-dependent functional observers are given. asymptotic stability (DDAS) are dealt with respectively. Numerical examples are employed to demonstrate the effectiveness of our approach. • Numerical example is given to illustrate the results.

63 IEEE ICMA 2007 Conference Digest

TP2-6: Sensing Systems I

Session Chairs: Ren C. Luo, National Chung Cheng Univ. Shaorong Xie, Shanghai Univ. Room 6: Shenzhen, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪍㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪍㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Multisensor Fusion and Integration: Algorithms, Neural Networks Based Sensor Design Applications, and Future Research Directions and Evaluation Ren C. Luo Fellow, IEEE, Fei Zhu, Zizeng Liang, Zengguang Hou, Xiuqing Wang and Min Tan Ying Chih Chou, Ogst Chen Intelligent Automation Lab, National Chung Cheng University Chia Yi, Taiwan Key Laboratory of Complex Systems and Intelligence Science • Multisensor fusion and integration is evolving research area and Institute of Automation, Chinese Academy of Sciences Beijing 100080, China requires interdisciplinary knowledge in control theory, signal • describe some backgrounds of neural processing, artificial intelligence, probability and statistics, etc. The networks and the sensor are. advantages gained through the use of redundant, complementary, or more timely information in a system can provide more reliable and • Point out the two problems in the design accurate information. of the sensor. • This paper provides an overview of current sensor technologies • Analyze the possibility of solving the two problems using neural networks. and describes the paradigm of multisensor fusion algorithms and • Construct a kind of three-layer applications of multisensor fusion in localization and tracking, multilayer perceptrons (MLP) networks. robotics, identification and classification, vehicle sensing, and so • Give experiment results. on. Finally, future research directions of multisensor fusion The sensor and the board technologies are presented.

㪫㪧㪉㪄㪍㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪍㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Data Fusion Approach Electro-optical Sensors for Measuring the With MMW Radar and IR Sensor Based on MEKF Motion Parameters of Flying Objects Jinping Ni, Tieling Wang, Yugui Song and Bin Feng Zhizhuan Peng, Jinfu Feng, Youli Wu, Tao Zhou and Xiaolong Liang School of Opto-electronic Engineering , Xi’an Technological University Aeronautical Arms Department , University of Air Force Engineering Xi’an ,Shaanxi, China Xi’an, Shaanxi, China ¾ The basic components of the EOS proposed is introduced. • The superiority of ¾ The N-shaped and ‘III’-shaped light MMW radar and IR screens are discussed. sensor for missiles ¾ The measuring system with a data N-shaped light screen guidance acquisition device and a controller •MEKF based on microprocessor. • Data fusion ¾ Measuring principle of the EOSs approach with N-shaped and ‘III’-shaped slot •Simulation diaphragm, respectively. ‘III’-shaped light screen

㪫㪧㪉㪄㪍㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪍㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Biomimetic Control of Pan-tilt-zoom Camera A Fast Mosaic Approach for Remote Sensing Images Mounted on an Autonomous Helicopter Yuanhang Cheng, Dingyu Xue , and Yanping Li Shaorong Xie, Jun Luo, Pu Xie, Zhenbang Gong, Hairong Zou School of Information Science and Engineering School of Mechatronics Engineering and Automation, Shanghai University, China Northeastern University Liaoning China • A novel control strategy of PTZ camera for tracking moving object • Image rectification for geometry from autonomous helicopter. distortion . • The biomimetic oculomotor control • Image matching model is obtained based on neural path of eye movement control. A. Evaluation of the overlapped • In order to validate the functions of regions the biomimetic control model, B.Image binarization and filtering simulation experiments were done. C. Feature template extraction • The biomimetic controller of on- board PTZ camera is developed. D. Rough matching and fine The system overview matching • Flight tracking experiments show of tracking moving object based on that the biomimetic controller can • Image intensity smooth compen- sate the deflection and biomimetic controlled PTZ camera The mosaicked result image enhance the system performance.

64 IEEE ICMA 2007 Conference Digest

TP2-7: Analysis and Design of Mechatronic Systems II

Session Chairs: Wei-Hsin Liao, The Chinese Univ. of Hong Kong Hisayuki Aoyama, The Univ. of Electro-Communicatins Room 7: Changchun, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪎㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪎㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍

Improvement of Organizational Efficiency by Analysis and Design of a Novel Four-axis Plane Multi-Robot System for Manufacturing Operation Laser Welding System Keishi Matsuda and Hidenori Ishihara Liming Xin,Zhigang Xu ,Mingyang Zhao and Lei Dept. of Intelligent Mechanism Systems Engineering, Kagawa University, JAPAN Shenyang Institute of Automation, Chinese Academy of Science Shenyang,Liaoning, China

㪚㪼㫅㫋㪼㫉㩷㫆㪽㩷㫋㪿㪼㩷 㪫㫉㪸㫍㪼㫃㫀㫅㪾㩷㪩㫆㫌㫋㪼 z Application of the Multi-Robot 㪚㫀㫉㪺㫃㪼 㪚㫆㫊㫋㩷㪔㱍㩷㪽㫆㫉㩷㪩㪫 • Structure of The 㪘㪾㪼㫅㫋㩷㪈 㪮㪜㪈 㪮㪜㪉 System for Manufacturing line. 㪘㪾㪼㫅㫋㩷㪋 System And Basic 㪮㪜㪈 㪮㪪㪋

㪮㪜㪉 㪋 㪮㪪㪈 㪮㪜㫅 Principle. z Line-Balancing Operation by 㪘㪾㪼㫅㫋㩷㪉

㪮㪜㫅㪈 Way of Useful Knowledge 㪘㪾㪼㫅㫋㩷㪊 • Mechanical System. Sharing 㪮㪜㪈 㪮㪜㪈 㪮㪜㪉 㪮㪜㪉 •Control System. 㪮㪪㪉 㪮㪪㪊

Simulation of Autonomous 㪉 z 㪝㫃㫆㫎㩷㫆㪽㩷㫎㫆㫉㫂㫊 㪮㪜㫅 㪮㪜㫅㪊 Line-Coordination and Re- • Applications and allocation of Work Elements Analysis. Four-axis Plane Laser Welding System

㪫㪧㪉㪄㪎㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪎㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Design and Realization of the Highly Accurate Research on the Capacity of Hydraulic Pile Folder Machine Based on DSP Driving under Adding Force Liting Cao, Jingwen Tian and Shanying Shi Xu Zhou, Qinghua He, Jianxin Zhu , Xiangyu He Beijing Union University, Beijing Wanao Engineering Equipment Ltd. College of Mechanical and Electrical Engineering , Central South University , Beijing, China Changsha , Hunan Province , China I. Introduction • The most important work is II. Brief introdution on design the control system based hydraulic pile driving on DSP of the new type folder machine. under adding force • The system fulfils the digital III. Modeling of hydraulic motor control. pile driving under • Two efficient control methods adding force system are detailed: the subdivided control method and torque vector IV. Simulation add analysis control method. of pile driving under • The performances of new type adding force Simulating model of hydraulic system machine are markedly developed. The new type folder machine V. Conclusions of pile driving under adding force

㪫㪧㪉㪄㪎㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪎㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Dynamic Simulation Model of Linear Metro System with ADMAS/Rail Reformation of the Transfusion Bags' Secondary Qingchao Wei, Yingjie Wang, Yong Zhang, Yashi Deng Packaging Line Using Parallel Robot School of Civil Engineering and Architecture,Beijing Jiaotong University L.A. Zhang, J.P. Mei, X.M. Zhao, P.F Wang, Y.Y Wang Beijing, P.R.China • Present a dynamic simulation model of linear metro system with ADMAS/Rail. ¾ A 2-DOF translational parallel • Verify model by comparing radial axle robot named the Diamond robot is bogie vehicle with non radial axle used as the basis of case packer bogie vehicle and radial axle bogie vehicle model with LIM and radial axle for rapid case packing. bogie vehicle model without LIM. ¾ An economical and efficient way • Check vehicle safety of linear merto of packaging line’s layout is system with derailment coefficient and Linear metro system proposed. rate of wheel load reduction. • Dynamic performances of linear metro system is better ¾ The working intensity is lower but Secondary Packaging Line than traditional rail transit. the quality of products is higher. Using Parallel Robot

65 IEEE ICMA 2007 Conference Digest

TP2-8: Signal Processing Applications II

Session Chairs: Masamitsu Kurisu, Tokyo Denki Univ. Jae Hoon Lee, UFRG, AIST Room 8: Shenyang, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪏㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪏㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Improved Neural Network Information Fusion Development of a Laser Range Finder in Integrated Navigation System for 3D Map-Building in Rubble Lu Ding, Lin Cai, Jia-bin Chen, Chun-lei Song - Installation in a Rescue Robot - Department of Information Science and Technology Engineering Masamitsu Kurisu1, Hiroki Muroi1, Yasuyoshi Yokokohji2, and Hiroyuki Kuwahara3 Beijing Institute of Technology, Beijing, China 1. Mechanical Engineering, Tokyo Denki University, Tokyo 101-8457, Japan 2. Mechanical Engineering, Kyoto University, Kyoto 606-8501, Japan 3. Kawasaki Lab., International Rescue System Institute, Kanagawa 210-0855, Japan • Cascade fusion architecture is proposed to enhance the reliability GPS • A small laser range finder for Improved BP network BP Improved

of location information . DR initial estimation Location rescue robots is developed. Kalman filter Kalman value Dead-Reckon • Use Particle Swarm Optimizer • Installation of the range finder (PSO) to substitute the traditional odometer in a snake-like rescue robot is BP algorithm in training parameters. described. Rate gyro • The proposed algorithm can • Constructing 3-D maps in improve vehicle location accuracy . map database MM rubble by using the robot with the sensor is shown. Snake-like rescue robot with laser range finder Constructed 3-D map

㪫㪧㪉㪄㪏㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪏㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Security Door System Using Human Tracking Performance Evaluation of RFID EPC Gen2 Anti- Method with Laser Range Finders collision Algorithm in AWGN Environment J.H. Lee, Y.-S. Kim, B.K. Kim, and K. Ohba H. Kawata, A. Ohya, and S. Yuta Cheng Jin, Ki Yong Jeon, Sung Ho Cho UFRG, AIST Intelligent Robot Lab., University of Tsukuba Communcation and Signal Processing Lab, Hanyang University Tsukuba, Japan Tsukuba, Japan Seoul, Korea • A method to track and count people with Laser Range Finders is investigated. • RFID anti-collision performance problem in practical environment • The proposed method is applied to a • Analysis of noise influences on the novel system to monitor the entrance anti-collision performance of RFID area and to filter out a trespasser EPC Gen2 Protocol who enters the door without identification. • Description of simulation process • Experiments for various cases are • Conclusion performed to verify the usefulness of Security Door System developed proto-type system. RFID Tag

㪫㪧㪉㪄㪏㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪏㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Application of DDAGSVM in Fault Diagnosis for Draft Tube Surge Detection in Francis Electric Transformer Hydroturbines Using Bispectrum Analysis Farzad A. Shirazi and Mohammad Mahjoob Jinghua Li, Hua Wei (NVA) research Center, School of Mechanical Engineering, Department of Electric PowerSystem Engineering., Guangxi University University of Tehran Nanning,Guangxi, China • Introduction

• Support vector machine (SVM) based • Turbine model description classification has been applied to fault 1 2 3 1 vs 3 • Data acquisition and tests diagnostics of electric transformers. Not 1 Not 3 • Bispectrum analysis of • Apply a new learning architecture (the vibration signals Decision Directed Acyclic Graph Support Vector Machine, DDAGSVM) 2 3 2 vs 3 1 vs 2 1 2 • Francis hydruturbine draft in electric transformer fault diagnosis tube surge detection Not 2 Not 3 Not 1 Not 2 and try to obtain good results. • Results and conclusion • Give example shows the advantages of 3 2 1 DDAGSVM. Francis Turbine Model

66 IEEE ICMA 2007 Conference Digest

TP2-9: Mechatronic System Modeling II

Session Chairs: Chi-Wei Lin, Minghsin Univ. of Science and Tech. Xiaolin Guo, Tsinghua Univ. Room 9: Dalian, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪐㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪐㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Modeling of Aircraft Fuel Pressurization Ejector Design Parameter Sensitivity Analysis of System Based on Support Vector Regression High-Speed Motorized Spindle Systems Yanliang shen, Liangmou Hu, Yonglin Li, and Zhihao Ge Considering High-Speed Effects Department of Aircraft and Engine Engineering., Air Force Engineering University Chi-Wei Lin Xi’an, Shanxi, China Department of Industrial Engineering & Management, Minghsin University of Sci. & Tech. Hsin-Fong, Hsin-Chu, Taiwan • A new modeling method is proposed Training Error -3 x 10 • A design sensitivity analysis of eight for aircraft fuel pressurization ejector 1.003 system based on support vector design parameters is conducted 1.002 based on an integrated FEM model regression (SVR) . 䯴䯵 to investigate their influence on the 1.001 natural frequencies of the spindle The Motorized Spindle System Second Mode • The SVR model of aircraft fuel 1240 0 rpm 5,000 rpm 10,000 rpm

error of Q2 of error L/h 1230

system. 1220 15,000 rpm

1210 pressurization ejector system is 2000 20,000 rpm 10 1200 1190 Natural Frequency (Hz) 1500 • The results show that the vital 25,000 rpm

1180 0.9 0.92 0.94 0.96 0.98 1 1.02 1.04 1.06 1.08 1.1 offline established. 1000 5 Ratio to the Initial Value of DP1 (340 N) design parameters include spacing First Mode 500 0 880 0 rpm Q1䯴䯵 L/h 860 PMPa䯴䯵 5,000 rpm 10,000 rpm 840 • The simulation results show that the between the front and rear bearing 15,000 rpm

820 20,000 rpm

800 25,000 rpm

780 modeling precision is very high and sets, spacing between middle line of Natural Frequency (Hz) 760 0.9 0.92 0.94 0.96 0.98 1 1.02 1.04 1.06 1.08 1.1 the generalization capability of SVR Training Errors of SVR Model the two bearing sets and the free end Ratio to the Initial Value of DP1 (340 N) of cutter, and length of the spindle The Effects of DP1 on NFs model is also very good . shaft.

㪫㪧㪉㪄㪐㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪐㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Dynamic Modeling and Hardware-in-the-loop Numerical Simulation and Dynamic Simulation Testing for LPG Engine Characteristics of Secondary Controlled Yunpeng Cao, Wanqing Teng and Huijie Zhang Hydrostatic Drive College of Power and Energy Engineering ,Harbin Engineering University Xiaolin Guo, Xuewu Ji, Jibin Hu, Zengxiong Peng and Chongbo Jing Harbin ,Heilongjiang, CHINA Department of Automotive Engineering, Tsinghua University, Beijing, China School of Mechanical and Vehicular Engineering Beijing Institute of Technology,Beijing, China • A PC-based HILST platform was xPC HOST Computer Using MATLB/SIMULINK to Create • Mathematic Descriptions of the developed to meet the design LPG Engine Model Off-line Simulation requirement of electronic control secondary controlled hydrostatic xPC target Code Monitor Interface drive System injection system of LPG engine. TCP/IP 100Mbps

• A nonlinear, real-time LPG engine xPC Target Computer • Modeling and Simulation of the Real-time Operation Kernel model is constructed in MATLAB. (LPG Engine Model) System

• By using the HILST platform, the I/O Board • Influencing Factor of Dynamic cost and period of development are TPS Terminal LPG Injector Characteristics largely decreased, and the LPG (Part Sensors) Board (Actuators) • the method to improve engine injection controller gained Electronic Control LPG Injection System performance of speed response excellent reliability and durability. Simulation model of secondary Schematic diagram of HILST platform controlled hydrostatic drive

㪫㪧㪉㪄㪐㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪐㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Opt-Electro-Mechanical Modeling of an Electro- Research on Modeling Method of Water Displacing Oil Physical Simulation Based on Thermally Actuated Analog Micromirror Wavelet Neural Network Jianliang Jiang, Yujie Liu, Qiong Sun Meijuan Gao, Jingwen Tian, Hao Zhou Department of Opt-Electronic Engineering, Beijing Institute of Technology Beijing Union University ., Beijing University of Chemical Technology Beijing, China Beijing, China • Introduction xt1 \ 1 w •Introduction • Method Study 1 xt2 \ w2 f • Microactuator and Micromirror 1. Wavelet Neural Network 2  w 2. Ascertain Wavelet Basic Function n • Opt-Electro-Mechanical Analytical   3. Learning Algorithm x t p \ Model of Micromirror n • Water Displacing Oil Physical Simulation • Comparison Between Analytical • Application Structure of wavelet neural Model and Experimental Results 1. Characteristic Parameters network • Conclusion Fabricated micromirror 2. Application Study • Acknowledgment and its actuators • Conclusion

67 IEEE ICMA 2007 Conference Digest

TP2-10: Mobile Motion Planning and Control

Session Chairs: Gu Fang, Univ. of Western Sydney Tong Tao, Nankai Univ. Room 10: Qingdao, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪈㪇㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪈㪇㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Onboard Spacecraft Slew-Planning by Heuristic Motion Planning for SLAM Based on Frontier State-Space Search and Optimization Exploration Pingyuan Cui, Weiguo Zhong, and Hutao Cui Tong Tao, Yalou Huang, Fengchi Sun and Tingting Wang Deep Space Exploration Research Center, Harbin Institute of Technology College of Software, Nankai University Harbin, Heilongjiang, China Tianjin, China

• Multiple celestial and • This paper proposes a novel 20 motion planning approach for kinematics constraints during 15 SLAM in out-door large unknown large-angle slew of spacecraft. 10 environment. • Some important geometrical 5 • The robot finds the destination 0 Y (m) properties in the attitude- point of current motion according å5

parameter space. to the frontier based exploration å10 • Discretized maneuver design. strategy and the uncertainty of å15 current estimation. å20 å20 å10 0 10 20 • Onboard random search and • Efficiency of exploration will be X (m) path optimization utilizing improved and system uncertainty properties of the attitude state- The spacecraft pointing scenario will be minimized by navigating space. to that destination point.

㪫㪧㪉㪄㪈㪇㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪈㪇㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Path Planning for Complete and Efficient Time Optimal Path Planning for Mobile Robots in Coverage Operation of Mobile Robots Dynamic Environments Jung Won Kang, Si Jong Kim, Myung Jin Chung Hyun Myung, Jun Ho Park, Seok Won Bang Mitchell Dinham and Gu Fang Department of Electrical Engineering, KAIST Micro Systems Lab., SAIT School of Engineering Daejeon, Republic of Korea Yongin, Republic of Korea University of Western Sydney, Australia • The paper introduced an online • This work describes a complete and time-optimal collision avoidance efficient coverage path planning strategy in dynamical method for mobile robots. environment. • To achieve completeness of coverage, • It combines potential field method a divide and conquer strategy is with an online decision making strategy to determine the optimal adopted. control strategy. • To achieve efficiency, each cell is • A significant time saving (around covered by a robot motion that 10%) can be achieved using the requires minimum time to cover the Time optimal potential field Coverage Path Generation proposed method in simulation. cell. path for the car-like robot

㪫㪧㪉㪄㪈㪇㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪈㪇㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 An Adaptive Unscented Particle Filter for Path following: Discrete stable control of mobile Tracking Ground Maneuvering Target robots Ronghua Guo, Zheng Qin, and Chen Chen Humberto A. Secchi and Vicente A. Mut Department of Computer Science & Technology, Tsinghua University Instituto de Automática - INAUT - Universidad Nacional de San Juan Beijing, China San Juan - Argentina • The kinetic characteristics of a ground maneuvering target are modeled by an improved Singer model. • Mobile robot discrete control laws • Based on the residual norm, a re- for path following in a semi- sampling controller is designed to tune structured environment, including online the number of particles. obstacle avoidance, are developed. • Within a single model frame, an • The stability analysis is included. adaptive unscented particle filter is • The control algorithms also avoid proposed to address nonlinear ground the potential problem of control maneuvering target tracking problems. command saturation. • To validate the AUPF approach, three • Experiences on a real mobile robot Trajectory described by typical nonlinear filters (EKF, UKF, The Particle Number Changes is proved. the mobile robot to avoid UPF) are applied to the simulation. in the AUPF obstacles on its path

68 IEEE ICMA 2007 Conference Digest

TP2-11: Human Motion Detection and Assist

Session Chairs: Daisuke Chugo, The Univ. of Electro-Communications Takahiro Wada, Kagawa Univ. Room 11: Xian, 15:30-17:18, Tuesday, 7 August 2007

㪫㪧㪉㪄㪈㪈㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪫㪧㪉㪄㪈㪈㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Hand-motion Pattern Recognition of SEMG Tracking Human Arm from Monocular Videos Based on HHT and AR-model HongQiang Yue,ChengRong Li,YiXiong Liang and YangYu Luo MA Wenjie, LUO Zhizeng Institution of Automation,Chinese Academy of Sciences. Robot Research Institute., Hangzhou Dianzi University Beijing, China Hangzhou, Zhejiang, China • We proposed a APF+KJP algorithm for human arm tracking from monocular video. • Analyze the SEMG signal by the • The algorithm combines the merits of HHT. annealed particle filter and kinematic jump • Select the effective IMFs to extract process. the feature vector of the hand- • The algorithm can efficiently find particles motion patterns. with high weight. • Reduction the number of the feature • when the tracker find the incorrect global vector dimensions by PCA minimal ,the KJP can help the tracker converge to the correct one. • Do the muti-classification by Tracking Human arm from advanced SVM. monocular Videos

㪫㪧㪉㪄㪈㪈㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪫㪧㪉㪄㪈㪈㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Determination of Human Motion for Rehabilitation A Data-driven 3D Animation System for Tele- based on Time-Scale Transformation Rehabilitation Satoshi Tanaka1,2, Takahiro Wada2, and Kosuke Kawakita2 1 Department of Physical Therapy, Prefectural University of Hiroshima, Hiroshima, Japan Shumei Zhang 1), Huosheng Hu 2) and Dongbing Gu 2) 2 Department of Intelligent Mechanical Systems, Kagawa Univeristy, Kagawa, Japan 1) Department of computer science University, Shijiazhuang, Hebei, China 2) Department of Computer Science, University of Essex, Wivenhoe Park, Colchester, U.K. • A method to determine human motion speed for upper limb • Human motion tracking and data Transmit data file rehabilitation will be recording. Speech animation Internet introduced • Data analysis diagrams for the

• Application of the time-scale 6 rehabilitation exercises. 0.5s 1.0s 1.5s 2.0s 2.5s 3.0s transformation property of the 5 • A speech animation with a 4 background audio file for motion Motion dynamics to understand joint 3 tracking The 3D 1.5s sensors 2 evaluation and suggestion. animation load 0.5s 1.0s Joint torqueJoint [Nm] 1 • A 3D arm animation for Patient side Therapist side to • Joint torque can be estimated 0 provide prescriptions -1 reconstruction patients’ arm System architecture appropriately with the method 0 20406080100 Motion period [%] movement off-line. Change of joint torque

㪫㪧㪉㪄㪈㪈㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪫㪧㪉㪄㪈㪈㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Rehabilitation Walker System with Standing WPAL for Human Power Assist during Walking Using Pseudo-compliance Control Assistance Device Daisuke Chugo, Wataru Matsuoka, Songmin Jia and Kunikatsu Takase Feng Chen, Yong Yu, Yunjian Ge, Jian Sun, Xiaohong Deng The Graduate School of Information Systems, The University of Electro-Communications Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Chofu, Tokyo, Japan Academy of Sciences Department of Automation, University of Science and Technology of China • Walker system with power Support Pad assistance device for standing up (3DOF) • Introduction to Power Assist Robot motion. Actuator3 Actuator1 and 2 • the Fundamental Design of Power • System uses the remaining physical Assist Architecture strength of the patients. • Dynamic Model and Control • New assistance manipulator Method mechanism with four parallel • the Pseudo-compliance Control linkages. Method • The combination of force and • Experiments Result and Our position control for standing Objectives The Prototype of the WPAL assistance. Overview of Our System

69 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪈㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪉㪀㩷㩷 Operational Space Control for a PUMA Performance Analysis and Optimization of Robot Sergio Salinas, Eliana Aguilar and Andrés Vivas Sizable 6-axis Force Sensor Based on Department of Electronic Instrumentation and Control, Cauca University Stewart Platform Popayán, Cauca, Colombia Yanzhi Zhao, Tieshi Zhao, Rui Wen, and Hongguang Wang • This work shows a simple College of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, China methodology to implement an operational space control on a 6-DOF • The paper plots the indices arm robot. atlases based on the screw theory and the theory of physical model • Comparison between computed torque of the solution space. control (CTC) defined on articular and on task space. • the sizable parallel 6-axis force sensor’s structure parameters are • Simulation results: tracking optimized in nonlinear single performance and robustness with objective and multi-objective, The PUMA robot respect to external disturbances and respectively. The Index atlas errors in the dynamic model.

㪫㪧㪊㪄㪧㩿㪊㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪋㪀㩷㩷 Torsion Vibration Analysis of Lead-screw Feed Drives The Application and Research of 3-D Standard with Changeable Table Position and Work-piece Mass P-Lib of the Die CAD Yong Zhou, Fangyu Peng and Jihong Chen Jianfeng Liu, Yong Jiang , and Gengyue Song National NC System Engineering Center,Huazhong University of Science & Technology The Second academy of china aerospace science & industry corporation(CASIC) Wuhan, Hubei, China Beijing, China • Present an investigation of free torsion • The product utilize the developing tool CAA and VC software and vibrations of lead-screw feed drives using establishes the comprehensive 3-D standard P-Lib for die CAD. FEM considering changeable table position and work-piece mass. • It is proved in practice that the 3-D • Indicate that all the nature frequencies of the design is the inevitable trend of the CAD torsion vibration are notably changed with the table position, while they are linearly development. varied with the change of work-piece mass. • The compensation using the conventional • The system interface of selecting notch filter cannot suppress those disturbances induced by the vibrations the class of the standard components associated with the changing table position. shown in Fig. • The changeable vibration characteristics due The mode shapes of the first three orders to the change of the table position should be of free vibration when the table is located • The P-Lib become more intelligent taken into account in designing the as the middle of the lead-screw, or x=0.5L after upgraded, and can integrate full The systematic interface compensation filter control systems. text databases.

㪫㪧㪊㪄㪧㩿㪌㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪍㪀㩷㩷 Simulation Architecture of Battlefield Damage Fractal Object Generation Based on CAD and Integrated Assessment for Some Submarine CAM Ke Guan1,Tao Mei1,Fanrang Kong2 and Xiaofeng Li2 Bo Liu, Hongda Fan 1.Institute of Intelligent machines, China Academy of Sciences, Hefei,230031,China Department of Ordnance Science and Technology, Navy Aeronautical Engineering Institute 2.Department of Precision Machinery and Precision Instrumentation, University of Science and Yantai, Shandong Province, China Technology of China, Hefei, 230069,China Liang Ma and Hao Zuo Department of Missile, Navy Submarine Academy This paper first apply high dimension complex and Qingdao, Shandong Province, China self-square function f(z)=z2+c to generate special data set on 3D fractal, then take the set as the research object • A distributed battlefield damage and produce the related STL model through the partition assessment architecture based on by its symmetry character and the triangulation of the multi-agent had been developed. consequent set, at last adopt Rapid Prototype technique to manufacture the fractal object by the CAD model. • A new integrated obtaining technique This research and technique route not only solve the of simulation data had been defined, problem that fractal can only be simulated and the which solved the lack of simulation related object can not be manufactured owing to the data. complex surface, but also build the bridge connecting • A new knowledge architecture of fractal, CAD and CAM, which is an important submarine damage log (KASDL) had experiment and innovation in fractal application been defined. Result of Damage Assessment research.

70 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪎㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪏㪀㩷㩷 A New Protect Cryptographic Circuit Approach Geometric parameters extraction of quadric Using Dynamic Current Model Logic Circuit surfaces based on real-valued genetic algorithm Haijun Li, Guangsheng Ma, Guangshun Li, Guanjun Wang and Tao Zhou College of Computer Science and Technology, Harbin Engineering University Xuemei Liu, Shusheng Zhang and Zhongmin HuangFu Harbin, Heilongjiang, China The key Laboratory of Contemporary Design and integrated Manufacturing Technology , Ministry of Education, Northwestern Polytechnical University Xi’an, Shanxi, China • According to statistic, about 200 billon dollars losing globally every year because of information criminal • Higher-Order Differential Power Analysis • Unique Masking Method • Dynamic Current Model Logic

Point Cloud of Mouse Picture of the measurement board

㪫㪧㪊㪄㪧㩿㪐㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪈㪇㪀㩷㩷 Research of Collaborative Markup under Distributed Research on Wireless Cyclic Test and Management Heterogeneous Environment System of Grain Information in Barns Yongping Hao, Guoqiang Sun, Pengfei Zeng Keqi Wang1, Bin Zhao12 R&D Center of CAD/CAM technology䋬Shenyang Ligong University 1)College of Electromechanical Engineering., Northeast Forestry University Shenyang, Liaoning, China • The collaborative markup flow of product model in Harbin, Heilongjiang, China the process of collaborative design is analyzed in 2)College of Information Technology., Heilongjiang August First Land Reclamation University the distributed heterogeneous environment-oriented Daqing, Heilongjiang, China collaborative design. • A set of solution for asynchronous collaborative The hardware components and software framework of grain condition cyclic test markup of product model based on WEB is brought system and the function of grain forward. management system are mainly discussed. • The collaborative architecture for network In each barn there is one independent collaborative markup system is built and the system SCM, to gather temperature and humidity is applied concretely. of grain, and to transmit to the host computer. The host computer processes • Through share model technology, the the data received, manages SCM and heterogeneous problems caused by different three- conducts daily management work of barns, dimensional modeling system in the process of Share Model Browse predicts the change trend of grain markup is solved, and the guarantee for realizing condition. The wireless data collaborative design under distributed communication module is used between heterogeneous environment is provided. scattered SCM and the host computer. The Grain Barns

㪫㪧㪊㪄㪧㩿㪈㪈㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪈㪉㪀㩷㩷 An Extension of Network Communication in X3D Study on Technology of Orientation and North- for Remote Monitor and Control Finding Based on Fiber Optic Gyroscope Yang Hong, He Lingsong, Zhang Dengpan, Zhong Yong Zhijun Zhang, Jiyu Sun and Keyong Wu School of Mechanical Science & Engineering, Huazhong University of Science & Technology Jilin University, Institute of Mechanical Science and Engineering Hubei, Wuhan, China Changchun, Jilin, China • Introduction: X3D technology • The sine output signal of the FOG and application in IMC. was sampled and disposed, • Former work: application • The real north of surveyed point on based on standard X3D. the surface of earth was calculated. • Our work: extended new • The deviation caused by the platform communication nodes. base tilt was compensated by an accelerator, • A prototype system based on • Allan standard deviation is used to Netsensor, one node among analyze the random drift of FOG, new communication nodes. • Establish the random error mode of Diagram of system basic structure Prototype System architecture FOG.

71 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪈㪊㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪈㪋㪀㩷㩷 Researches on Nonlinearity of Acoustic The Impact of Downstream Information Sharing Parameters in Biomaterial Extraction with on Upstream Supply Chain with Fuzzy Demand Ultrasound Yu Tian and Dao Huang Research Institute of Automation., East China University Baoqiang Wang, Yiding Li , Changjian Deng and Maofang Wu of Science and Technology Shanghai, China Chengdu University of Information Tech. Chengdu, Sichuan, China • The impact of downstream (1) Analyse some description information sharing is investigated methods of nonlinearity; quantitatively on the supplier, (2) Research on nonlinear rules of the • The results demonstrate that the acoustic parameters with ultrasonic supplier’s forecast and performance, propagation in the mixture of biomaterials such as inventory level and average and mediums; cost, have been improved through the downstream information sharing, (3) Carry out experiments on nonlinearity • Numerical examples are provided to of acoustic cavitation and sonication yield the micro-streaming around an oscillating bubble (before collapse) validate our analysis. The impact U of on the supplier’s in fluids. inventory level and average cost

㪫㪧㪊㪄㪧㩿㪈㪌㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪈㪍㪀㩷㩷 Solving NCSP-Based Configuration Problem for A Pipelined Reconfigurable Architecture for Mass Customization Real-time Image Processing of Robot Jijun Yuan, Miyuan Shan, Kexi Wang and Changhua Lin Management School, Hunan University Vision Servoing Changsha, Hunan Province, China Fuzhi Wang, Dagui Huang, Ge Sheng • Definitions of configuration task and NCSP University of Electronic Science and Technology, Chengdu, Sichuan, China

•A Constraint-Based Model for Configuration Problem z This pipelined reconfigurable architecture is made up of •Algorithms for the Configuration Problem control layer and processing layer. •Experimental Simulation and Conclusions z The control layer provides supporting services to the processing layers and carry out the dynamic pipeline assignment.

z The processing layer implement the image processing algorithm.

z Disussed the pipeline assignment Fig. 2 Computational results of five algorithms for problem instances with n=10, k=10, r=3, and d= 96/120=0.8. algorithm. system architecture

㪫㪧㪊㪄㪧㩿㪈㪎㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪈㪏㪀㩷㩷 A New Database Transactions Monitoring Simulation and Optimizing of Work-station of Approach Body-in-white Welding Based on RobCAD Gang Lu1, Junkai Yi1, Kevin Lü2 Yongkang Ma, Zeming Wang , Hui Li 1 Beijing University of Chemical Technology Institute of Astronautics and Aeronautics 2 Brunel University University of Electronic Science and Technology of China Chengdu, Sichuan Province, China • Statistical Sub-Model • Membership Function Sub- • Simulation of welding fixture. Model • Welding path optimizing using • Integration of the Two Sub- improved C-W Algorithm . Models • Simulation of spot-welding robot • Training the Parameters of based on RobCAD. Membership Functions • Simulation was performed after • Experimental Results modification of optimized robot welding path . The Result of the Experiments simulation of welding robots

72 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪈㪐㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪉㪇㪀㩷㩷 An Experimental Study of Independently A Tracking Control Design Based on Time- Rotating Wheels for Railway Vehicles Varying Disturbance Attenuation for a 6-DOF B. Liang and S.D. Iwnicki Department of Engineering and Technology, Manchester Metropolitan University Rigid Manipulator Manchester, UK Vahid Zakeri, Mohammad Deghat, Mohammad Eghtesad • A system model has been set up for School of Engineering, Shiraz University, Shiraz, Iran an independently driven wheelset with inverter controlled induction • A Tracking Control Strategy has been motors and validated using a 1/5 proposed using Hamilton-Jacobi scale roller rig; inequality. • Simulation has been carried out to • The method attenuates test the effectiveness of a simple DISTURBANCES applied to Robot control strategy using measured Manipulators. wheelset yaw angle; • The proposed Controller yields a • The results show that high speed superior performance such as smaller stable running can be practically Control Effort and better Noise achieved with independently driven Attenuation behavior, compared to wheels. The Experimental Test Rig the other methods.

㪫㪧㪊㪄㪧㩿㪉㪈㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪉㪉㪀㩷㩷 Quadrature Doppler Ultrasound Signal Design of Data Acquisition System for 12- Denoising Based on Matching Pursuits with Electrode Electrical Capacitance Tomography Liu Sheng, Shen Yijian Different Time-Frequency Dictionaries School of Automation, Harbin Engineering University Xiaotao Wang, Xingbo Wang Harbin, Heilongjiang, China College of Astronautics, Nanjing University of Aeronautics and Astronautics • The paper focused on capacitance Nanjing, Jiangsu, China Hz) measuring for 12-electrode oil- Hz) • Matching pursuits with Gabor atoms Hz) water two-phase ECT. (GMP), cosine packets (CMP), and Frequency ( Frequency ( Frequency • The low capacitance values are wavelet packets (WMP) are studied. Frequency (

measured adopting the front • To avoid the phase distortion Time (s) Time (s) Time (s) compensation method and the key induced by directly denoising the Hz) technique in the measuring is complex Doppler ultrasound signal, Hz) Hz) analyzed and discussed. a simple directional information Frequency ( extraction and reconstruction ( Frequency ( Frequency The Architecture of ECT System • The method is practicable to the scheme is used. Time (s) Time (s) Time (s) measurement of low value • The GMP method offers the The distributions of the atoms in time- capacitance. frequency plane for the simulated signal potential advantages in pulsed under the SNR of 0dB using the GMP Doppler ultrasound application. method

㪫㪧㪊㪄㪧㩿㪉㪊㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪉㪋㪀㩷㩷 High Accuracy Acquisition of the Magnetic A Unified Strategy for Dynamic Mapping Heading Signal in Grid Computing Environments Fengyang Duan, Baixiang Sun and Lijing Zhang Department of Control Engineering of Air Force Aviation University Ying Liu, Jun Wei, KanMin Yu, WanYin Zhou and JingBo Xia Changchun, Jilin Province, China Telecommunication Engineering Institute., Air Force Engineering University The function of the fluxgate sensor in the aircraft navigation system is Xi’an, Shanxi, China to calibrate the heading of gyro. Its magnetic heading signal is weak and • Dynamic mapping is one of key anomalous synchro signal. Experimental results show that this signal issue in grid computing. cannot be measured directly and exactly by using SDC. This paper • A unified framework for dynamic designs a negative feedback amplifying circuit which uses the servo mapping is brought forward,with amplifying setup and synchronizer equipment to convert the magnetic batch mode and immediate mode heading signal to the standard synchro signal. Meanwhile, we study and symbiotic and alternate according manufacture the SDC and DSC modules which integrate the to grid task flows. multifunction based-on PC-104 bus synchro/digital converting card. In • We carried out simulation the practical operation, we adopt the above-mentioned scheme and experiments based on the excellent calibrate the compass error by the software. The result demonstrates that grid simulation toolkit software the acquisition accuracy of magnetic heading signal reaches 0.1㫦and GridSim ToolKit 4.0. The Mapping Model meets the demands of the navigation accuracy.

73 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪉㪌㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪉㪍㪀㩷㩷 Mean-Shift of Variable Window Based on the New Approach to Selecting Multiple Epanechnikov Kernel Tools for Milling 2.5-D Pockets 1 2 3 Qingchang Guo , Xiaojuan Chang , Hongxia Chu Zhang Yingjie Li Yunlong 1.Automation college Harbin Engineering University , Harbin, Heilongjiang, China School of Mechanical Engineering State Key Laboratory for MSE, 2. Acheng College of Harbin Normal University, Harbin, Heilongjiang, China Xian Jiaotong University, Xian Jiaotong University, 3.Engineering College of Heilongjiang, Harbin, Heilongjiang, China Xian, Shaanxi, China Xian, Shaanxi, China • Selection of Multiple Tools • The convergence of mean shift by Using Scanline Filling produce is proved according to Algorithm. Cauchy Convergence Criterion. • Computation of Cut Area • The whole increasing of the density for Each Tool. according to the Epanechnikov • Computation of Cumulative kernel is proved. Cut Area. • The validity of the algorithm is • Generation of Tool Paths for testified by the experiment. Pocketing with Multiple A 2.5D pocket with complex profile The Segmentation Picture Tools.

㪫㪧㪊㪄㪧㩿㪉㪎㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪉㪏㪀㩷㩷

Research on 3D Shape Reconstruction A Study of Broccoli Grading System Based on using Uneven Defocusing Model Machine Vision and Neural Networks Xiangcheng Chen, Sheng Yang and Yajun Wang Department of Precision Machinery and Precision Kang Tu, Ke Ren, Leiqing Pan and Hongwen Li Instrumentation, University of Scie. and Tech. of China College of Food Science and Technology, Nanjing Agricultural University, Hefei, Anhui, China Nanjing, Jiangsu, China

• The new defocusing model • Introduction. • Image restoration in the new • Materials and methods. model • Results and discussion. • How to evaluate the level of • Conclusions. focusing and defocusing • Acknowledgment • How to get 3D shape The 3D shape we get

㪫㪧㪊㪄㪧㩿㪉㪐㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪊㪇㪀㩷㩷 Bond Graph Approach to the Modeling and An Improved Particle Swarm Simulation of a Two-Axis Pointing and Tracking Optimization System Algorithm with Sentient Mode Dejun Sheng , Dapeng Fan, Hu Luo and Xutao Nie College of Mechatronics Engineering and National University of Defense Technology Ziying Zhang, Rubo Zhang, Liu Xin Changsha, Hunan Province, China College of Computer Science and Technology1,2, Harbin Engineering University Zi Z 3 • A two-axis pointing and b College of Automation , Harbin Engineering University șe Za Payload Oi Harbin, Heilongjiang, China Yi Ze  șa tracking system was Xi investigated. Inner Gimbal I. Introduction

• The kinetic relationship and O II Dissipative PSO Algorithm Ya dynamics model was analyzed Outer Gimbal  șe Ye

șa Ob III. Emotional PSO Algorithm • A bond graph model was Xb Xa ș Yb ș e derived directly from the a Xe Xb IV. Experimental Results and Lagrangian. Yb Line of Sight Base V. Conclusion • 20-sim was used to simulate Comparison of optimizing process the bond graph Two-Axis Tracker on Rastrigrin function

74 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪊㪈㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪊㪉㪀㩷㩷

Chaotic Neural Network Model for Output Fuzzy Control based on Self-adjusted Prediction of Polymer Flooding Parameter for Brushless DC Motor Jianguo Jiang, Kuizhi Shao, Yuheng Wei and Tian Tian Libin Wang, Hui Li,Yongkui Sun Faculty of Electricity and Information Engineering, Daqing Petroleum Institute School of Mechatronic Engineering ., University of Electronic Science and Daqing, Heilongjiang, China Technology of China Chengdu, Sichuan, China • INTRODUCTION • One fuzzy controller is • Establishment of proposed Prediction Model on • Compared with Chaotic Neural Network conventional PID controller • Analysis of Prediction • Simulate the controller in Results Matlab • Conclusion • Verify the proposed algorithm with motorized water ratio curve in northeast block treadmill Running Process of BLDCM

㪫㪧㪊㪄㪧㩿㪊㪊㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪊㪋㪀㩷㩷 Multi-criteria Supplier Evaluation Cerebellar Model Articulation Controller Simple Using Fuzzy AHP Adaptive Control Bohui Pang College of Management, Harbin University of Commerce Shiqi An

Harbin, Heilongjiang, China Start Automation and Electrical Engineering Institute, Qingdao University of Science & Technology Qingdao, Shandong, China Problem definition and data collection • This paper presents a method of Step 1 evaluating supplier, which combines • A kind of new control method, Performance evaluation with AHP method (1) Hierarchy architectures construction Modify pair-wise Cerebellar Model Articulation CMAC both fuzzy sets and analytical (2) Priority weights calculation (3) Synthetic priorities calculation comparison matrixes A Controller hierarchy process (AHP). Step 2 Controller Simple Adaptive Control is N CR<0.1 • Fuzzy logic are employed to recognize proposed. u Y x c m the selection criteria as linguistic Establish the assessment comments set V • In the design, fast learning of e Step 3 u y y u  u y m m p p variables rather than numerical ones Cerebellar Model Articulation Model PID Plant  and AHP is used to determine the Establish the fuzzy single-factor  Step 4 judgment matrix Controller neural network and simple ˉ priority weight of the selection criteria, Calculating the evaluation result and structure of Simple Adaptive Control in accordance with their relative Step 5 synthesizing the solution importance. are combined. Cerebellar Model Articulation Controller End • This method provides a comprehensive • The simulation results show that the Simple Adaptive Control proposed method has fine accuracy, evaluation method for choosing System flow for assessing suppliers’s supplier in supply chain. performance based on fuzzy-AHP dynamic performance and robustness.

㪫㪧㪊㪄㪧㩿㪊㪌㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪊㪍㪀㩷㩷 Modeling of Agent-Based IDSS and Application A Novel Method for Constructing Fuzzy to Water Environment Classifiers by Using SVMs Huang Xifa, Guo Lianying , Wang Kejun Huiling Yu, Liping Sun and Jun Cao China Institute of Sport Science, Northeast Forestry University, Harbin, 150040, China Beijing, China • The method of systematically • A novel approach was proposes to modeling urban river water construct fuzzy classifiers by using environment using Agent technology is proposed SVMs. • Several kinds entities of the system are designed using Agent • The link between fuzzy rules and modeling technology kernels is established. • A frame structure of multi-Agent Intelligent Decision Support • The new fuzzy classifiers do not System (IDSS) of urban river water environment is set up have to determine the number of • The procedure of offering rules in advance. decision are given Workflow of the system

75 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪊㪎㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪊㪏㪀㩷㩷 The Improvement of Ant Colony Algorithm A Novel Fuzzy Kernel Clustering Algorithm for Based on the Inver-over Operator Outlier Detection Xiaojun Bi, Guangxin Luo Hongyi Zhang, Qingtao Wu, and Jiexin Pu College of Information and Communication Engineering, Harbin Engineering University Henan University of Science and Technology Harbin, Heilongjiang, China , Henan, China • For low searching rate and easy getting • Introduction into a local optimization, a kind of improved ACA based on the inver- • Kernel fuzzy k-means over operator is proposed. clustering algorithm for outlier • It is simulated on TSP problems with 30 nodes, 50 nodes and 75 nodes, and detection compared with classic ACA and ACA • The improved kernel fuzzy k- with cross operator. • The results showed that the improved means clustering algorithm algorithm has better global searching The Gene Graph ability, and higher global convergence • Simulation rate. • Conclusion • The more complex the problems are, the better performance the method has. Improved ACA

㪫㪧㪊㪄㪧㩿㪊㪐㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪋㪇㪀㩷㩷 The Research of Mathematical Model of Six-Phase A Fuzzy Neural Network Control System Based Double Y-Coil Synchronous Motor Based on on Embedded System

Vector Control Xiaoying Meng, Yuening Tang, Yan Li, and Jia He Zhang Jingnan, Cong Wang, Li Jin, and You Jiang Department of Computer Science and Technology, Harbin University of Science and Automation College, Harbin Engineering University Technology, Harbin, Heilongjiang Province, China Harbin, Heilongjiang, China • A new simplified mathematical model Application programs based on vector control is proposed in • The adaptive fuzzy neural network. this paper. • An embedded system platform. real time operating • The vector control system of the motor • The hardware platform system with propeller load based on the air gap • The hardware platform flux linkage control is established. Board Support Package • A real example. • The proposed model provides a general Hardware platform Based method to establish model for other Y- Air gap flux linkage < and on ARM core coil motors with different phases as well. G Framework of the embedded system load angle ML

㪫㪧㪊㪄㪧㩿㪋㪈㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪋㪉㪀㩷㩷 Developing Full-digital Servo System for RSP A New Method of Reducing Slid-ship’s Based on PMAC Dolphin" Movement" Phenomenon Xuhui Zhang, Hongwei Ma, and Juan Tong Shuang Gao, Qi-dan Zhu, Lei Li and Xian Wu Department of Mechanical Engineering ,Xi’an University of Science and Technology 406Lab., Automation College, Harbin Engineering University Xi’an, Shanxi Province, China Harbin, Heilongjiang, China • Follow-up control of printing machine must smooth without big error of velocity or position. • Introduction the development of • A servo system based on PMAC is proposed to insure printing reducing the pitching roll speed following in Multi-color printing. • Analysis the dynamical and • Analyzed model of RSP. kinematical model, and get the • Testing on the testbed shows the way is reasonable and applicable waves force and moment • Design the fuzzy PID Controller • Simulate the system with waves PMAC-based Control of RSP interferences • Get the conclusion

76 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪋㪊㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪋㪋㪀㩷㩷

Chaotic Synchronization of Adaptive Inverse Control Based on Adaptive Nonlinear Filter Algorithm Hybrid Particle Swarm Optimization Algorithm Based On Current Statistical Model wei liu Lihui Wang, Qidan Zhu, Zhuoyi Xing College of Electrical Information Engineering, Institute of Daqing Petroleum, College of Automation, Harbin Engineering University Heilongjiang, China Harbin, Heilongjiang, China

• A control construction approach of adaptive • It is presented a new adaptive inverse control based on a novel hybrid 2.5 2 nonlinear filter algorithm in this particle swarm optimization is proposed for 1.5 achieving chaotic synchronization under the 1 paper. condition of noise perturbation. 0.5 ( n) ƍ 0 • The algorithm can compensate the ,x n) • First, the chaotic synchronization control x( -0.5

system structure is introduced. -1 defect of the current statistical • Next, using the proposed algorithm -1.5 model algorithm. optimize radical basis function neural -2 -2.5 0 50 100 150 200 250 300 350 400 networks. n • The simulation and experiment • finally the identified controlled device and show that the algorithm has trained sending controller are presented to Sampled elements of x(n) Nonlinear filter position construct the adaptive inverse controller excellent tracking characteristic. construction. error experiment result

㪫㪧㪊㪄㪧㩿㪋㪌㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪋㪍㪀㩷㩷

Study on Fault-tolerant Filter Algorithm for Course and Turn-rate Coordinated Control Research on an Air Cushion Vehicle Integrated Navigation System Mingyu Fu, Fuguang Ding, and Xiaocheng Shi Fengyang Duan, Hao Wang and Lijing Zhang Automatic College of Harbin Engineering University, Harbin, China Department of Control Engineering Air Force Aviation University • The nonlinear backstepping control methods Changchun, Jilin Province, China are researched on the motion control of an ACV. Position Estimatio • The results show that the backstepping n Error control law for the course and turn-rate owns 䃂The position estimation error good performance robust even though the coefficients of the model changed. when the information sharing Local Filter1 coefficients are adjusted on line by • The course and turning-rate coordinated control strategies are researched for the the expert system using soft at by Fusion course-keep. Algorithm 500steps • The results show that the turn-rate and slide both are in the safe range by use course and State vectors structure for course keep

Local Filter2 turning-rate coordinated control strategies, and in the same time, the control results for the course shows perfect .

㪫㪧㪊㪄㪧㩿㪋㪎㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪋㪏㪀㩷㩷 UPF Tracking Algorithm Based on Color Fault Feature Extraction Using Redundant Lifting Distribution and Simulated Annealing Scheme and Independent Component Analysis Jin Li, Hong Yu, Lulu Zhou, Hong Liang and Lei Wang Automation College , Harbin Engineering University Hongkai Jiang, Zhongsheng Wang Harbin, Heilongjiang, China School of Aeronautics, Northwestern Polytechnical University • In human body tracking, the quick and Xi’an, Shangxi, China reliable position estimation is difficult and plays an important role.

• Redundant predictor and IC1 • A new tracking algorithm for human updater design. body tracking, which is the unscented

particle filter based on color • Redundant lifting scheme IC2 distribution and simulated annealing, is construction. proposed in this paper. • The computational cost of the UPF is • Fast independent component IC3 very great. analysis design. A pedestrian sequence Time (s) • For reducing computational cost, the • Engineering application. Fig. 4 The Separation Results of De-noised UPF is combined with color Vibration Signals distribution and simulated annealing.

77 IEEE ICMA 2007 Conference Digest

TP3-P: Poster Session II cont.)(

Session Chairs: Hisa yuki Aoyama, The Univ. of Electro-Communicatins Kejun Wang, Harbin Engineering Univ. Poster Area, 17:20-17:50, Tuesda y, 7 August 2007

㪫㪧㪊㪄㪧㩿㪋㪐㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪌㪇㪀㩷㩷 Detection of DS-SS Signal Using Parallel Filter Banks Stereo Matching Using Dynamic Programming and High-Order Cumulants Based on Occlusion Detection Tangxing Liu, Hongbing Ji, Junhui Luo Huahua Chen School of Electronic Engineering, Xidian University College of Communication Engineering, Hangzhou Dianzi University Xi’an, Shanxi, China Hangzhou, China • DS-SS signal: Direct Sequence Spread Spectra. • Horizontal streaks in DPSM 1 j2S(i1)n algorithm mainly result from h(n) h (n)exp( ) •i L 0 L The filter banks smoothness constraint dependent on can split the input signal into many the boundaries. U x x narrow frequency bands and 3,1 x U3,2 x • Non-object boundaries from edge improved SNR. x(n) x U x x detection result in smoothness U ()kC ˆˆ (0,0;) kC (1,1;) k 3,L •3,ii 3, 3, i High-order constraints excessive or weak. cumulants have the excellent performance suppressing Gaussian • Replace edge detection with noises. occlusion detection and rectify The overview of the proposed smoothness constraints. • Combining filter banks and high- signal processing order cumulants, we can obtain • The proposed algorithm improves satisfying detection results. And the performance and has much better Pd>0.8 under RSD=0.02. result than the traditional. Results Comparison

㪫㪧㪊㪄㪧㩿㪌㪈㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪌㪉㪀㩷㩷 The Performance Analysis of Rapid PN Code A Survey of Using Sign Function to Improve The Acquisition using Iterative Message Passing Performance of EASI Algorithm Algorithm Lianxi Yuan1 and Zhuomin Sun2 1College of Underwater Acoustic Engineering, Dingjie Xu , Guoqing Zhao and Zhuoqi Yu 2College of International Cooperative Education Automation College, Harbin Engineering University Harbin Engineering University, Harbin, Heilongjiang, China Harbin, Heilongjiang, China • The paper analyses the simple serial • Introduction. acquisition and hybrid acquisition. • Then , the paper introduces a new  • Problem Statement of BSS. from x acquisition method called rapid PN M 16 • EASI Algorithm and Its code acquisition using iterative  x x  x x x x x message passing algorithm (IMPA). 0 1 14 15 16 M 1 M Update. Factor graph of 15-stage m sequence • Simulation results show that the • Experiment Results. average acquisition time of rapid PN code acquisition using IMPA is • Conclusion Comparison of Convergence Rate much faster than both serial and hybrid search strategies. Performance by Two Algorithm

㪫㪧㪊㪄㪧㩿㪌㪊㪀㩷㩷 㪫㪧㪊㪄㪧㩿㪌㪋㪀㩷㩷 Identification of Degraded Traffic Sign Symbols Online Neural-net Control System for Ship Using Multi-class Support Vector Machines Motion Stabilization Lunbo Li, Guangfu Ma, and Shuyan Ding Dept. of Control Science and Engineering, Harbin Institute of Technology Yang Xuejing, Li Peng and Peng Xiuyan Harbin, Heilongjiang, China Automation College, Harbin Engineering University Harbin, Heilongjiang, China • The classification of degraded traffic sign symbols is considered in this paper. • Introduce ship motion, caused by F(k) • The combined blur and affine invariants u (k) sea wave, wind and current, which Ie e Ie is dangerous for navigation. of the degraded traffic sign symbols are selected as the feature vectors. u (k) • Analyze disturbance model of roll e Ii F(k) • The classification experiments on the and yaw for ship motion. Ie • Design the self-organizing neural- traffic signs with multilayer peceptron Iq net control system and present its u(k) network and M-SVMs classifier show training process. F(k) that the classifier based on M-SVMs • Show simulation results on HD702 algorithm has higher classification ship. Control System accuracy and better generalization Ideal Traffic Signs performance than BP network.

78 Wednesday August 8, 2007 㩷 㩷 Morning Sessions 㩷 WA1-1 Parallel Manipulators II WA1-2 Applications of Micro and Nano Technology WA1-3 Vibration Control WA1-4 Intelligent Control I WA1-5 Control Technology WA1-6 Sensing Systems II WA1-7 Analysis and Design of Mechatronic Systems III WA1-8 Signal Processing Applications III WA1-9 Mechatronic System Modeling III WA1-10 Navigation I WA1-11 Distributed Systems WA2-1 Parallel Manipulators III WA2-2 Actuators I WA2-3 Positioning Control WA2-4 Intelligent Control II WA2-5 H_inf Control WA2-6 Sensing and Measurement I WA2-7 Analysis and Design of Mechatronic Systems IV WA2-8 Signal Processing Applications IV WA2-9 Optimization WA2-10 Navigation II WA2-11 Human Interface 㩷 㩷 㩷 㩷 㩷 㩷 㩷

79 㩷 㩷 㩷 㩷 Afternoon Sessions 㩷 WP1-1 Manipulator Control WP1-2 Actuators II WP1-3 Control Applications I WP1-4 Fuzzy Control WP1-5 Control Theory II WP1-6 Sensing and Measurement II WP1-7 System Integration WP1-8 Signal Processing Applications V WP1-9 Modeling and Detection WP1-10 Space and Aerial Systems WP1-11 Human Recognition and Control WP2-1 Control of Mechatronic Systems WP2-2 Pipe Inspection Robots WP2-3 Control of PMSMs WP2-4 Control Applications II WP2-5 Fault Diagnosis WP2-6 Control Theory III WP2-7 Sensing and Measurement III WP2-8 Power Technology WP2-9 Image Processing Applications WP2-10 Manufacturing Modeling WP2-11 Industrial Robot Systems 㩷

80 IEEE ICMA 2007 Conference Digest

WA1-1: Parallel Manipulators II

Session Chairs: Daniela Vassileva, Gifu Univ. Li Ma, Shanghai Univ. Room 1: Bei jing, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪈㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪈㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 The 4SPS-2CCS Generalized Stewart-Gough A Family of Novel 2 DOF Rotational Decoupled Platform Mechanism and Its Direct Kinematics Parallel Mechanisms Xiguang Huang, Qizheng Liao, Shimin Wei, Qiang Xu and Shuguang Huang School of Automation, Beijing University of Posts and Telecommunications Daxing Zeng, Zhen Huang, and Wenjuan Lu Beijing, China Robotics Research Center Yanshan University Qinhuangdao, Hebei, China z m D3 • Presents the 4SPS-2CCS generalized y E o Stewart-Gough platform Mechanism D D and its direct kinematics. Prove that x A L l the direct kinematics problem has at • This paper presents a family of novel 2 2 J 3 DOF rotational decoupled parallel L most 160 non-singular solutions. 1 mechanisms. • The use of quaternion, in stead of C • The U-PRU-SPS decoupled parallel Z using Euler angle rotation matrix, l mechanisms is chosen as an example 2 X O B can reduce the Bezout number of the and its motion feature is researched 3 equations and the calculation time. with the constraint screw method. Y • Building the theory basis for • The kinematics and decoupled feature M B dimensional design, trajectory of this DPM is analyzed. planning and control of this type of The 4SPS-2CCS GSP Mechanism The frame systems of manipulator. the U-PRU-SPS PM

㪮㪘㪈㪄㪈㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪈㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 Performance Analysis and Error Compensation Self-Calibration and Error Compensation of of a 6-DOF Parallel Robot Flexible Coordinate Measuring Robot Li Ma1, Weiming Cheng2, Weibin Rong3 and Lining Sun3 Liu Wanli1 Qu Xinghua1 and Yan Yonggang2 1. Dept. of Precision Mechanical Engineering, Shanghai University, Shanghai, China 1. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, 2. School of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai, China Tianjin, China; 2. Precision Engineering Institute, Henan Polytechnic University, , China 3. Robotics Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China • A 6-DOF precise parallel robot with • A self-calibration method, based on relative structure of HTRT is presented. measurement instead of Cartesian • Inverse kinematic solution, Jacobin matrix, and workspace of the end-effector are coordinate measurement, is proposed to discussed. calibrate flexible coordinate measuring robot • In order to achieve high accuracy, an error on the manufacturing industry. compensation method for the parallel robot using back propagation neural networks • A general methodology and experimental (BPNN) is developed on the basis of error analysis. system are developed to calibrate measuring • Experimental results show that the pose robot’s thermally-induced parameter errors. accuracy of the parallel robot was improved The 6-DOF Parallel Robot by more than 60% after error compensation. • Using this technique to calibrate measuring • A series of optical assemblys demonstrate robot, the measuring accuracy of robot has that the parallel robot is suitable for been sharply improved 3 times. performing precise manipulation. Flexible coordinate measuring robot

㪮㪘㪈㪄㪈㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪈㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Development of CAD/CAM System for Calibration of a Steward Platform Manipulator Parallel Kinematics Machine (PKM) Using Genetic Algorithm Xuwei Guo, Liquan Wang , Zhixing Wang and Wentao Liu, Bin Liang, Yanshu Jiang Cheng Li, Lijun Xue, Songhua Hu School of Mechanical and Electrical Engineering , Harbin Engineering University Dept. of Control Science and engineering Harbin Institute of Technology Harbin, Heilongjiang, China Harbin, Heilongjiang Province, China • The general structure of the CAD/CAM • Present a new calibration method system oriented to 7-axis PKM is put of the parallel robot using genetic forward, the information flow and key algorithm (GA). algorithm of the CAD/CAM system • Adopt evaluating inverse software is presented. kinematics for Calculation of • The system software is modularized and measurement residuals functionally described. • Calibrate the steward parallel • Some key techniques in NC programming robot considering the influence of measurement noise . of PKM such as generating techniques of trajectory, post processing and simulating • Robots’ pose (position and techniques are analysed. orientation) accuracy has a The Steward Parallel Robot The 7-axis parallel-serial • The detailed experimental verification of significant improvement. machining system the CAD/CAM system are made.

81 IEEE ICMA 2007 Conference Digest

WA1-2: Applications of Micro and Nano Technology

Session Chairs: Tatsuo Arai, Osaka Univ. Liguo Chen, Harbin Inst. of Tech. Room 2: Shan ghai, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪉㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪉㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Considering Van Der Waals Forces in Study on Electrocrystallization of Pulse Micromanipulation Design Micro-electroforming in UV-LIGA Lining Sun, Lefeng Wang, Weibin Rong, and Liguo Chen Ligeng Shao, Liqun Du and Liding Wang Robot Research Institute, HIT Lab. for Micro/Nano Technology and System, Dalian University of Technology Harbin, Heilongjiang, China Dalian, Liaoning, China • Origins and magnitudes of van • The intermediate metal atoms can der Waals forces. 350 convert into crystal seeds, the crystal Van der Waals force • Van der Waals forces in typical 300 Gravitational force seeds form nuclei at the growth steps. 250 • The overpotential is the primary kinetics N

micromanipulation P 200 factor to electrocrystallization in the configurations. 150 Force/ course of pulse micro-electroforming. • Factors affecting the van der 100 50 • When the energy that the system Waals forces in 0 0 200 400 600 800 1000 supplied to electrocrystallize reaches The nucleation model micromanipulation. Radius/Pm equilibrium with the sum of surface free on depositing surface • Van der Waals adhesion Magnitudes of van der Waals forces energy and system free energy, the grains size closes to a constant consideration in ultimately. micromanipulation design.

㪮㪘㪈㪄㪉㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪉㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 New Hybrid Two-Fingered Micro-Nano Manipulator Automatic Vision Guided Small Cell Injection: Hand: Optimization and Design Ahmed A. Ramadan, Kenji Inoue, Tatsuo Arai, and Tomohito Takubo Feature Detection, Positioning, Penetration and Systems Innovation Dept., Osaka University, Osaka, JAPAN Injection • Synthesis and design optimization Yanliang Zhang, Mingli Han, Chen Yap Shee, Tet Fatt Chia and Wei Tech Ang Biorobotic Research Lab., Nanyang Technological University of hybrid two-fingered micro-nano Singapore manipulator hand is presented. • A new closed form solution for • Modified SSD feature tracking algorithm inverse kinematics problem of the • Cell membrane penetration modeling total mechanism is derived. • Modified robust proportional position • An optimization program has been

control Controller developed to choose the optimal • Piezoelectric actuator control design parameters. Vision Guided Cell Injection System • A CAD model and its realization prototype have been built based on the optimally chosen parameters. Hybrid Two-Fingered Hand Architecture

㪮㪘㪈㪄㪉㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪉㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 An Integrated Parallel Micromanipulator with Flexure Hinges for Optical Fiber Alignment Multiple-Goal Kinematic Optimization of 2 DOF Zhenhua Wang, Liguo Chen, Lining Sun Robotics Institute, Harbin Institute of Technology Micro Parallel Robots Harbin, Heilongjiang, China Sergiu Stan, Vistrian Maties, Radu Balan • The micromanipulator is designed based on Dept. of Mechanics and Computer Programming., Technical Univ. of Cluj-Napoca, Romania integration of mechanism, driver and measurement. • The 6-SPS mechanism is used to develop the parallel robot, the mechanical parameters of • A multiple-objective optimum the structure are optimized, and the working design procedure for parallel space and stiffness analysis is given . • Then the modularization of driver and sensor robot is outlined by using and the controller are integrated together with optimality criterion of our own defined internal bus . workspace, transmission quality • the pose of the parallel robot is measured in open loop control and close loop control index and numerical aspects . The GUI for calculus of condition, and the error compensation is executed . • Optimization was performed workspace for the planar using Genetic Algorithms 2 DOF micro parallel robot • Experimental results indicate that the liner Integrated parallel micromanipulator precision of the system is 10nm and the optimization methods. rotation precision of the system is 0.0001㫦

82 IEEE ICMA 2007 Conference Digest

WA1-3: Vibration Control

Session Chairs: Juntao Fei, Univ. of Akron Hongsheng Hu, Univ. of Jiaxing Room 3: Han gzhou, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪊㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪊㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Time-Optimal Control of an Electrostatic Adaptive Vibration Control Schemes for Suspension for 4-inch Silicon Wafer Flexible Structure Hung Manh Ngo, Bong Woo Baik and Jong Up Jeon Juntao Fei Department of Mechanical and Automotive Engineering University of Ulsan Department of Mechanical Engineering, University of Akron San 29 Mugeo-dong, Nam-ku, Ulsan, Korea Akron, OH, U.S.A • Adaptive control scheme and • Electrostatic suspension system is used to +V +V -VON -VOFF OFF ON demonstration of applications

directly levitate an object by controlling a 2.5 uncontrolled controlled switching voltage to electrodes incorporating in vibration control. 2

1.5 with a time-optimal controller. Controller SW2 SW1 SW3 SW4 • The dynamic model of the flexible 1 +Vh -Vh • Simple, reliable and cost-effective system Sensor 0.5 z cantilever beam using finite Volt) and possibly implemented in (ultra) high 0

Electrode Amplitude ( vacuum environment. element model. -0.5 y -1 • Only use a dc high-voltage power supply, • Adaptive feedforward control -1.5 instead of dc high-voltage amplifiers. -2 scheme using least mean square -2.5 0 5 10 15 20 25 30 35 40 x Suspended Time Second)( • Simulation and experimental results clearly Object algorithm. demonstrate the effect of the proposed 1-DOF Electrostatic Comparison figure • Model reference adaptive control control. Suspension System algorithm.

㪮㪘㪈㪄㪊㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪊㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 Multi-Degree-of-Freedom Hybrid Control Research on the Turning Vibration Control System for High Technology Facilities System Based on GMA Guoping Li, Junhuan Lin, Xiaobing Pan, Yanding Wei Yong Wang and Hongjun Liu Ningbo University Zhejiang University Department of Urban and Civil Engineering Harbin Institute of Technology Shenzhen Graduate School The system is composed of PC, I/O Shenzhen, Guangdong, China module circuits, power amplification Horizontal actuator Vertical actuator • The developed device consists of a A8X A3Z circuits, vibration detection sensor,

A4Z A7Y table, eight magnetostrictive AS4 AS5 GMA, et. al. When machine tool Table Y Air spring starts working and cutting vibration

actuators, and five air springs. X 1500 AS5 is bring on, the sensor can acquire AS1 AS2 • Modelling of magnetostrictive A2Z

A5Y the changed displacement signal actuator and air spring. A1Z A6X 2000 between tool and work piece.

Table According to the signal from the • Design of LQG control system. Z Rubber X 250 A1Z A6X 500 sensor and designed control The system of turning vibration control • Matlab simulation studies. Base plate AS1 AS5 AS2 A2Z algorithm, the computer export a • Comparison with vibration control Structure diagram suitable control signal to drive the performance GMA for vibration cancellation.

㪮㪘㪈㪄㪊㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪊㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Self-sensing Piezoelectric Actuator for Active Application of the Electrode System Intelligent Vibration Control Based on Adaptive Filter Controller for Ladle Furnaceon Hu Hongsheng, Qian Suxiang, and Qian Linfang Shifeng Zhang and Kun Li and Peng Li and Zhenxin Zhang Department of Mechanic and electronic Engineering, University of Jiaxing Department of Electrical Engineering & Information Jiaxing, Zhejiang, China Anhui University of Technology, • Introduction. Maanshan , Anhui Province 243002 China • The active vibration control • Towards electrode control system of LF physical model. furnace, a adaptive inverse control • The signal separating algorithm algorithm based on RBF NN is presented.. based on LMS filter. • which identifies real-time and decoupling by RBF NN on-line, and designs a • The self-sensing signal computer control system based on control separating system design and software of WinAC. develop based on the adaptive • The results of application show that this LMS filter. The schematic of the system is able to adapt with load change and The control system have a good • The experimental simulation experiment set up The schematic block of control system tacking characteristic.

83 IEEE ICMA 2007 Conference Digest

WA1-4: Intelligent Control I

Session Chairs: Bao Kha N guyen, Univ. of Ulsan Hugang Han, Prefectural Univ. of Hiroshima Room 4: Wuhan, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪋㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪋㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍

Internal Model Control for Shape Memory Alloy Constraint on Fuzzy Controller with Actuators using Fuzzy Based Preisach Model Relaxing LMIs Conservatism Nguyen Bao Kha, Kyoung-Kwan Ahn, Young-Jin Yum, Hugang Han, Chun-Xiang Chen, and Toshijiro Tanaka Shah Md. Mahfuzur Rahman, Jin-Hyuk Son School of Mechanical and Automotive Eng., Department of Management Information System, University of Ulsan, Korea Prefectural University of Hiroshima, Hiroshima, 734-8558 JAPAN Phone/fax: +81-82-251-8560; email: [email protected] This paper deals with stability analysis and control design for a class of nonlinear systems with input constraint when using T-S fuzzy model. One of results is shown in the left graph, where the ellipsoids are areas for system stability in which the Internal model control for hysteresis compensation of larger ellipsoid is gotten by the method proposed in this paper, while the smaller Shape Memory Alloy actuators. one is from the regular method.

㪮㪘㪈㪄㪋㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪋㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 Automatic Transcription Method for Polyphonic Reliable H-infinity Control for Nonlinear Music Based on Adaptive Comb Filter and Neural Systems Based on Fuzzy Control Switching Network Aiqing Zhang and Huajing Fang Zheng Guibin, Liu Sheng Department of Control Science and Engineering, Huazhong University of Science School of Automation, Harbin Engineering University and Technology, Wuhan, Hubei Province, China Harbin, Heilongjiang, China This paper presents a method to • Modelling: Based on Takagi-Sugeno (T-S) fuzzy model , a transcribe polyphonic music as class of switched system is constructed to model various follows: faulty nonlinear systems with different actuator fault mode. • Firstly, the input audio is divided • The objective : Design a state-feedback switching controller into snapshots by a BP network; such that the faulty switched system is asymptotically stable with H-infinity disturbance attenuation for arbitrary switching • Secondly, comb filters of different laws. notes are used to calculate features. • Results: Linear matrix inequality (LMI) sufficient conditions • Thirdly, note energy, audible of existence and design method of reliable H-infinity harmonic number and harmonic switching fuzzy controller are obtained by using switching continuity obtained from filter are Lyapunov function method. input into a BP network to recognize notes in snapshot. Onset detecting method

㪮㪘㪈㪄㪋㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪋㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Hybrid Training of Recurrent Fuzzy Neural System Identification and Self-Tuning Pole Network Model Placement Control of The Two-Axes PAM Mojtaba Ahmadieh Khanesar, Mahdi Aliyari Shoorehdeli, Mohammad Teshnehlab Manipulator Optimized by Genetic Algorithm K.N.Toosi University of Technology, Tehran, Iran Kyoung Kwan Ahn , Ho Pham Huy Anh School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea • The main problems of Gradient Descent algorithm for the training of RFNN are: instability problems, • In this paper, modified pole placement control of the 2-axes PAM manipulator is proposed. Local Minima, insensitivity to long • Proposed control scheme is initially applied to the term dependencies. independent control of the PAM manipulator joint angle position. • Proposed Algorithm: PSO + GD • Proposed pole placement controller utilizes a 2nd order approximation of the PAM manipulator ARX • PSO is a global optimizer so less model. • Parametric values of ARX model are optimized by a local minima problems may occur modified genetic algorithm (MGA). also less instability problems • Simulation and experiment results demonstrate the The structure of Recurrent excellent performance of the proposed control scheme. happened. These results can be applied to model, identify and Fuzzy Neural Network Model control other highly nonlinear systems as well. Configuration of The 2-Axes PAM Manipulator

84 IEEE ICMA 2007 Conference Digest

WA1-5: Control Technology

Session Chairs: Gancho Vachkov, Ka gawa Univ. Brandon Gordon, Concordia Univ. Room 5: Beihai, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪌㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪌㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Optimal Control of a Bleed Air Temperature Application of a PID Controller Regulation System using MRAC Techniques L. Shang and G. Liu for Control of the DC Electromotor Drive Department of Aerospace Engineering, Ryerson University Toronto, Canada Ai Xiong1,2 , and Yongkun Fan1,2 • This paper investigates temperature 1. Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China control of an aircraft engine bleed air 2. Graduate School of the Chinese Academy of Sciences, Beijing, China system, aiming at reducing ram air usage to reduce fuel consumption while • Device aging and maintaining fast temperature control environmental factors of response. the control system. • To achieve both of the objectives, a system configuration is designed to • PID control and model control both ram-air and bypass flows. Ram air & Bypass configuration reference adaptive control (MRAC) with the MIT • The analytical equations describing the system dynamics are derived and rule. utilized in developing the overall bleed air system model. Optimal state feedback • Two-loop servo control control and output feedback control are investigated, and the proposed control system with current-loop. configuration and strategy are shown to be effective in minimizing ram air usage The test platform of the PID • Autotuning of controller and maintaining fast temperature control in the meantime. parameters in real-time. controller using MRAC techniques

㪮㪘㪈㪄㪌㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪌㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉

A New Distributed Control Scheme of Modular Optimal Vibration Control of a Plate and Reconfigurable Robots in Presence of Colored Noise Disturbances MingChao Zhu, Ying Li, and YuanChun Li Farzad A. shirazi, Masoud Mohammadi Department of Control Science and Engineering, JiLin University Department of Mechanical Engineering ChangChun, JiLin, China Ashkan Rahimikian • A distributed control scheme is Department of Electrical Engineering, University of Tehran, Tehran, Iran proposed to satisfy the concept •Introduction of modular software. • Derivation of equations of • A robot dynamics system is modified LQG controller divided into some subsystems • Application in a smart by a decomposing algorithm. plate • A sliding mode controller with • Simulation results and an adaptive scheme is designed Distributed Computing Network conclusion for each subsystem. Smart plate with piezo actuators

㪮㪘㪈㪄㪌㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪌㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏

Study on IGBT Inverter Power Supply for CO2 Arc Temperature Control of Energetic Swarms Welding and ARM Based Waveform Control Reza Pedrami and Brandon W. Gordon Department of Mechanical and Industrial Eng., Concordia University Jinhong Zhu, Hongxin Shi, Xinxia Li and Kaitong Lu Montreal, Quebec, Canada School of Materials Science and Engineering, Henan University of science and technology Luoyang, Henan, China • Studies on a continuous 10 0.8 8 Center trajectory 0.7 energetic swarm problem Desired Trajectory • An IGBT inverter-type power supply 6 • Introducing a new swarm 0.6 for CO2 arc welding was developed, 4 0.5

temperature variable 2 J) using LPC2131 embedded ARM unit to

m) 0 0.4

• Developing temperature Y ( realize output waveform control. -2 controller such that swarm tracks ( temperature 0.3 • Essentially it is a constant current -4 desired trajectory with desired 0.2 power supply, and can track reference -6 0.1 temperature -8 output current during short-circuit -10 0 • Discussion on swarm cohesion -5 0 5 0 5 10 15 20 period in accordance with physical X (m) time (s) • Advantage of temperature transfer process. Temperature Control • Welding experiments proved the control in coverage path process was improved with reduced Block diagram of control system planning problem spatters and satisfying weld bead.

85 IEEE ICMA 2007 Conference Digest

WA1-6: Sensing Systems II

Session Chairs: Ko yu Abe, Tohoku Univ. Yin Zhang, Kunming Univ. of Science and Tech. Room 6: Shenzhen, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪍㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪍㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Development of Passive Force Display Glove Error Analysis of a 3D Ultrasound-based System and Its Improved Mechanism Robotic System for Hepatic Tumors Wataru Nozaki, Ken’ichi Koyanagi, Toru Oshima, Takayuki Matsuno, and Noboru Momose Jing Xu1, Xiangdong Yang1, Senqiang Zhu1, Ken Chen1, Yang Wang2 and Ping Liang2 Department of Intelligent Systems Design Enginnering., Toyama Prefectural University Kurokawa 5180, Imizu City, Japan 1 Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, China 2 Department of Ultrasound , General Hospital of PLA, Beijing , China • Displayed force was generated by ജⷡឭ␜䉫䊨䊷䊑䈱ᄖⷰConnection point Electromagentic with Robot arm electromagnetic brakes. Brake • Using only passive element to Bend sensor z Propose a 3D ultrasound-based robotic display the force ensured safe and FEP-tube system for hepatic tumors . low development cost. z Analyse the factors that affect the • The electromagnetic brake was potentiometer accuracy of whole robotic system . able to display bigger force than a z Test the accuracy of robotic system . motor from a safe side. Guide Parts • Wearing the PFDG felt relatively Force sensor easy New Passive Force Display Glove Overall System Architecture

㪮㪘㪈㪄㪍㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪍㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉

Eigenfrequency Shift of Micro-sensor with the Overload Protection Mechanisms Concentrated Mass and Spring for Force Detecting Beam in a Force Sensor Yun Liu and Yin Zhang Koyu Abe and Masaru Uchiyama Faculty of Information and Automation, Kunming University of Science and Technology Kunming, Department of Aerospace Engineering Yunnan Province 650051, China; State Key Lab of Nonlinear Mechanics (LNM), Institute of Graduate School of Engineering, Tohoku University Mechanics, Chinese Academy of Sciences, Beijing 100080, China. Aobayama 6-6-01, Sendai 980-8579, Japan • The eigenfrequency shift due to mass adsorption is the mechanism of • Overload prevention is mass sensing. important for a force sensor to avoid fatal damage due to • How to compute the shift correctly unexpected external forces. and fast is vital to the mass sensor applications. • Slit type beam structure can • An efficient algorithm called finite be realized for overload mode transform method (FMTM) on protection mechanism without the computation of eigenfrequency any other parts. shift is introduced. A bead on a micro-cantilever sensor

㪮㪘㪈㪄㪍㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪍㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Analysis of Sensitivity for Six-Axis Force/Torque Pendulum Micromechanical Angular Sensor Based on Stewart Platform Accelerometer With Force Feedback Li Jianli1,Fang Jiancheng2 and Sheng Wei3 Gui-Lin Chen, Shuoyu Wang, Zhenlin Jin and Xinping Guan Department of the Instrument Science and Optic Engineering, Beijing University of Aeronautics Department of Intelligent Mechanical Systems Engineering and Astronautics,Beijing, China Kochi University of Technology, Japan • Two anchors;A pendulum with

• Introduction masses;A pair torsion-spring Z Mass Torsion spring device • Six-axis Force/Torque Sensor beams;The differential-capacitor Y X Structure device;The electrostatic force Anchor device. Substrate • Analysis of Sensitivity Isotropy. • Pendulum brings inertial torque • Performance Atlases by sensing the angular acceleration. The capacitance • Conclusions Pendulum Differential capacitor changes proportion to the torque device Electrostatic force and be exchanged to voltage. device The Six-Axis Force/Torque Sensor • The angular acceleration can be estimated by way of testing angular accelerometer output of the sensor.

86 IEEE ICMA 2007 Conference Digest

WA1-7: Analysis and Design of Mechatronic Systems III

Session Chairs: Hua Qiu, K yushu Sangyo Univ. Dongyan Shi, Harbin Engineering Univ. Room 7: Chan gchun, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪎㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪎㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 A Practical Approach to Estimating Corner Errors in Contour Cutting with Machining Center Setting Up and Simulation of SUV Full Vehicle Hua QIU1, Akio KUBO1 and Chang-Jun LIN2 Handling Stability Based on Multibody Dynamics 1 Department of Mechanical Engineering, Kyushu Sangyo University, Fukuoka City, Japan QIN DongChen1,2 䋬PAN Xiao3 䋬CHEN Liping2 䋬ZHONG Yifang2 2 Department of Mechanical Engineering, Fukuoka University, Fukuoka City, Japan (1. College of Mechanical Engineering , Zhengzhou University , Zhengzhou

Y B Estimated trajectory 450002䋬China䋻 • A simple and convenient experimental Measured trajectory approach has been developed to identify the Path I 2. CAD Center䋬Huazhong University of Science and Technology䋬Wuhan values of control parameters in ACC/Dec 430074䋬China䋻 procedure for a MC. Only a few simple and The results of the easy trajectory measurements to linear feed A verification 3. Nissan Automobile Limited Corporation 䋬 Zhengzhou 450016 䋬 China) motion of the MC are required and the data C X experiments operation is fairly easy. 1. Based on multi-body dynamics • The verification experiments have been technique, a full vehicle multi-body D performed to examine the effectiveness of the 5 mm Estimated feed rate curve proposed approach. The comparison of the Path I Measured feed rate curve model and a suspension for a SUV estimated corner errors with the measured 4000 X-Y plane ones sufficiently demonstrates the Y Y type is established in this paper. practicability of the approach. 2. The handling stability is simulated  (mm/min) (mm/min) X v • The proposed approach is also applicable to v with ADAMS based on three the NC apparatuses different from that dealt 0 with in this paper. In such situation, only a  methods of the open-loop model for little addition work is required, i.e. Y  stability estimation, and some useful establishing some suitable equations which X X match the control rule of ACC/Dec procedure 4000 conclusions are drawn. 0 0.5 1 1.5 2 2.5 3 with the apparatus. t (sec)

㪮㪘㪈㪄㪎㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪎㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 Study on the Analytic Calculation Method The Dynamic Characteristic Analysis of the of Throttle Slice Deformation Piezoelectric Intelligence Structures Changcheng Zhou1ˈ2, Baojiang Kang1, Liang Gu 2 1 School of Transport and Vehicle Engineering, Shandong University of Technology, Dongyan Shi, Ming Zhang Zibo, Shandong Province, China; School of Mechanical and Electrical Engineering, Harbin Engineering University 2 School of Mechanical and Engineering, Beijing Institute of Technology, Beijing , China Harbin, Heilongjiang, China • A new K-shape structure-intelligent • The deformation analytic formula is toggle plate is presented q written as frr G h3 • Experimental model is set up •Gr not only is used to calculate the • The intelligent toggle plate is made throttle-slice bending deformation, of combining the piezoelectric but also to design the throttle-slice ceramic with the toggle plate and to analyze the damp • Analysis of results of experiment characteristic of damper affected by • Sensitivity analysis of dynamic the throttle-slice. The Deformation of Throttle Slice characteristic by FEM K-shape structure

㪮㪘㪈㪄㪎㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪎㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Direct Modeling Strategy for the Effective Elastic Active Vibration Suppression of a Flexible Plate structure Dong Zhuomin, Wang Ying, Bai Shilei Moduli Prediction of Composite Material School of Mechanical & Electronic Engineering and Automation Chen Jian, Xu Limei Shanghai University, Shanghai, 200072, China Institute of Astronautics and Aeronautics University of Electronic Science and Technology of China • Active vibration control system of a Chengdu, Sichuan, China 2-D flexible plate is demonstrated. • Heterogeneous materials, randomly distributed among the • Two main problems of collocated specimen y Initial Domain Refinement PZT sensor/actuator pairs are • Modeling directly in FEM while pointed out for flexible structures with one end fixed and the other end only material properties and free: outputs of collocated sensor collocated control volume fractions are available covers more useless signal and • Simulation of such method meet illusive suppression might happen. analytical bounds and out perform • Improved method is brought forward and the vibration control GSMC method x experiment shows that the improved • Economic and time-saving at the early stage of composite method is effective. material design for MEMS devices non-collocated control

87 IEEE ICMA 2007 Conference Digest

WA1-8: Signal Processing Applications III

Session Chairs: Jin Li, Harbin En gineering Univ. Jason Gu, Dalhousie Univ. Room 8: Shen yang, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪏㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪏㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Classification for Volume Rendering of Industrial A Classification of Flotation Froth Based CT Based on Minimum Cross Entropy on Geometry Jin Li, Lulu Zhou, Hong Yu, Hong Liang and Liwei Zhang Xiaozhu Lin, Guoqing Zhao,Yingying Gu Automation College, Harbin Engineering University School of Information Engineering., Beijing Institute of Petrochemical Technology Harbin, Heilongjiang, China Beijing, China • The classification step used to assign • Froth flotation is a good process for the appropriate opacity to each voxel separating a mixture of two species of in volume rendering. finely ground solids depending upon • A new classification algorithm for differences in the species surface volume data, which is based on properties. minimum cross entropy, is proposed • The relation between froth appearance in this paper. and flotation performance is discussed • Two experimental results from firstly in the paper. industrial CT images are presented. • This algorithm makes the simulated • The calculation of the average bubble disassembly of the industrial diameter is introduced. components performed on the Volume rendering result of • The experiments of classification is A Forth Type from computer successfully. the electrical drill made and the result is accurate. Image Classification

㪮㪘㪈㪄㪏㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪏㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉

Research for Multi-user Wearable Monitor System Detection of Meat Fresh Degree Based on Neural of Physiological Signals Network Qiaoling Tu Guo Peiyuan , Bao Man , Qu Shiha , Chen Tianhua Dept. Of Electronic EngineeringChongqing Institute of Technology Chongqing China School of Information Engineering Beijing Technology and Business University , Beijing, China In order to find a quick valid scientific way to identify meat freshness, the article analyses • Design for Wearable Monitor the measuring mechanism of identifying to fresh Wireless Network Model degree of meat, and designs one set of intellectual detection and identification system that is based on • Measures of Increase the electronic information technology, photoelectric Transmission Distance detection technique, image processing technology and neural network model recognition technology. • TDM with Inquiry Priority Through the test and analysis of the pork sample, it Model improves that this system is real-time in discerning • Constitute the Communication the fresh degree of meat accurately. In addition, this Protocol method can apply to other relevant fields. The TDM time sequence with inquiry research result has very important reality and long- term meaning.

㪮㪘㪈㪄㪏㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪏㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Study on a Novel Method of On-line Viscosity A Method for Lunar Obstacle Detection Based on Measuring Based on Singlechip Multi-scale Morphology Transformation 1,2 1 2 1 Gang Tong, Weiyi Tang, and Lei Liu , Jian Deng , Pingyuan Cui and Hejing Wu College of Automation and Electronic Engineering, Qingdao University of 1. College of communications Engineering, Jilin University, Changchun, Jilin Province,China Science and Technology 2. Deep Space Exploration Research Center,Harbin Institute of Technology,Harbin,Heilongjiang Qingdao, Shandong, China Province, China • This paper proposed a novel method to measure fluid viscosity on time. • Lunar obstacle detection is the key • Configuration of the sensor was given. technique for Lunar Lander landing. • The temperature measurement was • The paper puts forward a watershed carried out based on the DS18B20- method based on multi-scale PAR, and temperature compensation mathematical morphology operation was adopted based on the back to separate the obstacles of the lunar. propagation (BP) neural network • This method can wipe off the local algorithm. valley produced by over- • The multi-sensors Kalman filtering The structure of sensor part segmentation and separate the dark and the software fault tolerant edge efficiently. technology were applied. The result of the method

88 IEEE ICMA 2007 Conference Digest

WA1-9: Mechatronic System Modeling III

Session Chairs: Waleed Faris, International Islamic Univ. Mala ysia Deshen Li, Beijing Univ. of Tech. Room 9: Dalian, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪐㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪐㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Macromodeling of the Electrostatically Actuated A Study on Integrated Design Methodology: A Rectangle Plate Based On Modal Projection Single Beam Xiezhao Lin, Zichen Chen, and Ji Ying Jinbo Shi, Yunjiang Lou, Jianjun Zhang and Zexiang Li Microsystem Center for Research and Development., ZheJiang University Department of Control and Mechanics Engineering, Harbin Institute of Technology, Shenzhen Hangzhou, Zhejiang, China Graduate School, shenzhen, Guangdong, China • Introducing a macromodeling method based on modal projection. • Integrated design of a direct drive single beam system • Calculating the energy date in • Modeling of flexible single beam mechanical and electrostatic domain system. by FEM. • Multi-objective optimization • Using nonlinear function fitting problem for the whole design scheme for the analytical model. A silicon diaphragm procedure. deformation under a • ROM can be reused, capture the • SQP and CRS for solving the distributed electrostatic force static/dynamic behaviors very well optimization problem and low cost.

㪮㪘㪈㪄㪐㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪐㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 A Mass-Spring Model for Haptic Display of Modeling of a Self Reciprocating Cantilever for a Flexible Object Global Deformation MEMS Nuclear Battery Powered by an Alpha Source Mohamed H. Hassan, Waleed F. Faris Cui Tong䋬Aiguo Song䋬Wu Juan Alexandria University, Alexandria, Egypt International Islamic University, Kuala Lumpur, Malaysia Department of Instrument Science and Engineering, Southeast University Nanjing , Jiangsu, China • Self-reciprocating cantilever is a novel direct conversion nuclear battery in which one of the electrodes is elastically • Nodal Arrangement in the Surface deformable. of Mass-Spring Deformable Model. • Previous configurations used low energy • Force/Deformation Calculation . beta emitters. • the Global Deformation Analyses • Oscillation period shorter by one order of for Global Flexible Object. magnitude was calculated using alpha Equivalent circuit of • The Display of Virtual Reality source. the self-reciprocating System . • Self-reciprocating cantilevers powered by cantilever Virtual liver deformations alpha sources can effectively be scaled down to MEMS versions.

㪮㪘㪈㪄㪐㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪐㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 Research on Dynamic Characteristics of the Electromagnetic Relay Theory and Finite Element Analysis of HRG Shengli Gao, Jiantong Wu GuoFu Zhai, WeiWei Fan, and HaiLong Wang College of Automation, Harbin Engineering University Department of Electrical Engineering and Automation., Harbin institute of Technology Harbin, Heilongjiang, China Harbin, Heilongjiang, China • Hemispherical resonator gyro (HRG) d • Obtained dynamic characteristics of is a high performance vibratory gyro. h L2 electromagnetic relay through o coupled structural FEM, • Geometry structure of the resonator r electromagnetic FEM and kinetic is shown in right picture. L numerical computation. • Resonator's geometry parameters have • Presented three methods to reduce great influences on its performance. bounce problem. L1 • Presented the principle to ensure the • This paper studies the influences of reliable operation of relay, namely the geometry parameters for vibrating dynamic relation between the work Structure of the relay frequency and precession of the HRG Resonator's Geometry of mechanical counterforce and the by theory and finite element analysis. Structure work of electromagnetic force.

89 IEEE ICMA 2007 Conference Digest

WA1-10: Navigation I

Session Chairs: Son gmin Jia, The Univ. of Electro-Communications Chengtao Cai, Harbin Engineering Univ. Room 10: Qin gdao, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪈㪇㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪈㪇㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Real-Time Deadlock-Free Navigation for Multiple Dynamic Collision Avoidance Path Planning for Mobile Robots Mobile Robot Based on Multi-sensor Data Fusion Harunori GAKUHARI, Songmin JIA, Kunikatsu TAKASE, Yoshiro HADA(*2) by Support Vector Machine Graduate School of Information Systems Univ. of Electro-Communications Chofu-City, Tokyo, JAPAN Jingwen Tian, Meijuan Gao, Erhong Lu Beijing Union University ., Beijing Electronic Science and Technology Institute (*2)FUJITSU LABORATORIES LTD. Beijing, China • We proposed the method of • Introduction y navigatiing two or more non- Output (decision rule) s •Principle y sgn(¦D i yi K(xi , x)  b) holonomic mobile robots in the i 1 1. The Principle of SVM practical environment. D y D y D y 2. Multi-classify SVM 1 1 2 2 s s

• In our method, we give priority to K(x , x) K(x , x) K(x , x) • Dynamic Collision Avoidance Path Planning 1 2 s the stability of movement and the 1. Obtain Environmental Information Ă efficiency of moved distance, 2. Local Path Planning Based on SVM

instead of the efficiency of time or • Application Ă 1 2 d parallelism. 1. Confirmation the Parameters of SVM x x x Locus of Robots 2. Simulation Experiment The sketch map of support • Effectiveness of our method was in Simulation • Conclusion vector machine confirmed by the simulation.

㪮㪘㪈㪄㪈㪇㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪈㪇㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉

VPH+: An Enhanced Vector Polar Histogram Obstacle Recognition for a Mobile Robot in Indoor Method for Mobile Robot Obstacle Avoidance Environments using RFID and Stereo Vision Songmin Jia, Jibuo Sheng, Daisuke Chugo and Kunikatsu Takase Jianwei Gong, Yulin Duan, Yiming Man, Guangming Xiong University of Electro-Communications, Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China 1-5-1 Chofugaoka, Chofu-City, Tokyo 182-8585, Japan

• Mobile robot equipped with •Propose the method of obstacle laser radar to avoid obstacles recognition for a mobile robot in more efficiently in real indoor environment using RFID and complicated environment. stereo vision. •Present the architecture of the • An Enhanced Vector Polar proposed method and describe the Histogram method is structure of the developed system. developed to find the •Explain the experimental results, obstacles as early as possible •evaluate the proposed method, and give some future work.

㪮㪘㪈㪄㪈㪇㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪈㪇㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏 A Novel Acoustic Navigation Scheme for Collision Avoidance in Multi-Robot Systems Chengtao Cai 1,Chunsheng Yang2, Qidan Zhu1, and Yanhua Liang1 Coordinated Heterogenous Autonomous Vehicles 1.College of automation, Harbin Engineering University, Harbin, Heilongjiang, China Xianbo Xiang, Guohua Xu,Qin Zhang, Ying Guo and Xinhan Huang 2.National Research Council Canada, Montreal Road, Ottawa, ON , CANADA Mechatronics Research Lab., Huazhong University of Sci.&Tech. Wuhan, Hubei, China • Utilizing the underwater DGPS

8 G1 concept, a team constituted with R1

3 R0 G2 • Introduction the background 1 heterogenous vehicles could R2

0 5 implement a coordinated search or • Discuss the multi-Robot system G4 2 R4 rescue scenario as a whole. 9 environment 6 4 G0 R3 G3 • Compared with INS/GPS navigation • Discuss collision avoidance 7 system, AUVs need not come to the strategies surface to calibrate their positions • Conclude the simulation-based periodically which may seriously experiments and discuss the results disturb the team coordination and existed formation. • Conclusion The simulation result of multiple robots and static obstacles • The paper demonstrates the simultaneous LS navigation DIS for coordinated control algorithm for the coordinated control of heterogeneous vehicles scheme in detail.

90 IEEE ICMA 2007 Conference Digest

WA1-11: Distributed Systems

Session Chairs: Wei Ren, Utah State Univ. Dongbing Gu, Univ. of Essex Room 11: Xian, 8:00-9:48, Wednesda y, 8 August 2007

㪮㪘㪈㪄㪈㪈㩿㪈㪀㩷㩷㪏㪑㪇㪇㪄㪏㪑㪈㪏 㪮㪘㪈㪄㪈㪈㩿㪉㪀㩷㩷㪏㪑㪈㪏㪄㪏㪑㪊㪍 Fuzzy control of distributed flocking system Robust Fault Tolerant Control for NCSs with Zongyao Wang and Dongbing Gu Uncertain Disturbance Department of computer science, University of Essex Wei Li, Yajie Li, and Weirong Liu Colchester, Essex, United Kingdom Advanced Control Lab., Lanzhou University of Technology Gansu, Lanzhou, China • This paper presents a fuzzy based • The uncertainty of network-induced 3 flocking system. delays is converted to the uncertainty of 1-actuator normal 2.5 2-actuator 1 failure • the ``force function'' is used to the parameter matrix, and the states are 3-actuator 2 failure transformed to the augmented states to 2 control the velocity of agent. 2 1.5

eliminate the effect of the asynchronism. X2) • To prove the stability of flocking 1 • The sufficient conditions for closed- State( system, we build a Hamilton 0.5 loop networked control systems with 3 function which is the kinetic energy uncertain disturbance possessing robust 0 1 -0.5 of flocking system. Utilizing the integrity are given against sensor or 0 2 4 6 8 10 LaSalle's invariance principle actuator failures. Time(s) • Specially, we developed a local form • A numerical example is given to Zero-input response demonstrate effectiveness and flocking controller which is derived of state x1 from the global flocking algorithm. Flocking network feasibility of the proposed approach.

㪮㪘㪈㪄㪈㪈㩿㪊㪀㩷㩷㪏㪑㪊㪍㪄㪏㪑㪌㪋 㪮㪘㪈㪄㪈㪈㩿㪋㪀㩷㩷㪏㪑㪌㪋㪄㪐㪑㪈㪉 Experiments in Consensus-based Distributed Communication Decision in Decentralized Control Cooperative Control of Multiple Mobile Robots of Coordinated System Yongcan Cao, Wei Ren, Nathan Sorensen, Larry Ballard, Andrew Reiter, and Jonathan Kennedy Haitao Liu, Limin Qiao, Bingrong Hong and Songhao Piao Department of Electrical and Computer Engineering, Utah State University School of Computer Science and Technology, Harbin Institute of Technology, Harbin, Heilongjiang, China 0.5 Logan, Utah, USA p=1.0

HL HL HR HR • Objective: demonstrate experimental • Multi-agent POMDP. HL HR HR HL results of consensus-based 0.155 0.5 0.845 • Use DAG to represent the p=0.29 p=0.21 p=0.29 distributed cooperative control possible joint belief of the team. strategies on a multiple wheeled (a) The DAG of possible joint beliefs • Q-POMDP: Reasoning over 0.5 mobile robot platform. possible joint beliefs. p=1.0 • Contribution: hardware and HL HL • DAG-DEC-COMM Algorithm: HL HR software architectures distributed Making communication decision 0.155 0.5 attitude alignment example in a decentralized style. p=0.29 p=0.21 distributed formation control Multi-robot Platform at USU • Experiment and Analysis. (b) The removed DAG example Fig. 1 Joint beliefs after a single action

㪮㪘㪈㪄㪈㪈㩿㪌㪀㩷㩷㪐㪑㪈㪉㪄㪐㪑㪊㪇 㪮㪘㪈㪄㪈㪈㩿㪍㪀㩷㩷㪐㪑㪊㪇㪄㪐㪑㪋㪏

Distributed Control of Robot Functional RT Components Simulator Implementing Uncertainties in Based on Open Robot Architecture RTM Motion for Robots in a Network Nak Yong Ko(a), Dong Jin Seo(a), Gwang Jin Kim(a), Yongseon Moon(b), Youngchul Songmin Jia, Gakuhari Harunori and Kunikatsu Takase, Bae(c), and Sang-Moo Lee(d) University of Electro-Communications, (a)Dept. Information and Communication Eng. in Chosun univ., (b)Sunchon Nat'l 1-5-1 Chofugaoka, Chofu-City, Tokyo 182-8585, Japan Univ., (c)Chonnam Nat'l Univ., (d)Korea Institute of Industrial Technology, S. Korea

•Propose using Open Robot Architecture • Simulation of multiple RTM as platform to develop service heterogeneous robots(URCs) in a robotic system. network •Introduce the developed QuickCam • Motion uncertainty of the mobile Orbit Cameras RT components to monitor home integration robotic system. base considered •Describe the architecture of the • Robots implemented: developed Network Distributed Mobile manipulator(5 dof manipulator Monitoring System with IEEE-1394 +skid steered mobile base) , Xavier, Cameras. RoboCrane, Nomad Super Scout II, Multiple heterogeneous •Explain the experimental results and Pioneer PeopleBot DX give some future work. robots in the simulator

91 IEEE ICMA 2007 Conference Digest

WA2-1: Parallel Manipulators III

Session Chairs: Ja gdish Prajapati, U.V. Patel College of Engineering Yasuhisa Hirata, Tohoku Univ. Room 1: Bei jing, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪈㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪈㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 Inverse Dynamics of 3-UPU Parallel Mechanism Dynamic (Forward and Inverse Force with Pure Rotation Based on D’Alembert Principle Transmission Capability) Analysis of the Zheng Xiangzhou1 , Luo Yougao2 , Bin Hongzan3 Stewart Platform as Robot Manipulator 1School of Engineering, Huazhong Agricultural University , Wuhan, Hubei, China Prof. J. M. Prajapati Dr. L. N. Patel 2The SecondShip Design Institute, China Shipbuilding Industry Corp., Wuhan, Hubei,China U. V. Patel College of Engg. S. K. P. College of Engg. 3School of Mechanical Sci. and Engi. , Huazhong Uni. of Sci. and Tech., Wuhan, Hubei, China Ganpat University H. N. G. University Mehsana, Gujarat, India. Mehsana, Gujarat, India • The 3-UPU Parallel Mechanism with pure rotation has been used • Properties of Stewart to compensate pitch and roll of Platform(SP) deep-ocean mining platform. • SP is an close-ended structure. • Based on D’Alembert principle, the closed-form inverse dynamics • All the actuators are placed at of the rotational 3-UPU PM is the base. presented. • Possible to realize very fast and • Links are dissected to 3 parts highly accurate motion. including piston, cylinder and oil • The advantages of high speed, with varied mass. More accurate high accuracy, high loading inverse dynamics can be got. The Rotational 3-UPU PM capacity and high stiffness.

㪮㪘㪉㪄㪈㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪈㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 Conceptual Design and Kinematic The Screw Motion Simulation on 3-RPS Performance Evaluation of a New Parallel Pyramid Mechanism Asymmetrical Parallel Robot Zhen Huang; Dejun Mu; Daxing Zeng Mengli Wu, Dawei Zhang and Xingyu Zhao Robotics Research Center, Yanshan University, Qinhuangdao, Hebei, China School of Mechanical Engineering, Tianjin University • The screw motion and input C Tianjin, China z rationality of the 3-RPS pyramid b c mechanism are analysed using the P y • The idea of the innovation of x the new parallel mechanism is screw theory . Z systematically addressed. • The model of this mechanism is • The condition number of the built up with the application of O Y X Jacobin is used to evaluate the MATLAB and the screw movement A B kinematic performance. is simulated. a • The TAM is cost effective and • A series of movement curves are The Sketch of 3-RPS competitive in comparison with gotten and the theories analysis by parallel pyramid mechanism the SKM400. The TAM Robot the numerical example is verified.

㪮㪘㪉㪄㪈㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪈㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏 Applying Neural Network to Inverse Kinematics A Methodology for Determining the Reachable and Task of Spherical Parallel Manipulator Dexterous Workspace of Parallel Manipulators Zhongfei Wang, Shimng Ji, Jianhui Sun, Changjin Ou, Yuehua Wan, and Limin Zheng Yukhimets D., Filaretov V. The MOE Key Lab. of Mech. Manuf. Aotu., Zhejiang University of Technology Robotic Lab., Institute for Automatic and Control Process Hangzhou, Zhejiang, China Vladivostok, Russia • The stratified workspace boundary Work is dedicated to the determining methodology (SWBDM) is synthesis of neural network to proposed, which is used to determine inverse kinematics task of spherical RW and DW of PMs. parallel manipulator. This neural • It is fit for general PMs, including the network is used for calculating of planar and spatial mechanisms. the desired orienting drives rotation • The various physical and contrived angle for this parallel manipulator. constraints are considered. The carry out investigations showed • The implementation is very easy in PC high efficiency and accuracy of the without any specified requirements, Spherical parallel this methodology shall be acceptable in The Workspace of approach proposed. manipulator: exterior view practice. Linear Delta Robot

92 IEEE ICMA 2007 Conference Digest

WA2-2: Actuators I

Session Chairs: Xiao you Zhang, Tokyo Inst. of Tech. Wei-Hsin Liao, The Chinese Univ. of Hong Kong Room 2: Shan ghai, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪉㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪉㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 Development of a 5-DOF Controlled, Starting Performance Analysis of Single-Phase Wide-Bandwidth,High-Precision Maglev Actuator Line-Start Permanent Magnet Motor Zhang Bingyi, Liang Bingxue, Feng Guihong and Zhuang Fuyu for Micro Electrical Discharge Machining Faculty of Electrical Engineering, Shenyang University of Technology Xiaoyou ZHANG, Tadahiko SHINSHI, Hiroki ENDO and Akira SHIMOKOHBE Shenyang, Liaoning, China Precision and Intelligence Lab., Tokyo Institute of Technology • An accurate prediction of starting torque Yokohama, Kanagawa, Japan components behavior are made using a Yoshihito IMAI, Hidetaka MIYAKE and Takayuki NAKAGAWA combination of symmetrical components and d-q axes theory . Advanced Technology R&D Center, Mitsubishi Electric Corporation • The motor torque behavior during Amagasaki, Hyogo, Japan Thrust sensor asynchronous operation can be calculated Radial sensors through the study of different torque • Positioning resolution of the order of sub- components. micrometer and micro-radian in 5-DOF Air supply • The torque simulation results of single- 190 • Bandwidth greater than 100Hz in 5-DOF phase capacitor-run PM line-start motor Power supply are given by using MATLAB. • Positioning stroke of 2mm in the thrust direction 130 • A unified approach of the single-phase PM • Using the maglev actuator to EDM, an increase motor that permits the calculation of in the machining speed of f1mm holes by 21.4%, transient and average asynchronous Cross section of motor performance is presented. compared with the conventional EDM The maglev actuator under construction

㪮㪘㪉㪄㪉㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪉㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉

Superconducting LevitatioLevitationn Styles for Construction Principle and Torque Solution of Superconducting Energy Storage Flywheel Jiqiang TANG, Yanshun ZHANG and Jiancheng FANG the Translational Meshing Motor School of Instrumentation and Optoelectronic Engineering, BUAA, Beijing, China Qiang Xu, Qizheng Liao, Shimin Wei, Xiguang Huang, Xin Wen School of Automation, Beijing University of Posts and Telecommunications ¾The flywheel comprising of magnetic and SMB is fit Beijing, China for energy storage; ¾ZFC bearings and FC bearings have their own • A new of type of actuator, named intrinsic properties. But in practice, the SMB are translational meshing motor is formed by field-cooled superconductors and PMB; developed. ¾SMB have two main types; • The construction principle and ¾Magnetic force, magnetic stiffness and damping are mechanism characteristics of this three main parameters are used to describe the levitation new motor are introduced. characteristics; • The quasi-linear model is founded ¾The shape of the superconductor, The flux creep and the star-up torque of the motor exponent and critical current density has different Two main types of SMB effect on the EMF. is calculated. The Translational Meshing

㪮㪘㪉㪄㪉㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪉㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏

Hardware-in-the-loop Simulation of Electro- Adaptive Laser Beam Shaping Using hydraulic Driving Force Servo System a Genetic Algorithm Guihua Han, Junpeng Shao and Yuhong Dong Ping Yang1, 2, Yuan Liu1, 2, Wei Yang1, 2, Mingwu, Ao1, 2, BingXu1, Wenhan Jiang1 Department of Mechanical Power Engineering 1Laboratory on Adaptive Optics, Institute of Optics and Electronics, P.O.Box 350, Harbin University of Science and Technology Shuangliu, Chengdu, Sichuan 610209,China Harbin, Heilongjiang, China 2Graduate School of Chinese Academy of Sciences, Beijing 100039, China

• Carry on the identification experiments Telescope DM acquire the identification model. Laser • Propose a hybrid controller composed of a PID controller , a fuzzy controller and feedforward compensation. Lens HVA D C • Employee a fuzzy switching mode to C avoid the undesirable disturbances. Hardware-in-the-loop D/A • Exhibit good performances when load Imgae Computer rigidity and mass changed by the hybrid Simulation Environment acquisition with GA controller. adaptive beam shaping system

93 IEEE ICMA 2007 Conference Digest

WA2-3: Positioning Control

Session Chairs: Gerulf Pedersen, AALBORG Univ. ESBJERG James K. Mills, Univ. of Toronto Room 3: Han gzhou, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪊㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪊㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 Effect of Time Delay in Velocity Feedback Loop Motion Control of an Ultra Precision on the Dynamic Behaviors of Magnetic Positioning Stage Bearing System Zhang Shangying, Chen Xuedong, Zhao Hui State Key Laboratory of Digital Manufacturing Equipment & Technology, Li Huiguang Liu Heng Yu Lie Huazhong University of Science and Technology, Wuhan, Hubei China Institute of Mechatronics and Information System, Xi’an Jiaotong University, Xi’an, Shannxi, China • Using dual stage, a system having • The critical time delay where the capacity of large workspace Hopf bifurcation may occur with high resolution of motion is from trivial equilibrium point is obtained. enabled. • The direction and stability of • The controllers are developed Hopf bifurcation and the using loop shaping techniques. primary resonance of system is analysed using approximate • Force decoupling strategy is analytical method . introduced. • Given system parameters, the • the positioning precision achieves Ultra-precision Positioning Stage forced vibration of system is Diagram for a simple magnetic to 10 nanometers using dual stage. studied using numerical method. bearing system

㪮㪘㪉㪄㪊㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪊㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 Modelling and Control of a Self-Levelling Crane Control of BeoSound 9000 Sledge System: Xiaocheng Zhang, Jianqiang Yi, Dongbin Zhao, and Guosheng Yang An Industrial Case Study Institute of Automation, Chinese Academy of Sciences Zhenyu Yang and Gerulf K.M. Pedersen Haidian, Beijing, China Trolley Aalborg University Esbjerg, Niels Bohrs Vej 8, DK-6700 Esbjerg, Denmark • Design a practical but simplified Cable Levelling Mechanism self-levelling crane model. Z • Mode-based control

X P1 • Derive the static equilibrium O design P2 T equations for this model, based on 1 T2 • Theoretical modeling

engineering requirements. Y l • Parameter • Propose a try-and-get (TAG) Ropes l Z’ identification X’ method to realize self-levelling O’ adjustment. • PI control with anti- • Improve the TAG method, and Y’ windup

put forward the On-Line TAG Load • Observer-based state Algorithm. feedback with integral The Self-Levelling Structure control BeoSound 9000 CD-Player System

㪮㪘㪉㪄㪊㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪊㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏

Research on Fractional Order Controller Optimization of the Electrode Control System in Servo Press Control System Hongmei Fan1,2, Yu Sun1 and Xiaobin Zhang1 Using On Line Simulation and Rule Based School Of Mechanical Engineering,Nanjing University of Science and Technology Control Nanjing, Jiangsu, China School Of Automation, Nanjing Institute of Technology, Nanjing, Jiangsu, China Radu Balan, Vistrian Maties, Sergiu Stan Dept. of Mechatronics, Technical Univ. of Cluj-Napoca, Romania • The mathematic model of the servo press position control • In this paper were presented some aspects concerning the modeling and system . adaptive control of the position of • The fractional order PID the electrodes in an electrical arc controller and its realization. furnace. • Comparative simulation • The realized application permits testing the control algorithms, study investigations of the servo of the error effects on modeling, position control system . The Simulation Result simulation of perturbations etc.

94 IEEE ICMA 2007 Conference Digest

WA2-4: Intelligent Control II

Session Chairs: Hu gang Han, Prefectural Univ. of Hiroshima Hongda Liu, Harbin Engineering Univ. Room 4: Wuhan, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪋㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪋㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 A New Nonlinear System Identification Method RLGP: An efficient method to avoid code bloating Using Gene Expression Programming on genetic programming Yan Bai, Yaochun Zhu and Yiheng Jiang Automation Department , North China Electric Power University, Beijing, China Liangxu Liu, Haibin Cai, Mingyou Ying, and Jiajin Le College of Information Science and Technology, Donghua University • A new method for identifying the Shanghai, China nonlinear system model. • The concept of bloated individual in GP is • The gene number of chromosomes is extended. no more fixed and the elements in • The concept of Candidate Crossover Point the terminal set are also variable . and Candidate Crossover Points Set is presented. • Can identify various NARMAX • RLGP, which adds some restrictions in models under the same parameters genetic operations (crossover, swap, and set . mutation), is proposed. It introduces • The solution can get a trade-off Candidate Crossover Points Set (CCPS) Results of LGP and RLGP of 4-parity between the accuracy and the Expression of into crossover operations. problem complexity . multigenic chromosomes

㪮㪘㪉㪄㪋㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪋㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 Research of Harmonic Detection and Fuzzy-PID Adaptive Interacting Multiple Model Algorithm for Control in Series Active Power Filter Hai Lan, Jincheng Liang, Weiping Wu INS/GPS College of Automation , Harbin Engineering University Xu Tianlai , Cui Pingyuan Harbin, Heilongjiang province, China Deep Space Exploration Research Center, Harbin Institute of Technology Z •Series active power filter (SAPF) a Z b Harbin, Heilongjiang, China Z is one of the control devices that c feed modern industry with high • a priori information not accord with Z(k) FAKF quality power supply. R ˆ the actual Kalman Filter 1 X1(k) R+ İ Xˆ (k) estimate Kalman Filter 2 2 Xˆ(k) •A new harmonic voltage k k k • Framework of INS/GPS p i d combination 'k p 'k i R- ˆ detection method based on İ X3(k) 'k d • Fuzzy Adaptive Kalman filter Kalman Filter 3

'uah 'ubh ˆ … interacting X (k 1) Unit delay instantaneous reactive power u algorithm o1  P1 P ah u 3 u ' ch bh ˆ . u Xo2(k1) model probability theory is proposed in the paper ch Unit delay u • The IMM algorithm dc * * * calculation * * u u * u u ah bh uch p dc * af iu, p p uD ˆ ua DD * Xo3(k1) * * ubf u C iu, q uu, u C * •Fuzzy control is suitable for APF b 32 E E q q DEE 23 u u cf • The FAIMM algorithm c system. The SAPF in the paper is fuzzy-PID controlled, with PID parameters regulated by fuzzy controller. FAIMM Algorithm

㪮㪘㪉㪄㪋㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪋㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏 Real-coded Quantum Evolutionary Algorithm for Solution for Forward Kinematics of 6-DOF Parallel Complex Functions with High-dimension Robot Based on Particle Swarm Optimization Rui Zhang, Hui Gao Lei Li, Qidan Zhu, and Liyan Xu Harbin University of Science and Technology, Harbin, Heilongjiang, China, College of Automation, Harbin Engineering University Harbin Institute of Technology, Harbin Heilongjiang, China Harbin, Heilongjiang, China • Real-coded triploid chromosome is constructed to keep the diversity bt • The neural network is used to solve of solution; . QRG QRG QRG the forward kinematics of 6-DOF • CDMC designed and QRG is used pt  pt  pt parallel robot. 1 u N to update chromosomes to treat the CDMO CDMO CDMO • The particle swarm optimization balance between global search and HCS HCS HCS (PSO) is applied to train the neural local search. DC DC DC t t t network. • RCQEA has the characteristics of pv pv pv • This method can be used for the rapider convergence, more v 2,,N v 1,,Nandvzu v 1,,N1 online control of parallel robot with powerful global search capability faster computing speed and more and better stability. Mechanism of RCQEA accurate solution. 6-DOF Parallel Robot • RCQEA has the adaptability to the dimensions of Test Functions .

95 IEEE ICMA 2007 Conference Digest

WA2-5: H_inf Control

Session Chairs: Guolian g Zhao, Harbin Engineering Univ. Jingfu Wang, Harbin Engineering Univ. Room 5: Beihai, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪌㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪌㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍

An Improved Design Method of Controller Disturbance Attenuation Control of A for Linear System with Time Delay Class of Unceractuated Systems with Guoliang Zhao and Changhui Song Department of Automation, Harbin Engineering University Acceleration Measurement Harbin, Heilongjiang, China Yuqing He and Jianda Han Robotics Lab., Shenyang institute of Automation, CAS • Probelm Statement : In this T T ª 6 P1Ad P1Bd K P1CD E C º « T » Shenyang, LIaoning, China « Ad P1 P1P2P1 0 0 0 » section, the problem statement « T T » 3  K Bd P1 0 P1P3P1 0 0 0 « T T 2 T » «C P1 E D 0 0 O I E E 0 » is given. « » • Existed method of disturbance ¬ C 0 0 0 I¼ • Main Results : Two theorems attenuation T ª 62 63 Bd M 64 R1C º « » t R 0 0 0 • Obtain disturbance information and a corollary are given in this « 63 2 » 3 «M T BT 0 R 0 0 » 0 1 « d 3 » from acceleration measurement T 2 T section. « 64 0 0  I O E E 0 » « » • Acceleration enhanced H㺙 ¬ CR1 0 0 0  I ¼ • Numberical Examples : This disturbance attenuation method section provides two examples. Main Theorems • Simulation with respect to a Hi-Fi helicopter model

㪮㪘㪉㪄㪌㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪌㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉

Application of H㺙 Control Based on Mixed Sensitivity Disturbance Analysis and Flight Control Law in the Electro-hydraulic Load Simulator Jingfu Wang1, Lihua Liang1, Songtao Zhang1, Zhengmao Ye2 and Hongren Li2 Design for Aerial Refueling 1 Harbin Engineering University 2 Harbin Institute of Technology Bo Chen, Xinming Dong, Yuejian Xu, Qinying Lin Harbin, Heilongjiang, China The Engineering Institute, Air Force Engineering University • The electro-hydraulic load simulator is a Xi'an, Shaanxi, China equipment of load simulation. It’s a typical passive loading force control system. • Structured disturbances analysis of • When the load spring stiffness varies, the loading system frequency characteristics the receiver. changes in a large extend. So it’s • Atmosphere disturbance analysis of considered as an uncertainty designing the loading controller. the receiver.

• The robust controller is designed with H㺙 • Design of the robust flight control mixed sensitivity approach and solved by the linear matrix inequation algorithm. law for aerial refueling. • The experiments indicate that the robust the Electro-hydraulic • Analysis of the Simulation Command tracking response controller has a quite strong robustness Load Simulator curves of the pitch angle when the load spring stiffness varies in the definite bounds.

㪮㪘㪉㪄㪌㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪌㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏 H Gain-Scheduled 㺙 Filtering for LPV Discrete- Time Systems with Time-Varying Delay Robust Decentralized Hf Control for Discrete- Junling Wang, Zhongxin Wang, Weishi Han Time Systems with Time-Delay Using Homotopy Nuclear College of Science and Technology, Harbin Engineering University Harbin, Heilongjiang, China Method Weihua Gui, Ning Chen, and Lingyun Wang • This paper deals with H㺙 filtering School of Information Science and Engineering, Central South University problem for LPV discrete-time Changsha, China systems with time-varying state

delay. • A robust decentralized Hf control problem for uncertain • A new delay-dependent H㺙 multi-channel descriptor systems with time-delay is performance criterion is considered. developed. • A sufficient condition for a multi-channel descriptor time-

• An improved result is obtained by delay system to be robustly stabilizable with Hf norm is introducing additional matrix. derived in terms of a strict nonlinear matrix inequality. • A two-stage homotopy method is employed to solve the • The gain-scheduled H㺙 filter is Fig1. z(k) and zF(k) signals designed in terms of of the LPV filter error system NMI iteratively. parameterized linear matrix inequalities.

96 IEEE ICMA 2007 Conference Digest

WA2-6: Sensing and Measurement I

Session Chairs: Chan g-Jun Lin, Fukuoka Univ. Kaiqi Zhao, Harbin Engineering Univ. Room 6: Shenzhen, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪍㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪍㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 An Approach for Accurate Measurement of Research and Application on the Measurement Lubricant Film Thickness Based on Fiber-Optical method of Roll roundness for Roll Grinder NC Displacement Sensor Liwen Yan, Tao Yu, and Meiting Wang Xiaodong Zhang, Wenjie Bai and Yuping Chen College of Mechatronics Engineering and Automation Mechanical Engineering Department, School of Mechanical Engineering, Xi’an Jiaotong University Shanghai, China Xi’an, Shaanxi, 710049, China • In this paper, we only focus on the accurate • The measurement principles measurement of lubricant film thickness. and methods for roll • After introducing the fundamental principle Roundness. of the fiber-optical displacement sensor, a new measurement system based on the • Roll roundness measurement sensor is put forward for achieving the accurate measurement of lubricant film system design. thickness. • At last, some valuable experimental results • Experimental results and are also collected to verify the measurement analysis. schedule proposed in this paper is a good The measuring schema of the lubricant film SPTSDPMM for roll approach, which can successfully determine thickness for the slide bearing based on fiber- the lubricating film states. optical displacement sensor roundness measuremwnt

㪮㪘㪉㪄㪍㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪍㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 An Extrinsic Fiber Fabry-Perot Interferometer for Application of the Magnetic Encoder Dynamic Displacement Measurement in Actuator Servo System Han Cheng Seat and Saroj Pullteap Qi Lin, Tiecai Li, Zhaoyong Zhou, Shuang Wang, Haiya Guo Laboratoire d’Optoélectronique pour les Systèmes Embarqués Department of Motion Control, Shenzhen Technology Innovation International ENSEEIHT-INPT, France Shenzhen, Guangdong, China • Present a new method of applying the • An EFFPI sensor has been employed for magnetic encoder to the positional servo measuring dynamic displacements of control for the unmanned helicopter. different trajectory profiles. • Integrate the decoding circuit based on • Non-ambigous directional displacement the CORDIC algorithm in FPGA with measurement has been achieved. other control circuits. • Modified fringe counting technique • The decoding circuit can provide a employed allowed a resolution of digital angular position with 16 bit ~ 40 nm to be obtained. resolution which is improved. • The sensor can be exploited for • Hardware sources in FPGA are fully measuring dynamic displacement ranging utilized and the reliability of the digital The Actuator Servo System from ~ 0.7µm up to 139 µm. controller is improved.

㪮㪘㪉㪄㪍㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪍㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏 A Simple and Convenient Sensor for Measuring A Novel Method for Sensorless Speed Detection Gasoline Engine Speed and Its Application in of Voltage-Controller-Fed IM Drive Based on Flight Control of a Portable Unmanned Helicopter Voltage Across Thyristor 1 1 2 Chang-Jun Lin , Hiroaki Ozaki and Hua Qiu Zhao Kaiqi, Liu Sheng 1 Department of Mechanical Engineering, Fukuoka University, Fukuoka City, Japan College of Automation, Harbin Engineering University 2 Department of Mechanical Engineering, Kyushu Sangyo University, Fukuoka City, Japan Harbin, Heilongjiang, China

Spark plug The blocked voltage across • A simple and convenient speed sensor for ὐἫࡊ࡜ࠣ ¾ Engine thyristor is the difference between the gasoline engine has been developed. source voltage and the back emf. • The sensor has several features: small, ¾ A new expression to express the light, taking little space, sufficient accurate blocked voltage is proposed. and handling easy in control operation, ¾ The speed can be obtained through

especially, easy and low-cost in produce. Induction coil the expression. • The effectiveness and practicability of the +5 ¾Dynamic Simulation and experimental results show the Variation of the blocked voltage sensor have been verified from the /ǡ across thyristor during soft start application of Portable Unmanned proposed method is valid and Shapingᵄᒻᢛ ᒻcircuit࿁〝 To%06ࡏ CNT࡯ board࠼߳ effective. Helicopter control.

97 IEEE ICMA 2007 Conference Digest

WA2-7: Analysis and Design of Mechatronic Systems IV

Session Chairs: Min g Xie, Nanyang Technological Univ. Minxiu Kong, Harbin Inst. of Tech. Room 7: Chan gchun, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪎㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪎㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 Positioning Accuracy Calculation Method of A Novel Approach to Deriving Plane Multi-pin Based on Statistic Characteristics the Unit-Homogeneous Jacobian Matrices Xin Jin, Xin Ye, Zhi-jing Zhang of Mechanisms School of Mechanical and Vehicular Engineerings, Beijing Institute of Technology Minxiu Kong, Yong Zhang, Zhijiang Du and Lining Sun Beijing, China Robotics Institute, Harbin Institute of Technology Harbin, Heilongjiang, China • Technical Equipment With Plane Multi-pin Based On Statistic Characteristics is • This paper presents a new general introduced. method for deriving the • Calculation Model Of dimensionally homogeneous Location Error And Jacobian matrix of mechanisms. Interference Analysis Of • The deriving process comprises two Plane Over-positioning is steps: deriving the conventional deduced. Jacobian matrix, and then mapping • Calculation Example shows the general velocity of the end the method is doable. The Chuck Structure effecter onto the linear velocities of three points in the top plate plane. The top plate plane

㪮㪘㪉㪄㪎㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪎㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉

Fault Simulation for Typical Structures Hierarchical Fuzzy Control of Nonlinear in the MEMS Gyro Blending System Liu Fengli, Lianxing Gao, Hao Yongping and Zeng Pengfei R&D Center of CAD/CAM technology, Shenyang Ligong University Zhong ming Luo, Di Lu, Fang yan Dong and Kaoru Hirota Shenyang, Liaoning, China The School of Measurement Control Tech & Communications Engineering Harbin • The fault in MEMS gyro always cause University of Science and Technolog Harbin, Heilongjiang , China huge damage because it is often used in Department of Computation Intelligent & System Science critical system. • Failure mode and effect analysis can Tokyo Institute of Technology Yokohama, Japan predict failure modes at an early stage of the MEMS gyro design. • MEMS gyro is mainly composed of • Blending control system typical structures such as comb diver, parallel plate capacitor and cantilever. • Mathematics Model and calculation • So this analysis is restricted to fault • Design of fuzzy controller simulation in system level and components level for the typical structures Lack movable comb finger and relies on integrating qualitative failure analysis and quantitative fault simulation.

㪮㪘㪉㪄㪎㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪎㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏

Optimum Design of the Working Mechanism of Design and Implementation of a New Single- Loader with Ant Colony Algorithm (ACA) Rongyi Zhang, Jianjia Qi, Yu Cai Motor Driven Arm Manipulator Dept. of Electro- mechanic Engineering, Heilongjiang Institute of Technology Liu Yang and Li Shiqi Harbin, Heilongjiang, China Huazhong University of Science and Technology, China • Ant Colony Algorithm (ACA) is more efficiency in acquiring the Xie Ming global optimum solution. Nanyang Technological University, Singapore • Applying ACA to the optimum design of working mechanism of • Modular Manipulator loader provides a new thought for

2 G the optimum design of it . U • Experiment results show that ACA • Actuated DOFs all by Single can avoid falling into local optimal solution in the process of solving. Motor • This method can also be used in other mechanical system. General Constructional Diagram SDM Manipulator

98 IEEE ICMA 2007 Conference Digest

WA2-8: Signal Processing Applications IV

Session Chairs: Jin Li, Harbin En gineering Univ. Jason Gu, Dalhousie Univ. Room 8: Shen yang, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪏㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪏㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍

Syngas Compositions Prediction by Neural Estimator Based Study on Simulation and Experiment of the on Multi-Scale Analysis and Dynamic PCA Magnetizer in Magnetic Flux Leakage Testing Rong Guo, Xiaojuan Wang, and Haijun Hu School of Optoelectronical Engineering, Xi’an Technological University Chai Xiuli , Zeng Dechang and Liu Guixiong Xi’an, China School of Mechanical Engineering, South China University of Technology Guangzhou,Guangdong Province, China • A neural estimator model • Structure of the MFL testing based on MSA and System. sensor fault DPCA is proposed. h3 magnet • The flux line distribution sX Y X sY armature • DPCA method is carried nephogram of the magnetizer iron out to select the most solving space was simulated. Dr bar relevant process features. • The magnetic field distribution of • Estimator model based the inner and 2 mm above the on MSA and DPCA surface of the ferromagnetic bar The basic structure of the MFL provides promising was analysed with two important sizes varying. detecting system prediction reliability and Neural Estimator Architecture accuracy. • Experiment results and the following work.

㪮㪘㪉㪄㪏㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪏㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 Hardware Design and System Calibration for Research on Tangential Type Turbine Flowmeter Electrical Capacitance Tomography System Based on Simulation Deyun Chen, Wenming Tang, Lili Wang, Xiaoyang Yu Zhen Wang, Tao Zhang Harbin University of Science and Technology School of Electrical Automation Engineering , Tianjin University Harbin, China Tianjin,China • In the design of the capacitance measuring circuit, reduce the leakage • Analysis on theory conductance between electrodes, raise the • Governing equation and feedback resistance and the amplitude of the sine excitation voltage advance the numerical equation excitation voltage frequency. • Numerical simulation • To get calibrated data, a quantificational • Numerical results measure method is adopted. The portable • Experiment comparison • In the conclusion, the work of image equipment of ECT Meshed model of tangential projection data capturing can be type turbine flowmeter completed by IDCS, and at the same time some advantages are obtained.

㪮㪘㪉㪄㪏㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪏㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏

The Automatic Recognition of Welding Target Research on Multi-probe Ultrasonic Automated Based on Normalized SVD of Image Matrix In-line Inspection System of Pipeline Corrosion Hexi li, Guorong Wang, Yonghua Shi and Weimin Zhang Bo Dai, Sha Sheng, Xiaoping Tian, Zhuoran Yang, Zurong Xie College of Mechanical Engineering, South China University of Technology Department of Automation ., Beijing Institute of Petro-chemical Technology Guangzhou , Guangdong, China Harbin, Heilongjiang, China

• The problem of the singular value • Based on the digital multi-probe ultrasonic in-line inspection system of pipeline decomposition(SVD) of image corrosion was developed. matrix for target recognition. • The system consisted of main and sub-structure. Inspection board communicated with embedded computer through PCI bus • The normalized SVD (NSVD) of • The number of channels was expanded with high-speed switches. target images —A combination of • The ultrasonic echo signal-processing adopted on-line Burg Maximum Entropy Spectral Estimation (MESE) and this processing algorithm was simple as well 0 SVD with moment invariants. T ª6 º as fast and possessed good real-time and strong anti-jamming abilities. S U AV « » ¬0 0¼ • The experiment of standard pipeline • The Matching Criterion and the 1 2P T arctan( 11 ) section shows that high precision and automatic recognition of welding 2 P20  P02 targets based on NSVD accurate orientation to inspect the inner and outer defects. • Recognition results and discussion. Normalized SVD of Image

99 IEEE ICMA 2007 Conference Digest

WA2-9: Optimization

Session Chairs: Jean Zu, Univ. of Toronto Hongda Liu, Harbin Engineering Univ. Room 9: Dalian, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪐㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪐㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍

HFCSA--A Sustainable Simulated Annealing Modeling Method of Monitoring Nonlinear System Qingsheng Xie, Lizhang Xu, Shaobo Li CAD/CIMS Institute ,Guizhou University by Combining Neural Network with Partial Least Guiyang Guizhou, China Squares • Introduce Simulated Annealing Algorithm Hongjun Zhu (SA) and its status quo of development. Coll of Manuf. Sci. and Eng. , Southwest Univ. of Sci. and Technol. • SA algorithm description and its insufficiencies . Mianyany, Sichuan, China • HFCSA-sustainable SA based on HFC. Its algorithm description and theory. Such as: • NNPLS modeling method for flow chart, features, merits and our improvement, and so on. monitoring a non-linear system. • Take our comparison experiment-48 TSP • By combining neural network with ( traveling salesman problem ) though GA, SA and HFCSA. Also we analyses the three partial least squares. algorithms’ run conditions in the experiment and conclude that HFCSA is more • Express the non-linear relationship sustainable than GA and SA. between inputs and outputs . • According the status quo of our research, we propose the future works: combine the • This method renders relatively high genetic programming (GP) into HFCSA and System Performance Curve enhance the efficiency. accuracy.

㪮㪘㪉㪄㪐㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪐㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 Optimization of Principal Component Analysis A New Constrained Multiobjective Optimization in Feature Extraction Algorithm Based on Artificial Immune Systems Gao Haibo, Hong Wenxue , Cui Jianxin and Xu Yonghong Hansong Xiao, and Jean W. Zu Department of Biomedical Engineering, Yanshan University Dept. of Mechanical & Industrial Engineering , University of Toronto Qinhuangdao, Hebei, China Toronto, Canada • A novel method for optimising the principal component analysis in feature extraction . • Apply stochastic ranking in • It makes use of parallel coordinate a tournament selection plot for graphical presentation of multivariate information. process • The objectivity and automation of • Modify the definition of above manual observation and domination in the context of filtering process is realized by algorithm. multiobjective optimization Parallel coordinate plot of the • It presents better performance Scenario 2: Proposed Constraint- when using this method to test the standardized data set handling Technique vegetable oil data.

㪮㪘㪉㪄㪐㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪐㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏

Optimization of Vessel Degaussing System Based Repetitive Motion Planning of Kinematically Redundant on Poly-population Particle Swarm Algorithm Manipulators Using LVI-based Primal-Dual Neural Network Hongda Liu, Zhongli Ma Yunong Zhang, Xuanjiao Lv, Zhi Yang, and Zhonghua Li College of Automation , Harbin Engineering University Department of Electronics and Communication Engineering Harbin, Heilongjiang, China Sun Yat-Sen University Guangzhou 510275, Guangdong, China • The improved poly-population particle swarm algorithm is applied 1. Joint Angle Drift Phenomenon to compress the search space When the end-effector traces a closed path • This kind of new method is applied in its workspace, the joint angles may not to adjust some vessel degaussing return back to their initial states after

system Fig. Remanent magnetic field of two kinds of methods completing such an end-effector task. • This method can be used to optimize regarding min-PM as optimization objective TABLE Changes of Search Space Regarding PM as Aim one or more parameters relating to 2. LVI-based Primal-Dual Neural Network Method Second Initial space First compose the vessel or submarine’s magnetic s compose 1)( Piecewise-linear dynamics. field characteristics I1(kA) -8,8][ -0.017,0.61][ [0.159,0.227] 2)( Global convergence to optimal solutions. I2(kA) -8,8][ 1.952,3.01][ [2.702,2.77]

• This method makes easy I3(kA) -8,8][ [-0.137,0.187] -0.128,-0.08][ 3)( Handling general QP and LP in the collaborating multi-computer and I4(kA) -8,8][ 0.511,1.05][ 0.94,0.97][ same unified manner. applying it to real project I5(kA) -8,8][ [0.14,1.01] 0.61,0.74][ 4)( The joint angle drift problem is solved. I6(kA) -8,8][ [4.63,6.00] 4.62,4.65][

I7(kA) -8,8][ [-8.0,-5.60] [-8.0,-7.92]

100 IEEE ICMA 2007 Conference Digest

WA2-10: Navigation II

Session Chairs: Son gmin Jia, The Univ. of Electro-Communications Dingyu Xue, Northeastern Univ. Room 10: Qin gdao, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪈㪇㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪈㪇㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍 Autopilots for Small Fixed-Wing Unmanned Air Research of Coastal Station Distribution Vehicles: A Survey Haiyang Chao, Yongcan Cao and YangQuan Chen Algorithm Based on GDOP in Wireless Center for Self-Organizing and Intelligent Systems (www.CSOIS.usu.edu) Department of Electrical and Computer Engineering Positioning System 4160 Old Main Hill, Utah State University, Logan, UT 84322-4160, USA Wei Wang, Zhi-xin Deng, and Guo-qing Zhao College of Automation , Harbin Engineering University Harbin, Heilongjiang, China • A tutorial on fixed- wing UAV • Based on analyzing the principle of autopilots wireless navigation positioning, the Geometrical Dilution of Precision is

• A survey on calculated. R1 C't existing COTS • Using the optimal estimate principle, u autopilot products the Geometrical Dilution of Precision reduced with the increase number of R2 • Comparison of the coastal stations is proved.

research autopilots • The simulation based on the model is R3 put up, the influence of the base length and the included angle on GDOP is obtained. Principle of range-range positioning mode

㪮㪘㪉㪄㪈㪇㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪈㪇㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉

The Study on Sea Experiment Scheme Design of a Novel Polarization Sensor for High Precision INS for Navigation Lin Zhao, Jicheng Ding, and Weiquan Huang Jinkui Chu, Kaichun Zhao, Qiang Zhang and Tichang Wang College of Automation, Harbin Engineering University Key Laboratory for Precision and Non-traditional Machining Technology Harbin, Heilongjiang, China of Ministry of Education ,Dalian University of Technology DaLian ,China • Designed a sea experiment scheme for position, velocity and heading of • Introduction of research Inertial Navigation System (INS). background • Described constituent and working • Work principle and structure principle of the external test system design of the polarization sensor in detail. • Angle measurement model for • The systematic measuring precision navigation sensor was preliminary analyzed. The result • Sensor angle output error analysis indicates the scheme can meet the and performance simulation result The photograph of the sensor challenge of accuracy testing of the INS. Structure of the external test system

㪮㪘㪉㪄㪈㪇㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪈㪇㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏 Application of LQ optimal control in the initial Control System for Tractor-Platooning Zhongxiang Zhu1, Jun-ichi Takeda2, Ryo Torisu2, Jun Chen3, Zhenghe Song1 and Enrong Mao1 alignment of Strapdown Navigation 1College of Engineering, China Agricultural University, Beijing, China Guangtao Zhou, Bingjun Li, Wei Gao and Xin Zhang 2Faculty of Agriculture Iwate, University, Morioka, Iwate, Japan College of Automation, Harbin Engineering University 3College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, China Harbin, Heilongjiang, China • Developed a control system for Leading • The mathematical model of SINS two-tractor platooning, which dealt tractor initial alignment is presented firstly. with follow-up motions for both • The anti-jamming design and the straight and curvous courses. feedback matrix’s computing in • Created a reference course optimal control are introduced. dynamically from the position points of the leading tractor. • Three-axis sway model simulation Following based on LQ optimal control is • Guided the following tractor along tractor carried out. the reference course by an optimal • The results of simulation were control. Tractor-platooning model • Conducted the field test on the analyzed and confirmed to be The simulation result correct. straight and sinusoidal courses.

101 IEEE ICMA 2007 Conference Digest

WA2-11: Human Interface

Session Chairs: Se ji Hata, Kagawa Univ. Yasuhiro Matsuda, Kanagawa Inst. of Tech. Room 11: Xian, 10:10-11:58, Wednesda y, 8 August 2007

㪮㪘㪉㪄㪈㪈㩿㪈㪀㩷㩷㪈㪇㪑㪈㪇㪄㪈㪇㪑㪉㪏 㪮㪘㪉㪄㪈㪈㩿㪉㪀㩷㩷㪈㪇㪑㪉㪏㪄㪈㪇㪑㪋㪍

A Study on EEG Alpha Wave-based Brain- Blind Speech Separation Employing Laplacian Computer Interface Remote Control System Normal Mixture Distribution Model Li Penghai , Wan Baikun** Hua Cai ,Junxi Sun and Shifeng Ou Department of Biomedical Engineering and Scientific instrument Tianjin Changchun University of Science and Technology Changchun, Jilin Province, China Tianjin, China

• Introduction to BCI Feedback of TV Technology

TV • A structural design based Brain on BCI control system Control panel

Signal Features Pattern Control TV • An experiment about TV magnific Extrac Recogni interface control remote control realized by ation tion tion interface alpha wave control signal Error feedback • Discussion about effects and BCI control system structural diagram further improvement

㪮㪘㪉㪄㪈㪈㩿㪊㪀㩷㩷㪈㪇㪑㪋㪍㪄㪈㪈㪑㪇㪋 㪮㪘㪉㪄㪈㪈㩿㪋㪀㩷㩷㪈㪈㪑㪇㪋㪄㪈㪈㪑㪉㪉 Research of Software User Interface Evaluation Human Friendly Production System Method based on Subjective Expectation Seiji Hata Takashi Anezaki Kagawa University Okinawa National Collage of Technology Yan Shengyuan, Yu Xiaoyang, Zhang Hongguo, Zhang Zhijian, Peng Minjun, Wang Shanling Takamatsu, Japan Nago, Japan College of Mechanical and Electrical Engineering., Harbin Engineering University Harbin, Heilongjiang, China • Goals of Production system changed from “full automation” to “Cell • The analytic hierarchy process Analysis of Human Frendly Software User Interface Production system”. Next goal is (AHP) and radial basis functions “Human Friendly Production System”. Problems Relation Solutions Production System Automated Fully Frequent machine stops (a) Easy Method to (ÆSolved by Cell Systems) (RBF) neural network based • The requirements of “Human Friendly Adjust Automatic Production Change Machines AHP RBF Production System” are; Lead-time Loss subjective expectation evaluation Large Intermediate Stocks - Easy Method to Adjust Automatic Machines between Automatic Machines (b) Parts Supply System for Cell Production Difficulty of Mass-production models are established. - Parts Supply System for Cell Production Sys. System (ÆSolved by Automatic Machines) Result1 Result2 - Human Error Protection/ Fault Tolerant Sys. Cell Production Difficulty of Training • The evaluation results shows that System of Expert Workers (c) Human Error - Analyzing System of Production Process with Protection/ Fault Low Productivity of Tolerant System RBF neural network can be used human and Machines Some Workers Result2 is same with Result1 Frequent Parts Supply for Many Kinds of Products (d) Analyzing System to evaluate the software user • Following systems have been developed. of Production Process Lacking of Method with human and Machines interface, and it has the advantage - GUI Programming of Vision Systems of Assigning Workers to Cells RBF neural network can be used to - Parts Supply System for Cell Production Sys. of deciding weights automatically, evaluate the software user interface. • Human Sensory Factors in Total Production Life Cycle (HUTOP) has been analyzed. so it can enhance the objectivity Main Work of This Paper of evaluation results.

㪮㪘㪉㪄㪈㪈㩿㪌㪀㩷㩷㪈㪈㪑㪉㪉㪄㪈㪈㪑㪋㪇 㪮㪘㪉㪄㪈㪈㩿㪍㪀㩷㩷㪈㪈㪑㪋㪇㪄㪈㪈㪑㪌㪏 Finger Braille Teaching System for People who A 3D User Interface for the Active Reflector Communicate with Deafblind People of Large Radio Telescope Yasuhiro Matsuda, Tsuneshi Isomura, Ichiro Sakuma, Etsuko Kobayashi, Yasuhiko Jimbo, and Tatsuhiko Arafune Yang Zhiguang and Wang Qiming Department of Robotics and Mechatronics , Kanagawa Institute of Technology National Astronomical Observatories, Chinese Academy of Science Atsugi, Kanagawa, Japan Beijing, China • Finger Braille is a communication • A 3D user interface is developed to medium of deafblind people. solve the monitoring problem of the • We developed a Teaching System active reflector of large radio for non-disabled people who were telescope. not skilled in Finger Braille. • Open Graphics Library (OpenGL) • The Teaching System recognizes and Vertex Buffer Object (VBO) non-disabled people's speech and are employed to show the displays dot pattern of Finger Braille. movement and health state of the • Non-disabled people dot Finger active reflector. Braille by observing the dot pattern. • Users could manage and control the • An evaluation experiment with a Finger Braille Teaching System large radio telescope directly by blind people who was skilled in interacting with this 3D user Finger Braille was carried out. interface. The 3D Active Reflector

102 IEEE ICMA 2007 Conference Digest

WP1-1: Manipulator Control

Session Chairs: Yunhui Liu, Chinese Univ. of Hon g Kong Jinjun Shan, York Univeristy Room 1: Bei jing, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Study on Inverse Kinematics and Trajectory Comparison of Two Vibration Control Methods for Tracking Control of Humanoid Robot Finger Flexible Manipulator with PZT Actuators with Nonlinearly Coupled Joints Jinjun Shan L.Jiang1, D. Sun2, H.Liu3 and Y.H.Liu4 Department of Earth and Space Science and Engineering 1. Robotics Research Institute, Harbin Institute of Technology, Harbin, China York University 2. Department of MEEM, City University of Hong Kong, Kowloon, Hong Kong Toronto, Ontario, Canada 3. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling,Germany 4. Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, Hong Kong • Velocity feedback and positive position feedback, are • A new quasi-closed-form solution of the applied to flexible single-link manipulator with PZT inverse kinematics of the humanoid robot actuators. finger with nonlinearly coupled joints is • The comparison between the experimental results proposed. illustrated the advantages of positive position feedback • A trajectory tracking controller of the finger over velocity feedback. is developed, formed with a combination of feedforward, feedback and a saturation • Future work includes: 1) development of automatic tuning control. method for the parameters of PPF controller; 2) design of PPF controller for multi-mode vibration suppression; 3) • Experiments are performed to demonstrate the correctness of the proposed solution of design of PPF controller for MIMO system; and 4) inverse kinematics and the trajectory Kinematic configuration of the finger experimental study of PPF controller on more complicated tracking control algorithm. systems.

㪮㪧㪈㪄㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉

Tracking of a Moving target by Combination of Minimum-Energy Redundancy Resolution of Robot Manipulators Unified by Quadratic Programming and its Online Solution Force/Velocity Control Based on Vision for a Yunong Zhang Shugen Ma Hydraulic Manipulator Sun Yat-Sen University Ritsumeikan University, Japan Y. Liu, H. Handroos , O. Alkkiomäki*, V. Kyrki* and H. Kälviäinen* Guangzhou 510275, China Shenyang Institute of Automation, China Laboratory of Mechatronics and Virtual Design 1. Redundancy resolution at velocity level: 2. Redundancy resolution at acceleration level: *Laboratory of Information Processing Lappeenranta University of Technology, Finland

The left picture is diagram of tracking moving target by combination of force and velocity control based on vision for a hydraulic manipulator Î a quadratic program to be solved online:

㪮㪧㪈㪄㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

Application of the Servo-control Method with Global Asymptotic Stability of PID Controller for Standard Corrections for Robot-manipulators Robotic Manipulators Control Yuxin Su School of Electro-Mechanical Engineering, Xidian University, Xi’an, China 1) 2) 1) 1) D. Vassileva , G. Boiadjiev , H. Kawasaki , T. Mouri Chunhong Zheng Dept. of Human and Information Systems1), Mechatronics Systems Department,2) School of Electronic Engineering, Xidian University, Xi’an, China Gifu University, Gifu, Japan Bulgarian Academy of Sciences, Bulgaria Peter C. Müller School of Safety Control Engineering, University of Wuppertal, Germany • A modified computed torque method application for a 7 d.o.f. robot control is presented. • The global asymptotic regulation for uncertain robotic • It introduces additional corrections for the manipulators with commonly-used PID controller is joint positions, velocities and accelerations proved. and can compensate uncertainties due to the inexactness of the dynamics or some • An improved nonlinear PI plus D (NPI-D) controller is parameter’s variation. • The stability of the proposed controller has proposed to fast the transient. been discussed and some experimental results are presented. The Controlled Robot

103 IEEE ICMA 2007 Conference Digest

WP1-2: Actuators II

Session Chairs: Ken'ichi Ko yanagi, Toyama Prefectural Univ. Jason Gu, Dalhousie Univ. Room 2: Shan ghai, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪉㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪉㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Investigation on Electromagnetic Microactuator An Improved Wideband Amplifier for and its application in Micro-Electro-Mechanical Piezoelectric Actuator system (MEMS) Changhai Ru, Chun Huang, Xiufen Ye and Shuxiang Guo Mechatronics Research Lab., Harbin Engineering University 1 2 Yufeng Su ,Wenyuan Chen Harbin, Heilongjiang, China 1-School of Mechanical Engineering, Zhengzhou University, Zhengzhou, PR.China 2-Research Institute of Micro/Nano Science and Technology ,Shanghai Jiao Tong University, • Feedback zero compensation and Shanghai, P.R.China noise gain compensation with the • flexible polydimethyl siloxane intention of increasing frequency (PDMS) diaphragm with embedded bandwidth are used in the amplifier. CoNiMnP-based permanent magnet • The test results of performance of arrays piezoelectric amplifier are described. • Electro-plating of magnet • This piezoelectric amplifier has a • membrane displacement relatively strong load carrying ability, short response time, Photo of driver power for measurement piezoelectric actuator wideband and high stability SEM of the electroplated magnet

㪮㪧㪈㪄㪉㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪉㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Simultaneous Actuation and Force Estimation Basic Structure and Prototype of Novel Using Piezoelectric Actuators Linear Actuator with Electro-Rheological Gel Pekka Ronkanen*, Pasi Kallio* and Heikki N. Koivo** *Ken’ichi Koyanagi, **Yasuhiro Kakinuma, ***Hidenobu Anzai, ***Koji Sakurai, *Tampere University of Technology, **Helsinki University of Technology *Tomoya Yamaguchi, *Toru Oshima, *Noboru Momose and *Takayuki Matsuno *Tampere, **Helsinki, Finland *Toyama Prefectural University, Toyama, Japan **Keio University, Kanagawa, Japan. ***Fujikura Kasei Co., Ltd., Tochigi, Japan • Input voltage and current together with displacement are fed to an estimator • Novel structured linear actuator. • Force estimator contains a nonlinear actuator model to approximate the • Using ER (Electro- external force Rheological) gel, a new • Achieved accuracy better than 10 % of functional material. the full scale under simultaneous position feedback control • High backdriveability for • Enables new applications to utilize manipulability. force control • High mechanical safety for • Sensorless method simplifies systems Force estimation method human-coexistence robotics. The ERGLA

㪮㪧㪈㪄㪉㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪉㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Large Air-gap Magnetic Levitation of A Multi-DOF Ultrasonic Motor Using In-plane Electrodeposited Co-Ni-Mn-P Films Deformation of PZT elements and Its Driving Caglar Elbuken, Mir Behrad Khamesee, and Mustafa Yavuz Dept. of Mechanical & Mechatronics Engineering, University of Waterloo Circuit Waterloo, Ontario, Canada Zhang Minghui, Li Mantian, and Sun Lining Robotics Institute, Harbin Institute of Technology • A magnetic levitation Harbin, Heilongjiang, China system for large air-gap • A new multi-DOF ultrasonic motor microlevitation is using in-plane deformation of PZT presented. elements is introduced. • The experimental • A driving circuit for the motor based results of 1-D microlevitation of 19 on DDS using FPGA is designed. mg electrodeposited • It can generate 4 routes of required Co-based films in a driving signals. And the motor can rotate 160 rpm round x or z axis and constant and step-wise The Magnetic Levitation System 100 rpm around z axis. motion is demonstrated. The Prototype Motor

104 IEEE ICMA 2007 Conference Digest

WP1-3: Control Applications I

Session Chairs: Xinkai Chen, Shibaura Inst. of Tech. Xingli Gan, Harbin Engineering Univ. Room 3: Han gzhou, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪊㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪊㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Cooperative Control of Water Volumes of Parallel Ponds A Hybrid Controller of Self-Optimizing Algorithm Attached to An Open Channel Based on Information and ANFIS for Ball Mill Pulverizing System Consensus with Minimum Diversion Water Loss Hui Cao, Gangquan Si, Yanbing Zhang, and Xikui Ma Christophe Tricaud and YangQuan Chen School of Electrical Engineering, Xi'an Jiaotong University Center for Self-Organizing and Intelligent Systems (www.CSOIS.usu.edu) Xi'an, ShanXi, P. R. China Department of Electrical and Computer Engineering 4160 Old Main Hill, Utah State University, Logan, UT 84322-4160, USA For ball mill pulverizing system of the power plant, a hybrid • Decision making through controller of self-optimizing algorithm and ANFIS is proposed. information sharing for a The self-optimizing algorithm can find the optimal operating point canal irrigation system automatically and ANFIS can Self-Optimizing • A consensus-based Algorithm decision algorithm for keep the ball mill pulverizing p u + el f good quality of service l Adaptive l system working stably and sv - e u and minimum water-loss ot + ot Neuro-Fuzzy h Plant ot sv - e Inference u in irrigation control. np + np System r np efficiently. Simulations results sv - • Simulation tests validate verify that the hybrid controller the robustness by Monte Carlo evaluation due to can work effectively and has Hybrid controller of self-optimizing large delay uncertainties higher control quality. algorithm and ANFIS

㪮㪧㪈㪄㪊㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪊㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 A Trajectory Tracking Control Scheme of a Multivariable Controller Design for a Hydraulic Human Arm in the Sagittal Plane Screw-down System Shan Liu, Yongji Wang, and Quanmin Zhu Shurong Ning, Yiqun Wang Department of Control Science and Engineering Department of mechanical engineering, Yanshan University Huazhong University of Science and Technology, Wuhan, Hubei, China Qinhuangdao, Hebei, China • A dynamic ANN inverse method is • Presents a trajectory tracking control proposed to the complicated dyna- scheme for the human arm moving in mic of coupling between two cylin- sagittal plane which is described by a der in cold rolling . musculoskeletal model with two • The inverse dynamic is constructed degrees of freedom and six muscles. based on a static neural network and • An evolutionary diagonal recurrent an integrator then the decoupled neural network is integrated with pseudo-linear system can be obtain- ed through combining with the ori- proper performance indices, which a ginal system in series. genetic algorithm and evolutionary • Experiments were conducted on program strategy are effectively cold mill to verify the performance combined with the diagonal neural of controller and showed better The 300-reversible cold rolling network (DRNN). The Model of the Human Arm transient response.

㪮㪧㪈㪄㪊㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪊㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

Design a High-Precision Controller of Attitude Indirect Fuzzy Adaptive Control of Robotic Stabilization in Wave-measured Radar Manipulator Based on Sliding Mode Scheme Gannan Yuan , Xingli Gan and Wei Zhou Feng Qiao, Quanmin Zhu, Alan FT Winfield, Chris Melhuish and Lifeng Zhang Department of Automation, Harbin Engineering University Faculty of ICE, Shenyang JianZhu University, Shenyang, China Harbin, Heilongjiang, China Fcaulty of CEMS, University of the West of England, Bristol, UK • Wave-measured radar makes use of radar echo ware to receive wave images . • Indirect Fuzzy Adaptive Controller Attitude wave - (IFAC) for 2D SCARA robotic • The processing technology of radar image servo - speed measured can’t enhance the quality of wave image in controller actuator brake radar manipulator is designed here.

' • The stability of the control system the large extent. TT • Attitude control system of radar base can II' Attitude is investigated in the sense of JJ' sensor Lyapunov’s stability theorem. effectively improved image quality. • The effectiveness of the proposed • The attitude control method of the Fuzzy- One of control loops in wave controller is verified through PID with repetitive control compensation measured radar numerical case studies. (FPRCC) is studying in this paper . SCARA type robot

105 IEEE ICMA 2007 Conference Digest

WP1-4: Fuzzy Control

Session Chairs: Wenfan g Xie, Concordia Univ. Prashant Bhogle, College of Engineering Ambajogai District Beed Room 4: Wuhan, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪋㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪋㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

Design and realization of fuzzy self-tuning PID Fuzzy Optimal Control for Harmonic Drive System speed controller based on TMS320F2812 DSPs with Friction Variation with Temperature Yanpeng Dou, Zhang Ze Zhongyu Zhao, Wen-fang Xie –Concordia University, Canada Automation department of University, Hohhot, Inner Mongolia, China Wen-Hong Zhu –Canadian Space Agency

• The design process of the fuzzy • What: optimal controller with gain self-tuning PID controller for speed scheduled by fuzzy logic system; adjustable system. • Why: varying friction results in • C language realization of the fuzzy multiple models, where controller self-tuning PID controller based with single fixed gain is not enough; TMS320F2 812. •How: • The hard structure of vector control 䃙 Find multiple feedback gains for speed adjustable system. the multiple models by solving LMI; • The simulation for vector control 䃙 Calculate the gain of controller with operation condition using fuzzy speed adjustment system with fuzzy Harmonic Drive self-tuning PID controller. logic system.

㪮㪧㪈㪄㪋㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪋㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Study on the Control of GDROV APC System Study Based on Fuzzy Adaptive Based on Fuzzy Direct Adaptive Theory Controller Shurong Ning, Yiqun Wang Yushan Sun,Lei Wan, Xiao Liang, Yuru Xu Mechatronics Research Lab., Harbin Engineering University College of Shipbuilding Engineering, Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • A fuzzy adaptive method is propos- GDROV is a kind of open-frame ed to the characteristic of uncertain remotely operated underwater vehicle and nonlinear in cold rolling . designed for the inspection of cracks, • Adaptive fuzzy basic function is us- crevices and other potential problems ed only to identify the upper bound of the unknown part using modeling of the dams. A fuzzy direct adaptive error and tracking error , and then controller based on fuzzy basic synthesis adaptive fuzzy controller functions is designed for GDROV together with linear controller. motion control system.Simulation tests • Experiences are conducted on mill and lake experiments are conducted to Overall Structure of GDROV APC system and the results demon- verify the robustness of the controller strate and confirm the theoretical The 300-reversible cold rolling and the ability for path tracking. results.

㪮㪧㪈㪄㪋㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪋㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Application of Fuzzy-PID Controller in Neuro Fuzzy Temperature Controller P.P. Bhogle *, B. M. Patre**, L.M. Waghmare ***, and V. M. Panchade**** Hydraulic Load Simulator *Asst. Professor,Department of Instrumentation Engineering, College of Engineering Ambajogai, Dinh Quang Truong, Kyoung Kwan Ahn, Kim Jung Soo and Yoon Hong Soo India School of Mechanical and Automotive Engineering, University of Ulsan, * Professor, Department of Instrumentation Engineering,S.G.G.S. I. E &T. Nanded, India San 29, Muger 2dong, Nam-gu, Ulsan, 680-764, Korea ** Professor ,Department of Instrumentation Engineering, S.G.G.S. I. E &T. Nanded ,India • This paper proposes a new model ****Lecturer, Department of Electrical Engineering, College of Engineering Ambajogai, India of hybrid actuator – hydraulic • Neural fuzzy hybrid technique based on an experimental application is implemented on a load simulator. water temperature control system. • A force controller of hydraulic • This paper gives an idea that superiority of hybrid systems is designed using control techniques of neuro-fuzzy hybrid fuzzy-PID technique. controller. This paper has gone over the simplest manner to investigate the • Experiments are carried out to connection between fuzzy logic and neural evaluate the effectiveness of the networks. proposed control method applied • In this paper the experimental results is also for hydraulic systems with varied Hydraulic Load Simulator shown the better result when we theoretically external disturbance as in real compare with conventional controller. The system performance improves in setting time, Figure System Diagram working conditions. rise time, overshoots .

106 IEEE ICMA 2007 Conference Digest

WP1-5: Control Theory II

Session Chairs: Shen g Liu, Harbin Engineering Univ. Lingyun Wang, Central South Univ. Room 5: Beihai, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪌㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪌㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Analysis of Constrained Linear Systems Subject Linear Quadratic State Feedback Optimal Control to Feedback Matrix Perturbation against Actuator Failures Sheng Liu, Liming Zhou Zhizhou Zhang, Zhiqiang Long, Longhua She, and Wensen Chang College of Automation, Harbin Engineering University Maglev Research Center., National University of Defense Technology Harbin, Heilongjiang, China Changsha, Hunan, China • A robust and optimal controller is designed for open-loop • By restricting the saturation output in a unstable systems possessing actuator redundancy. convex hull, sufficient condition is • A discriminance of actuator functional redundancy is given. derived for determining whether an ellipsoid is contractively invariant under • Be equivalent to a the feedback matrix perturbation. without standard LQ regulator design with a given • Given a reference set, the problem of performance index. maximizing the contractively invariant • The effectiveness has ellipsoid is then proposed and solved been verified on using linear matrix inequalities (LMIs). suspension system of • The feedback matrix is used to achieve The largest contractively invariant maglev train. the minimum estimation sensitivity as an ellipsoids with and without feedback Double-Magnets Suspension System extra optimizing variable. matrix perturbation

㪮㪧㪈㪄㪌㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪌㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 An Adaptive Congestion Control Method for Robust Stabilization of Multi-Channel Descriptor Guaranteeing Queuing Delay in RED-Based Systems with Time-Delay Using Decentralized Queue Using Learning Automata Output Feedback Control Mohsen Jahanshahi Ning Chena, Guisheng Zhaib, and Weihua Guia Islamic Azad University – Central Branch aSchool of Information Science and Engineering, Central South University Tehran, Iran Changsha, China In this figure there is a router bGraduate School of Engineering, Osaka Prefecture University ,Osaka, Japan based on Random Early Detection (RED). RED is the • A robust decentralized stabilization problem for uncertain most applicable congestion multi-channel time-delay systems is considered. control algorithm. Tuning the • A sufficient condition for the uncertain multi-channel time- RED parameters in order to delay system to be robustly stabilizable by decentralized output achieve a good Performance with feedback control is derived in terms of LMIs by setting the traditional methods is exhausted. Lyapunov matrix as block diagonal appropriately according to In this research we do it by the controller’s order . learning automata adaptively.

㪮㪧㪈㪄㪌㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪌㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Analysis on Open Control Platform Discrete Time Lyapunov Stable Adaptive MIMO Yunfei Yin, Yong Wang, and Yingxun Wang Interference Rejection Department of Automatic Control, Beijing University of Aeronautics and Austranautics Beijing, China Jawad Arif, Suhail Akhtar College of Aeronautical Engineering, • What’s Open Control Platform. National university of Sciences and Technology, Rawalpindi, Pakistan • Architecture of Open Control Platform: Hardware Abstract Layer+ ¾ An algorithm which deals with multiple System Software Abstract Layer+ channels being affected by interferences Embedded Middleware Implementation+ with different frequency spectrums. Control Application APIs. ¾ The disturbance is w( k) generated by the • Five Key Elements of OCP: free response of a Lyapunov stable LTI Embedded Middleware Technology, system of order n w ·n c . Virtual Resource Network Technology, ¾ Asymptotically perfect interference Control Application Programming cancellation for a class of interference Interfaces, Real-time Communication signals is demonstrated through the use Protocols, General Control Design. of lemma on maximally monotonically • Application Fields. increasing subsequences. Open Control Platform and Its Applications ¾ The Lyapunov stability of closed loop system. Proposed method can be viewed Plot of Performance vs Time of rejection of as an adaptive internal model control. AM interference

107 IEEE ICMA 2007 Conference Digest

WP1-6: Sensing and Measurement II

Session Chairs: Xiaowei Liu, Harbin Inst. of Tech. Jin Li, Harbin Engineering Univ. Room 6: Shenzhen, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪍㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪍㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 A Novel Closed-loop Drive Circuit for the Improved Design of laser Gyroscope SINS Micromechined Gyroscope Data Acquisition Card Bing Mo, Xiaowei Liu, Xuewei Ding and Xiaoyun Tan Feng Sun, Jingyuan Chen, Wei Gao and Xiaoqing Liu Department of Microelectronic Science and Technology, Harbin Institute of Technology College of Automation, Harbin Engineering University Harbin, Heilongjiang, China Harbin, Heilongjiang, China • Dynamic analysis along the drive • The further analysis of the features direction of the micromachined of output signals of laser gyroscope gyroscope. and accelerator. The top entity • Drive sense current analysis. • The design of data acquisition card is Timer Digital frequency 16 bit • Equivalent model of the closed-loop based on FPGA. interruption meter subtracter drive system. • This design is faced to PC/104 system.

• A novel closed-loop drive circuit • The experiments show that this Counter Signal-generator register Selector design and the simulation result. acquisition card counts numbers real-timely and exactly, and can Fig. the framework of Sketch of the Closed-loop achieve the counting effect of primary acquisition card completely . FPGA design plan Drive System

㪮㪧㪈㪄㪍㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪍㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Development of a Polypyrrole Modified Gold Improved Inversion Algorithm Based on Pattern Microelectrode for Soil Nitrate Detection Recognition And Mend for Coal Dust Measure Lin Jianhan1, Wang Maohua1, Simon Ang2 and Zhu Jijun3 Ma Fengying 1 Key Laboratory on Modern Precision Agriculture System Integration Research, State Key Laboratory of Coal Resources and Safe Mining China Agricultural University, Beijing, China China University of Mining and Technology ,Beijing,China 2 Department of Electrical Engineering, University of Arkansas, Arkansas, USA 3 State Key Laboratory of Bioelectronics, Southeast University, Nanjing, China • The actuality of coal mine dust • A polypyrrole gold microelectrode measurement. array was fabricated using a micro- • Constitution of the dust sensor. Photodiode fabrication process for nitrate detection. L L array-ring • The pattern classification • SLR resulted in a correlation coefficient SCM A PL I/ F of 0.995 between peak current and • The inversion algorithm based S Dust V particulates nitrate concentration. on pattern recognition and • Detection limit: 1㬍10-4 mol/L mend. Constitution of • Selectivity: • The measurement results. colliery dust sensor - - - 2- - The fabricated microelectrodes NO3 >Cl >HCO3 >HPO4 >OAc

㪮㪧㪈㪄㪍㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪍㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 A New Inertial Measurement Method of Ship Dynamic Deformation FCM Algorithm for Identifying Urban Road Feng Sun, Chongjin Guo, Wei Gao and Bei Li Traffic Condition with Loop Sensor Data College of Automation, Harbin Engineering University Haifeng Guo, Guiyan Jiang Harbin, Heilongjiang, China College of Transportation, Jilin University • The paper analyzes the Changchun, Jilin, China deformation rule and derives the ship’s deformation mathematical • Introduction . north-arm models with the second order • Feature extraction. Markov process. • Identification algorithm of traffic • The deformation misalignment condition. angle is estimated by such inertial Ziyou Road • Simulated experiments. measurement method as angular sensor west-arm rate iterative algorithm. • Conclusion. east-arm

• The paper studies different • References. Yatai Road sampling period and gyroscope south-arm precision of SINS effects on measurement results. The tracing of the deformation Intersection of Ziyou-Yatai

108 IEEE ICMA 2007 Conference Digest

WP1-7: System Integration

Session Chairs: Jian Hu, Wuhan Univ. of Tech. Xiaoyu Zhang, Harbin Engineering Univ. Room 7: Chan gchun, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪎㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪎㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Research and Application of Sinec L2 and Performance-Driven Routing Tree Construction Modbus Plus Networks on Industrial Automation with Buffer Insertion, Wire Sizing under RLC Hu Dachao, He Yu’an, and Chai Shaokuan School of Mechanical and Automation Engineering, Shanghai Institute of Technology Delay Model Shanghai, China Chang Qi, Gao-feng Wang, and Yue-Hua Chen • Integrate two or more Institute of Microelectronics and Information Technology, Wuhan University heterogeneous industrial controlling Upper Computer Supervision Hubei, Wuhan, China networks to a single network. Level 3

2 2 2 4 4 4 Connection between intermediate Levels Controls between levels 3.5 3.5 3.5

6 6 6 • E.g., integrate Senec L2 and • Introduction. 3 3 3 2.5 2.5 2.5 P P CC

3 5 3 5 3 5 O 2 2 2 Modbus Plus Networks to one. PP O P P W 4 4 4 W 1.5 1.5 1.5 Level 2 E E • Problem Formulation. 7 7 7 Same Level's Connection 1 1 1 • Use a PLC-oriented programming R R 1 1 1 PLC 0.5 0.5 0.5 Distributed Control PLC

0 0 0 0 0 0 0 2 4 0 2 4 0 2 4 Point to Point • Sharing-Buffer Insertion. a)( T(7)-1 b)( T(7)-2 c)( T(7)-3 software CADEPA to solve ladder Connection 2 2 2 4 4 4

3.5 3.5 3.5 charts programming. 6 6 6 Level 1 • PDST/BW Algorithm. 3 3 3

2.5 2.5 2.5

3 5 3 5 3 5 2 2 2 • Three levels’ architecture: obtains Production Connection

4 4 4 1.5 1.5 1.5

7 7 7 1 1 1 information from operations;

1 1 1 0.5 0.5 0.5

0 0 0 0 0 0 Three Levels Architecture 0 2 4 0 2 4 0 2 4 coordinates information via PLC; d)( T(7)-4 e)( T(7)-5 f)( T(7)-6 supervises the controlling units.

㪮㪧㪈㪄㪎㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪎㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 A Novel BIST Architecture for Design and Application of SAE J1939 Backplane Interconnect Test Communication Database in City-Bus Information Zhong Bo, Meng Xiaofeng, Chen Xiaomei, Ji Hong and Wang Lin Integrated Control System Development School of Instrument Science and Opto-electronics Engineering, Jian Hu, Gangyan Li, Xiangpeng Yu and Sheng Liu Beijing University of Aeronautics and Astronautics, Beijing, China

School of Mechanical & Electronic Engineering, Wuhan University of Technology, Test Bus System Bus Wuhan, Hubei Province, China • Backplane interconnect test is to verify system’s structural correctness. • City-Bus Information Integrated • Adding an ASC (Assistant Scan BIST ASC Control System. Control Chain) unit in BIST. Module • CAN Specification and SAE J1939 • Providing test process and algorithms Protocol. dependant of the proposed BIST. IC IC • Design of SAE J1939 Board Communication Database. • A solution to reduce test time, IC IC decrease test complexity and • Experiment for SAE J1939-Based City-Bus Lamp Control System accommodate dynamic backplane configuration.

㪮㪧㪈㪄㪎㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪎㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏

A Novel Component-based Hardware-Software An Innovative Approach for Online Bandwidth Co-simulation System Based on OR1200 Adjustment in IP DiffServ Networks Using Sai-Jun He and Ming Zhang Institute of Information and Communication Engineering, Zhejiang University Learning Automata Hangzhou, Zhejiang, China Mohsen Jahanshahi Islamic Azad University – Central Branch • The system is composed of three Tehran, Iran parts: ISS, RTL simulator and IP DiffServ architecture Control-kernel. • It uses socket, shared memory In this architecture there is a and PLI. classifier which classify the traffic into three service class. In this • It can shorten the development research we use learning automata period of the SoC products. in order to share the capacity of • It makes use of open-source The Framework of the Hardware- router output link between three software which contributes to its Software Co-simulation System class such that delay constraints low cost. for each of them are satisfied.

109 IEEE ICMA 2007 Conference Digest

WP1-8: Signal Processing Applications V

Session Chairs: Yon ghua Li, Harbin Engineering Univ. Zhen Shi, Harbin Engineering Univ. Room 8: Shen yang, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪏㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪏㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 SVM Method for Diagnosing Analog Circuits Simulation Study on Four-quadrant Cascade Fault Based on Testability Analysis Multilevel Inverter Based on AC Voltage Yongkui Sun 1, Guangju Chen 1 and Hui Li 2 Sensorless Simple Cell 1 School of Automation Engineering, 2 Institute of Astronautics and Aeronautics , Yun Zhang, Fengjiang Wu, Li Sun and Xingtao Sun University of Electronic Science and Technology of China Department of Electrical Engineering and Automation, Harbin Institute of Technology Chengdu, Sichuan, China Harbin, Heilongjiang, China Cell R5 • A novel simple structure of CLMI is A1 Cell • For analog circuits, fault diagnosis is very B1 Cell proposed to reduce the volume and cost C1 complex. R2 C1C2 Input Cell of the system. tran- A2 Cell • the testability analysis of the circuit under R1 sfor- B2 Vi Cell R3R4 mer test (CUT) determines an optimal set of Vc • The merits: smaller volume, fewer Cell C2 Va Vb testable components (OSTC). sensors, stranger ant-jamming ability, A3 Cell B3 R6 Cell • support vector machine (SVM) was used lower harmonic of both the input and C3 to identify the analog circuits fault. R7 output currents. M • results verify that the proposed method • The simulation results of the simple for diagnosing analog circuits fault is structures indicate its validity and Equivalent Circuit of superior to the others State-variable active filter feasibility.. Cascade Inverter

㪮㪧㪈㪄㪏㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪏㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉

Control and Implementation of Reversible Class D Power Amplifier for Audio Beam System Liwei Yang1, Limei Xu4 Tai Yang2, Bo Zhang3 Multi-modular Converter with Interleaved Institute of Astronautics and aeronautics Department of Technique University of Electronic Science and Technology of China Xichang Satellite Launch Center Space Vector Modulation Chengdu, Sichuan, China Xichang, Sichuan, China Gang Zhang, Zhigang Liu, Dan Chen, Lijun Diao, Wenli Lin and Zhefeng Li School of Electrical Engineering, Beijing Jiaotong University • Actuator for ultrasonic transducer. 100044, Beijing, China • A novel sampling process and pulse generator. L • Introduce a new multi-modular 1 DC bus Module • High frequency full Bridge FET converter structure, which can Grid # 1 L2 driver IC. effectively eliminate the zero- Module sequence circulating current # 2 • MOSFETS with a full H-Bridge between modules . L 3 Module configuration in bootstrap mode. • Acquire a high equivalent switching # 3 • Reactance matching and L4 frequency, and reduce the harmonic Module resonance function of the output current injected into AC Grid # 4 circuit. • Present a novel parallel control Class D amplifier for Audio Beam scheme to share the load equally. Multi-modular converter

㪮㪧㪈㪄㪏㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪏㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Design of Speech Control System IN Car Noise Analysis of Current Waves and Faults Environments Recognition in Rare Earth Permanent Magnet Longhua Ma, Wei Shangguan and Yihua Zang College of Automation, Harbin Engineering University Brushless DC Motor Harbin, Heilongjiang, China Ke Song, Weiguo Liu, Guangzhao Luo, Xiwei Zhou • Hands free and speech Human College of Automation, Northwestern Polytechnical University Machine Interface will be popular in No.127 Youyi West Road, Xi An, Shaanxi Province, P. R. China 710072 future. • A new methods for car noise • Analyze phase currents under environment is adopted to find the the healthy condition. endpoint more robustly. • Analyze phase currents under • We use Spectral Subtract to enhance a typical hall sensor fault. speech signal, and achieved • Build a test bench based on enchantment . dSPACE. • Use HMM recognized operating Waterfall of Chinese phrase • Compare experimental data with theoretical analyses. commands, and get ideal daodai”“ followed by a piece recognition . of silence and noise The experimental data

110 IEEE ICMA 2007 Conference Digest

WP1-9: Modeling and Detection

Session Chairs: Ju-Jan g Lee, Korea Advanced Inst. of Science & Tech. Dingjie Xu, Harbin Engineering Univ. Room 9: Dalian, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪐㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪐㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Incremental Learning Framework for Function A Approach to DS-SS Signal Acquisition Using Approximation via Combining Mixture of Expert Larger Step and Serial Acquisition Algorithm Model and Adaptive Resonance Theory Feng Shen, Dingjie Xu and Bing Xue Cheoltaek Kim and Ju-Jang Lee Automation College, Harbin Engineering University Korea Advanced Institute of Science & Technology Harbin, Heilongjiang, China Deajeon, Korea • The hardware implementation and the • A novel incremental learning I mathematics mode of the scheme is 0 ( )2 framework is suggested provided. I Q combining mixture of expert • The acquisition performance of the 0 ( )2 Q model and adaptive resonance system introduced is analyzed and s(i) simulated with consideration of phase theory. error of PN sequences, Doppler shift w 1 • Receptive Field Weighted and background noise. Regression(RFWR) and • The larger step and serial acquisition PROBART is compared to presented in the paper is considered both the fast acquisition and less show the usefulness. hardware.

㪮㪧㪈㪄㪐㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪐㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Online Feature Extraction and Selection Bearing Fault Diagnosis Based on PCA and SVM Lu Shuang for Object Tracking School of Communications, Zhejiang Normal University Wei He, Xiaolin Zhao and Li Zhang Jinhua, Zhejiang, China Dept. of Electronic Engineering, Tsinghua University Beijing, China • A new method of fault diagnosis based on PCA and SVM is presented on the basis of • Use clustering method to segment the statistical learning theory and the feature object according to different color. analysis of vibrating signal of rolling bearing. • Generate Gaussian model for each • In the light of the feature of vibrating signals, segment respectively to extract the eigenvector is obtained using PCA, fault color feature. diagnosis of rolling bearing is recognized • Form weight images for features and correspondingly using SVM multiple fault apply a raw feature ranking. classifier. • Select an appropriate feature subset, • Theory and experiment show that the by which the object can be recognition of fault diagnosis of rolling distinguished from the background at bearing based on PCA and SVM is available the highest SNR in the merged weigh in the fault pattern recognizing and provides a image. new approach to intelligent fault diagnosis.

㪮㪧㪈㪄㪐㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪐㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 The Prediction of Nonlinear Ship Motion Based Equipment Fault Forecasting on Multi-Varble Grey Model MGM(1,n) Based on ARMA Model Jihong Shen, Shujuan Wang ,Mingming Hu and Jide Li College of Science, Harbin Engineering University Jie Zhao, Limei Xu and Lin Liu Harbin, Heilongjiang, China Institute of Astronautics & Aeronautics, UESTC Chengdu, Sichuan, China • The paper is about the prediction • This paper used auto-regressive moving average (ARMA) model for of nonlinear ship motion on the basis of MGM(1,n) model. device down time forecasting based on transformed historical data • The Range Transformation is • The 8 orders moving average method was adopted to obtain mean introduced to make original data stationary time series which were35.00% 30.00% fit for the model. predicted by ARMA model. 25.00% • The model is built up to the pitch, 20.00% Actual MF Forecasting MF • This proposed method can 15.00% MF value MF heave and wave data. effectively handle the non-linear 10.00% • The prediction of coupled pitch- 5.00% situation with equipment of 0.00% heave motion is got from 1 3 5 7 9 1113151719212325272931 highly complicated and non- Shift(half a day) numerical experiment. stationary nature. Comparison between actual simulating and predicting condition MF and forecasting MF

111 IEEE ICMA 2007 Conference Digest

WP1-10: Space and Aerial Systems

Session Chairs: Masahiro Nohmi, Ka gawa Univeristy Mingcong Deng, Okayama Univ. Room 10: Qin gdao, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪈㪇㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪈㪇㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Microgravity Experiment for Attitude Control of The Distributed Control System A Tethered body by Arm Link Motion Of a Light Space Manipulator Masahiro NOHMI, Takeshi YAMAMOTO, and Youhei TAKAGI Faculty of Engineering, Kagawa University Hongliang Jia, Weimin Zhang, Yuxin Bai, Peng Fan, and Qiang Huang Takamatsu, Kagawa, Japan Intelligent Robotics Institute, School of Aerospace Science and Engineering Beijing Institute of Technology, Beijing, China • Tethered Space Robot is a new Image of a tethered space robot space system proposed in 1995. • Mission of the light space • Experimental device was developed manipulator under consideration of practical size and mass. • The distributed control architecture for the light space manipulator • Control algorithm has been designed for applying to the hardware. • Main controller inside the • Microgravity experiments by spacecraft and joint controller in dropping capsule and parabolic the joint flight were performed. • Hardware design and control • Control mode and Procedure method have been evaluated and • Experiments and results confirmed by the experiment. Microgravity experiment The Light Space Manipulator

㪮㪧㪈㪄㪈㪇㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪈㪇㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Compliant Force Control in Space Docking Design of Band-Style Lock-Unlock Zhao Hui, Zhang Shangying, Chen Xuedong Mechanism for Space Arm School of Mechanical Automation, Binghui Wu , Zongquan Deng Wuhan University of Science and Technology, Wuhan, Hubei China School of Mechatronics EngineeringHarbin Institution of Technology, • Compliant force control strategy Harbin, Heilongjiang, China is developed based on the inner loop position control. •Introduction • Considering uncertainties, robust • Working principle of force controller is designed using 㱘 synthesis theory. the mechanism • Robustness is compared by 㱘 analysis between robust force • Structure design controller and classical force controllers. • Experiment • Experiment results indicate that • Conclusion the designed controller is of efficiency and superiority. Compliant Force Control System Prototype of the mechanism

㪮㪧㪈㪄㪈㪇㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪈㪇㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Motion Trajectory Planning of Space GA-Based Flight Motion Model Parameter Manipulator for Joint Jerk Minimization Identification of a Subminiature Fixed-Wing Panfeng Huang1, Kai, Chen1, Jianping Yuan1 and Yangsheng Xu2 Unmanned Aerial Vehicle 1 College of Astronautics, Northwestern Polytechnical University Jinjun Rao, Zhenbang Gong and Zhen Jiang Xi’an China 2 Department of Mechanical and Automation Engineering, The Chinese University Department of Precision Mechanical Engineering, Shanghai University of Hong Kong, Hong Kong, China Shanghai, China • Motion Trajectory Planning of • The linear parametric model of a SUAV Space Manipulator with wingspan of 1.8m is investigated based on the rectilinear trim flight and • Objective Function for Joint small perturbation theory. Jerk Minimization • The FDMS is developed to collect the input and output data in flight experiments, and all the required data are obtained after • Genetic Algorithms processing of raw data. • Improved GA are used to estimate the • GA-Based Optimal Algorithms unknown parameters, and verification Subminiature Unmanned for Joint Jerk Minimization indicates that GA is effects in SUAV Aerial Vehicle platform Model of 2 DOF planar space robot system model parameter identification.

112 IEEE ICMA 2007 Conference Digest

WP1-11: Human Recognition and Control

Session Chairs: Huoshen g Hu, Univ. of Essex Wang Wei, Harbin Engineering Univ. Room 11: Xian, 13:30-15:18, Wednesda y, 8 August 2007

㪮㪧㪈㪄㪈㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪮㪧㪈㪄㪈㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍

The Monitoring Method of Driver’s Fatigue Application of Kernel Method on Face Feature Based on Neural Network Extraction Yang Ying, Sheng Jing and Zhou Wei Kejun Wang, Li Xin , Wang Wei and Shengli Duan School of Mechanical Engineering and Automation, Northeastern University Pattern Recognition Laboratory ., Harbin Engineering University Shenyang, Liaoning, China Harbin, Heilongjiang, China • This paper presents a new method of • Kernel method was used in the field detecting driver’s alertness level and of face recognition fatigue. • Kernel method maps the primitive • It can recognize that the driver is in vector to high dimensional space F decreased alertness state or drowsy by means of mapping function, and state. analyzes PCA and LDA in space F. • Test results confirmed that the • Kernel method can transform linear effectiveness. The recognise non-classification of input space into accuracy rate reaches to 91.8%. This Alarm for yawning feature space and realizes linear driver fatigue monitoring system has classification. significant effect to reduce traffic • construct a face automatic Face Recognition System accident. recognition system.

㪮㪧㪈㪄㪈㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪮㪧㪈㪄㪈㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 People Tracking and Identification with a Mobile Robot A Robust Person Tracking and Following Nicola Bellotto and Huosheng Hu Approach for Mobile Robot Dept. of Computer Science, University of Essex Chunhua Hu, Xudong Ma, and Xianzhong Dai Colchester CO4 3SQ, United Kingdom School of Automation, Southeast University • Tracking and identifying a Nanjing, Jiangsu, China person for interaction is • The person tracking and important for service robots following method framework. • Multisensor data fusion for • The person tracking method, legs and face detection which combines the color clothes features of the upper • Sequential UKF to perform body and contour head-shoulder. real-time tracking • The following person method The Framework of the method • Robust metric to identify using the proportional people with color histogram compensation method. • Tracking+identity information • Experiments validate the to improve data association robustness of the method .

㪮㪧㪈㪄㪈㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪮㪧㪈㪄㪈㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Modeling of Pedestrian Evacuation Safety Micro-Robot for Endoscope Based on Control System Based on Agent Wireless Power Transfer Huang Xifa, Wang Kejun, Guo Lianying Guozheng Yan, Dongdong Ye, Peng Zan, Kundong Wang and Guanying Ma Automation College, Harbin Engineering University School of Electrical and Information Engineering, Shanghai Jiao tong Harbin, Heilongjiang, China University,Shanghai,China • The complex system characteristics of pedestrian evacuation control were • Micro-robot system. analyzed • The control system model • Locomotion and framework of pedestrian control principle. evacuation based on Agent technology was established •Wireless power • The entities were abstracted transfer principle. as Agent • The structure of some key • In-vitro experiment. micro-robot system for endoscope Agents was emphasized Framework for pedestrian • The interactive Multi-Agent evacuation safety control system system was constructed

113 IEEE ICMA 2007 Conference Digest

WP2-1: Control of Mechatronic Systems

Session Chairs: Li guo Chen, Harbin Inst. of Tech. Jason Gu, Dalhousie Univ. Room 1: Bei jing, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪈㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪈㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Direct Torque Control of a Doubly-Fed Wind Application of Compound Controller Based on Generator Based on Grey-Fuzzy Logic Fuzzy Control and Support Vector Machine on Xingjia Yao, Yanjun Jing, and Zuoxia Xing Wind Energy Institute, Shenyang University of Technology Ship Boiler-Turbine Coordinated Control System Shenyang, Liaoning, China Sheng Liu, Yanyan Li College of Automation, Harbin Engineering University • Design a DTC system of a doubly-fed

 Harbin, Heilongjiang, China Induction generator applied to a wind O* generation system. te*  • Support Vector Machine 

rk() ek() uk()  uk() yk() O T Fuzzy F t

ˆ  ˆ ˆ e ( • Use fuzzy control with grey prediction ( Plant

( E k k k Controller    1 1 1 Regression  ) ) strategy to improve the response time ) ir

Zr • Fuzzy-SVM Compound SVM ukS() of DTC during large change in load. 1 Controller E SVM Inverse Controller Design System • Simulation of the DTC system with Identification is ,us grey-fuzzy controller is carried out to • Simulation verify the control performance. DTC with grey-fuzzy controller Compound control structure of SVM inverse system

㪮㪧㪉㪄㪈㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪈㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Nonlinear Speed Regulation with Electric Power The Application of Variable Structure Bang- Generation for Spark-Ignition Engine Bang Controller on Floating Satellite Kai Zheng, Tielong Shen, and YuYao Simulation System Control & Simulation Center., HIT, China Shihong Zha ,Tao Mei , Minzhou Luo,Weizhong Zhang,Sanfeng Chen Dep. of Mechanical Engineering, Sophia University, Japan Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines, Chinese Academy of Sciences • The alternator’s dynamics is Hefei, AnHui ,China, considered in the speed regulation •Pneumatic moving technique is an design. important branch of the industry • A feedforward controller is automation realm . proposed to compensate the •a method of variable structure Bang- magnetic torque. Bang controller is introduced • Experiment results show the design •variable structure Bang-Bang control scheme is effective for the speed method improves the shaft angular regulation. Engine Control velocity markedly

㪮㪧㪉㪄㪈㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪈㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Modeling and Fuzzy PID Control of the VVVF Automated Precise Liquid Dispensing System Based Pressure Control System of Man-Made for Protein Crystallization Diamond Hydraulic Force Machine Yaxin Liu, Liguo Chen, Lining Sun Jinhai Mo and Hong Wang Robotics Instituteˈ Harbin Institute of Technology School of Mechanical and Electrical Eng., Guilin University of Electronic Technology Harbin, Heilongjiang, China Guilin, Guangxi, P. R. China • A solenoid-based non-contact • The mathematical models of pressure dispensing system with integrated control system (PCS) are established Pressure Pressure Measuring ˉ flow sensor was developed Booster e for man-made diamond hydraulic Controller Reference ˇ • The dispense process was analyzed force machine. A fuzzy PID (FPID) Pressure controller is proposed to achieve VVVF with CFD simulations, which is satisfactory control properties useful for choosing system pressure • Simulation results indicate that the and suitable nozzle FPID controller has good dynamic Big Small Pump Pump • Coefficient of variance (CV) has the non-contact liquid and static behaviors, favorable self- been shown to be below 3% at 1uL. adaptability and easy realization. Configuration of PCS dispense module

114 IEEE ICMA 2007 Conference Digest

WP2-2: Pipe Inspection Robots

Session Chairs: To yomi Miyagawa, Toshiba Corporation Ohmi Fuchiwaki, The Univ. of Electro-Communications Room 2: Shan ghai, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪉㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪉㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Development of an Adaptive Mobile Robot for In- Conceptual Design and Initial Experiments Pipe Inspection Task on Cable Inspection Robotic System Peng Li, Shugen Ma, Bin Li, Yuechao Wang Xingsong Wang, Fengyu Xu Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences School of Mechanical Engineering Shenyang, China Southeast University, Nanjing, 210096, China • A robot based on adaptive mobile mechanism is proposed. • Wheel-based cable inspection robot. • The robot equipped with one • Three modules equally spaced circularly actuator has two working modes, a with two wheels for each module. normal working mode and an • CCD camera for visual inspection and assistant working mode. Permanent magnets- Holl sensors for • A prototype has been set up and magnetic flux leakage detection. experiments have been conducted to testify the adaptability of the robot. • Focusing on kinematics and statics of the robot. Prototype of the pipe robot Cable Inspection robot

㪮㪧㪉㪄㪉㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪉㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Design and Control of Development of Semi-Automatic Inspection Bridge Inspection Robot System System for Indoor Pipeline J-K Oh, A-Y Lee, S. M. Oh, Y. Choi, B-J Yi, and H. W. Yang Hoon Lim, Jae Yeon Choi, Byung-Ju Yi and Byoung Kyu Kim Bridge Inspection Robot Inspection Interface (BIRDI), Hanyang University, Rep. of Korea Human-Robotics Lab., Hanyang University Aansan, Kyungki-do, Korea •The aim is Tele-Operation Inspection Robot • Introduction of the new type ‹ checking the safety Station semi-automatic inspection system status of a real bridge Wireless LAN for indoor pipeline ‹ gathering accurate data • Fast inspection by using wire- jˆ”Œ™ˆG z›ŒŒ™•ŽG n ™–G ‹ performing driven method Œˆ‹ š—™•Ž šŒ•š–™ maintenance Haptic Device Haptic Signal DSP F2812 (Input & Feedback Output) • Map-building through gyro • Automatic mode for Inspection Robot Feedback Signal sensor and image processing inspecting a real (Output) • Collection of valid information bridge by long OpenGL (Feedback Output) inside pipeline such as cross- distance user sectional area etc. via image • Manual mode for the Bridge Inspection Robot System processing precision inspection

㪮㪧㪉㪄㪉㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪉㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Characteristics of In-pipe Mobile Robot with Experimental Study of Interference Factors and Wheel Drive Mechanism using Planetary Gears Simulation on Oil-Gas Pipeline Magnetic Flux Toyomi Miyagawa䋬Nobuyuki Iwatsuki Leakage Density Signal Toshiba Corporation䋬Tokyo Institute of Technology JiangQi Kawasaki, Japan School of Control Science and Engineering Shandong University , Jinan City, Shandong Province ,China In this paper, we focus on the running static analysis of the wheel drive mechanism for straight piping. MFL map and contour plot of pits It was clarified that the traction aligned to their axes on the pipeline force of this mechanism was at outside surface, Their mutual least 10 times the weight of the influence on MFL robot. In-pipe mobile robot (2- inch)

115 IEEE ICMA 2007 Conference Digest

WP2-3: Control of PMSMs

Session Chairs: Hon gzhang Jin, Harbin Engineering Univ. Dagui Huang, Univ. of Electronic Science and Tech. of China Room 3: Han gzhou, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪊㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪊㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Speed Tracking Control Based on Backstepping of Permanent Magnet Synchronous Motor with Direct Torque Controller for Low Velocity and Uncertainty High Torque PMSM Based on TMS320F2812 DSP Wenlei Li, Weixing Lin and Peter X. Liu Yongjun Chen, Shenghua Huang, Shanming Wan School of Information Science & Engineering ., Ningbo University Department of Electrical Machinery, Huazhong University of Science and Technology Ningbo, Zhejiang, China Wuhan, Hubei, China For permanent magnet synchronous motor system with • PMSM Model and DTC constant parameter uncertainties and external disturbances, a Fundamentals. novel adaptive robust backstepping tracking control scheme based on the dynamic surface control method is proposed in • The Structure and Strategy of the this paper. In order to verify the performance of the deduced PMSM DTC System controller, numerical simulations are presented. The • Discrete Implementation of DTC simulation results show that the proposed controller can Control Scheme. obtain the prescribed output tracking transient performance, • DSP Implementation and and owns robustness for the system uncertainties. Experimental Results. The TMS320F2812

㪮㪧㪉㪄㪊㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪊㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Accurate Speed Control for High-power Servomotor A Neural Network Based Space Vector PWM for Based on Adaptive Backstepping Control Approach Permanent Magnet Synchronous Motor Drive Kun Liu, Yiming Fang, Ying Zhao, Yongcheng Han Guoqi Xiang, Dagui Huang Department of Electrical Engineering, Yanshan University School of Mechatronics Engineering,University of Electronic Science and Technology of China Qinghuangdao, Hebei, China Chengdu, Sichuan, China • To achieve accurate speed control of high-power servomotors, a speed • Presents a artificial neural network observer based on the mathematic based implementation of space vector. model is designed. • Adaptive backstepping control • Investigate different network approach is adopted to solve the architectures by keeping the same nonlinearity coupling of the current number of neurons. and speed, getting the control • Simulate ANN-SVPWM by the vector voltage and adaptive renew laws. control system of PMSM . • two adaptive update laws are given • Demonstrate the feasibility of the for alternative control in the speed control structure controller according to different optimal network presented for high-power servomotor industrial application conditions The ANN-SVPWM

㪮㪧㪉㪄㪊㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪊㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏

Position Accuracy Improvement of PMLSM Rotor Position Estimation for PMSM Based on System based on Artificial Immune Algorithm Sliding Mode Observer Yang Liu, Bo Xue Tan, Xue Zhang Liu Jiaxi, Yang Guijie and Yan Pengfei Department of Electrical and Electronics,Shandong University of Technology Department of Electrical Engineering, Harbin Institute of Technology Zibo City, Shandong Province, China Harbin, Heilongjiang, China • This paper suggests that the artificial immune algorithm can • A sliding mode observer (SMO) is be used effectively on tuning of a designed to estimate the rotor position

iqref of PMSM Zref pwm16  Vqref V PID control structures for PI  PI D ref  Vdref  IPAR_ K V SVPWM IGBT • A novel estimated speed is used to E ref PMLSM system. idref  PI  Tˆ improve the system stability e i i D a • The results of simulation indicate i i b i PARK E CLARK that the proposed control scheme • The convergence of SMO is guaranteed ; d Zˆ has stronger robustness and the phase lag is compensated e SMO PMSM better rapidity, and smaller • High performance sensorless drive of dynamical synchronous error. artificial immune-PID the PMSM based on SMO is The drive system • The artificial immune algorithm established and the whole system is based on SMO is effective to PID tuning. simulated by matlab

116 IEEE ICMA 2007 Conference Digest

WP2-4: Control Applications II

Session Chairs: Ton gzhen Wei, Inst. of Electrical Eng., Chinese Academy of Sciences Xinkai Chen, Shibaura Inst. of Tech. Room 4: Wuhan, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪋㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪋㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 The Control Scheme Based on Inverse System Study on the friction nonlinear control of force Theory for Grid-connected Power Converter in control system Wind Turbine Biao Zhang,Ke-ding Zhao,Yan-liang Dong, and Ge-qiang Li Jiahu Guo School of mechatronic Engineering, Harbin Institute of Technology Harbin, Heilongjiang, China College of Mechatronics Engineering and Automation, Shanghai University, Shanghai ,China • A nonlinear friction compensation e gd controller of force control system is • a nonlinear dynamic model of supply-side e e gq e ga Tf egc gb developed. R R R converter is founded . g g g TT(,)T L L L s mg i g g g d • The method is based on non-  • the order inverse system of the iq i Tcm()T D ga J s igb igc * r M precision friction model. vdc 1 1 D vd supply-side converter is obtained . v * M2 q iq r2 v • only parameters upper bounds are • Derive the decoupled nonlinear control dc H J c T block . needs . m • The simulation and experimental result • The simulation results show that proved that the system based on the compared with PID controller, the proposed control scheme in this paper nonlinear control block controller designed in this paper is have good dynamics and stability in diagram of grid-connected better at eliminating the friction influence. Friction Model spacious region converter

㪮㪧㪉㪄㪋㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪋㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 A Multi-Objective Optimizing Control Method for Hybrid CMAC-PID Controller in Heating Boiler-Turbine Coordinated Control Ventilating and Air-Conditioning System Ying Guo, Jianhong Lu,Tiejun Zhang, and Ke Wu Jiangjiang Wang, Chunfa Zhang and Youyin Jing School of Energy and Environment , Southeast University North China Electric Power University, Baoding, Hebei, China Nanjing, Jiangsu, China • HVAC System are modelled, mainly • A multi-objective optimizing control including the heat exchanger and the method is proposed. Firstly, multi- 150 air-conditioning space. p r

) objective optimization is carried out 2 100 p rs • CMAC-PID control system is

cm 50 kg/ to obtain the optimal trajectory ( 0 Drum Pressure Pressure Drum 0 500 1000 1500 2000 2500 3000 introduced. 150 reference values of the nonlinear P 100 P • Feedback control by using s

boiler-turbine system. Then, with the 50 MW) ( traditional PID controller enhances Power Output Power 0 references, we set up the constrained 0 500 1000 1500 2000 2500 3000 0.5 the stability and reject the L predictive control system based on L s 0 disturbance.

fuzzy gain scheduling and the global m) ( -0.5

DrumLevel Water 0 500 1000 1500 2000 2500 3000 • Feed forward control by using fuzzy model. Time (s) CMAC neural network increases the • Simulation on the boiler-turbine Response performance response speed and control precision Control System coordinated control system illustrates in HVAC system. the effectiveness of this method. of controlled variables

㪮㪧㪉㪄㪋㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪋㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 A Novel Direct Power Control Method of Three- Phase Active Rectifiers in Industrial Drive Twi-Sliding Mode Control for Efficiency System Improvement in Variable Speed Small Tongzhen Wei Institute of Electrical Engineering, Chinese Academy of Sciences Wind Turbine Systems Beijing, China Guoliang Yang , Huiguang Li • Conventional direct power control Department of Electrical Engineering University of Yanshan (DPC) results in variable switching Qinhuangdao , Hebei , China frequency. •Introduction • This paper has presented a direct • Mathematical model of power control method combining L utility WPGS battery A DC C direct power control, space vector PMSG D A • Development of the T C C modulation and deadbeat control. Tg • The proposed scheme eliminates the control strategy Vw APU CONTROLLER

main drawback of conventional T Zw i XSOC • Simulation results ib a DPC and also preserves the major AC-DC-AC drive system advantages, such as fast active and • Conclusion Typical Small Turbine WPGS reactive power control.

117 IEEE ICMA 2007 Conference Digest

WP2-5: Fault Diagnosis

Session Chairs: Xiufen Ye, Harbin En gineering Univ. Liping Sun, Northeast Forestry Univ. Room 5: Beihai, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪌㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪌㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍

SVDD-based Mechanical Fault Diagnosis for Research and Application of Data Mining in Fault Fiberboard Gluing System Diagnosis for Big Machines Jian Li, Yizhuo Zhang and Liping Sun Zhigang Chen, Laibin Zhang, Zhaohui Wang and Wei Liang Northeast Forestry University, Harbin, 150040, China College of Mechanical and Electronic Engineering, China University of Petroleum Beijng, China • SVDD for fault diagnosis is proposed to use in fiberboard gluing system.

• KPCA is employed for feature nomal data • Introduction abnomal data extraction of the normal and fault • Data mining principle. examples. • Method and steps in fault diagnosis. • SVDD algorithm as classifier has • Example analysis. better identification rate than ANN • Conclusions. when lack of unknown fault training examples.

㪮㪧㪉㪄㪌㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪌㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Neural Network Faulty line Detection Method in Research and Application of Appliance Fault Small Current Grounding Systems Based on Diagnosis Based on Dynamic Modeling Rough Set Theory Suying Yang*, Chuijun Li, Chongquan Zhong, and Fuqiu Wang Yundong Song, Shun Yuan and Chunfang Zhao School of Electronic and Engineering Information, Dalian University of Technology Department of Electrical Engineering, Shenyang University of Technology Dalian, Liaoning, China

Shenyang, Liaoning, China 100

80 C) • The relation between the process C) • The data set was pre-processed by status and temperature change rate; 60 Rough Set theory and the simplified 40 Temerature(deg • A new method of dynamic Temerature(deg switch off here 20 data set was obtained. the top modeling for fault diagnosis with the bottom 0 • The neural network was designed uncertainty ; 0 200 400 600 800 1000 Time(s) and trained by the simplified data set. • Fuzzy inference for actualizing Fig. Temperature curve of switching off The Model of Neural Network the rice cooker in the heating stage • Fusing those detection results, a inference engine of fault diagnosis; better faulty line detection result was • Experimental result shows the accuracy is about 76%. reached.

㪮㪧㪉㪄㪌㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪌㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Fault Tolerance of Multiprocessor-Structured Recognition of Shaft Orbit Based on Walsh Control System by Hardware and Software Spectrum and Support Vector Machine Xiuqiao Xiang, Jianzhong Zhou, Xueli An, Rengcun Fang, Bing Peng Reconfiguration Huazhong University of Science and Technology, Wuhan, China Peichang Wang, Junxing Zhang and Zhixue Chang • Firstly, distance vector between the Institute of Electromechanical and Control Engineering point on the shaft orbit and its center Dalian Nationalities University Dalian City, Liaoning Province, China is calculated and obtained. • Fault detection by self-diagnosis Converter • Secondly, the distance vector is INTER Multiplexer and validation of exchanged A B transformed by Walsh orthogonal

0 Exchanged info. 0 information.   matrix, and obtained Walsh spectrum s ,03*C SIMUL d 6<1&+ • Operation security supervised by ,03*  D has property of invariance to rotation, s monitoring and configuration a scaling and translation. device. M Control 2 Control

Control 1 Control U X Operation code 1 code Operation Operation code 2 code Operation • Fault Tolerance by Hardware and Monitoring and configuring device • Thirdly, Walsh spectrum, as feature Shaft Orbit: Banana Software Reconfiguration. Command Message of shaft orbit, is trained and tested by Reconfiguration means of support vector machine

118 IEEE ICMA 2007 Conference Digest

WP2-6: Control Theory III

Session Chairs: T yrone Fernando, Univ. of Western Australia Dongmei Yue, Harbin Inst. of Tech. Room 6: Shenzhen, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪍㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪍㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 A new numerical controller for servo system A Novel Adaptive Estimator for Maneuvering Juanjuan Tian, H. Seki, M. Hikizu, Y. Kamiya, Q. Zhang Target Tracking Division of Innovative Technology and Science, Kanazawa University Kanazawa, Ishikawa, Japan Junliang Chen, Xiaodong Hou, Zheng Qin and Ronghua Guo School of Software, Tsinghua University • Backgrounds Beijing, China • Structure and analysis of the proposed numerical controller • “Current” Statistical Model is PROPOSED METHOD • Simulation results of applying the controller to a double- introduced to describe the target IMM3 IMM5 maneuver. 0.25 axis servo system

0.2 ) x-axis • Methods for error compensation: using error signals and 2

• Based on “Current” Statistical s m/ feedforward controller Model, the target dynamic model is 0.15 s modified, and IMM algorithm is 0.1 • Conclusions RMS Acceleration Error( Acceleration RMS K

applied. 2 value 0.05 1 + + up 0 Position V-F -1

x axis › › • A maneuvering target scenario is -2 command 0 0 0.001 0.002 0.003 0.004 0.005 transformer 0 20 40 60 80 100 120 140 160 180 200 down included for simulation to show the k time (s) - 2 1 0 Feedforward performance of the proposed -1

The Simulation Result y axis -2 controller pulse pulse + estimator. 0 0.001 0.002 0.003 0.004 0.005 time (s) equivalent counter - Block diagram of the proposed numerical controller

㪮㪧㪉㪄㪍㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪍㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Adaptive Robust Observer Design For A Class of Uncertain Nonlinear Systems Delay-dependent Guaranteed Cost Control Fucai Wang1 and QingWei Jia2 for Uncertain Nonlinear Discrete-time Systems 1 LuDong University, Shandong Province, PRC 264025 2 R & D Center, Hitachi Asia Ltd, Singapore 049318 Dongmei Yue, Zhiyuan Liu and Xiaodong Gai Department of Control science and Engineering, Harbin Institute of Technology Harbin, Heilongjiang, China • An adaptive robust observer is proposed for a class of nonlinear • The delay-dependent guaranteed cost control problem is systems in the presence of both studied for a class of uncertain nonlinear discrete systems parameter uncertainties and system disturbances. with time-delay. • The adaptive method is adopted to • A sufficient condition is presented for the existence of a deal with the structured memory state feedback. uncertainties, and the adaptive robust method is applied to deal • A parameterized representation of the control laws is given with the unstructured uncertainty. in terms of certain linear matrix inequalities (LMIs). • The simulation result (Fig. 1) has • The non-convex feasible problem is converted into convex shown the good performance of the optimization problem. adaptive robust observer. Estimation errors

㪮㪧㪉㪄㪍㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪍㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Stability of 2-D Characteristic Polynomials of Self-adaptive Constant Acceleration Model and Uncertain Matrices Its Tracking Algorithm Based on STF T. FERNANDO+, H. TRINH++ Pingjun Pan, Xinxi Feng,Fei Li + School of EECE, The University of Western Australia, Nedlands 6907, Australia. Telecommunication Engineering and missile Institute, Air Force Engineering University ++ School of Engineering and Technology, Deakin University, Geelong, 3217. Xian, Shanxi, China

40 CS-KF • The shortcomings of CS model 30 ACA-STF • This paper derives some new conditions for the bivariate and its tracking algorithm(KF Real values characteristic polynomial of an uncertain matrix to be very strict 20 and EKF). m/s2) 10 Hurwitz. • The presentation of ACA model. 0 • The uncertainties are assumed of the structured and unstructured -10 • The introduction of STF and type. -20 the presentation of ACA-STF -30 • By using the two-dimensional (2-D) inverse Laplace transform, algorithm. y( Estimate in acceleration of the bounds on the uncertainties are derived. • The analysis of performance of -40 -50 ACA model. 0 50 100 150 200 250 • Numerical example is given to illustrate the results. Scan time(T=2s) • Simulation Results and Comparison of Acceleration Estimates Conclusions. in y between ACA-STF and CS-KF

119 IEEE ICMA 2007 Conference Digest

WP2-7: Sensing and Measurement III

Session Chairs: Masa ya Takasaki, Saitama Univ. Jin Li, Harbin Engineering Univ. Room 7: Chan gchun, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪎㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪎㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 A Novel Current Sensor Using FeCuNbSiB Optimization of an Eddy Current Sensor Using Single Nanocrystalline Toroidal Core Finite Element Method and Double-Winding Excited by Yu Yating Du Pingan Multivibrator School of Mechatronics Electronics Engineering,University of Electronic Science and Technology of China,Chengdu, China Bao Binghao ,Zhang Jingwei and Yang Ping • The coil impedance is determined by Ponying Theorem. Mechanical engineering school, Jiangsu University, ,China • The coil impedance is calculated by • The waveform taken from the finite element method based on Ponying Theorem multivibrator was shown as the right • The effect of the shapes and its picture. geometric parameters on coil • It gave the result that if the core is impedance are investigated. applied a magnetic field ,which is • The influence of the ferrite core and produced by the current passing its geometric parameters on the properties of ECS are studied. through the conductor ,the half The Waveform Taken • The properties of ECS can be period was not equal. T1 is greater from Multivibrator optimized based on the result of 3D finite element model than T2 research.

㪮㪧㪉㪄㪎㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪎㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 Design of Printed-Circuit Board Rogowski coil for An Acoustic Sensor with the Resonant Tunnelling Highly Accurate Current Measurement Effects of GaAs/AlAs/InGaAs Hetero Structures Zhaomin Tong, Cheyang Xue, Binzhen Zhang, Jian Wang and Shang Chen Chengyuan Wang, Youping Chen, Gang Zhang, Zude Zhou Key Laboratory of Instrumentation Science䋧Dynamic Measurement , School of Mechanical Science and Engineering Ministry of Education, North University of China, Huazhong University of Science and Technology Taiyuan, Shanxi Province, China Wuhan, Hubei, China • Structure design. • The sensor based upon the resonant tunnelling effect of • Optimization design. GaAs/AlAs/InGaAs. • Performance tests. • This type of sensor has excellent • Has excellent linearity, features such as high sensitivity, low temperature characteristics temperature dependence, and so on. and rejection of EMI • Measurement results show the sensor has good frequency response • Can achieve 0.1 or 0.2s and excellent linearity, its sensitivity (IEC60044-8 standard). PCBRCs Sensor Head up to 0.1 with frequency at f=1.3KHZ.

㪮㪧㪉㪄㪎㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪎㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Theoretical and Experimental Study of Surface Resonance Frequency Tracing System Acoustic Wave Gyroscopic Effect for Langevin Type Ultrasonic Transducers Qingwen Yan, YiQun Wei, Jialin Zhu, Meie Shen,Yelong Li Masaya Takasaki, Yutaka Maruyama and Takeshi Mizuno Department of Information and Communication Engineering Department of Mechanical Engineering, Saitama University Beijing Information Technology Institute Saitama, Japan Beijing, China • The effect of Coriolis force on • A system to trace resonance SAW is analyzed and testified frequencies of Langevin type by experiments in this paper. ultrasonic transducers. • The Christoffel’s equation • Use of a microcomputer, detecting including Coriolis force and its numerical results are obtained. circuits and a direct digital • A device with a dual-channel synthesizer. delay line is developed using • Fabrication and evaluation of the LiNbO3 substrate to do system. experiments. Step responses • The results shown the SAW • Vibration amplitude modulation as gyroscopic effect is existence. an application for mechatronics.

120 IEEE ICMA 2007 Conference Digest

WP2-8: Power Technology

Session Chairs: Chun yang Du, Harbin Engineering Univ. Tongzhen Wei, Inst. of Electrical Engineering, Chinese Academy of Sciences Room 8: Shen yang, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪏㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪏㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Algorithm Selection and Nonsynchronous Sample Dual-CPU Based Power Monitor Applied in the Error Correction of the Phase Measurement in Electrical System of People Defense Engineering Weiming Tong, Peiyou Chen and Xuelei Song Power Network Dept. of Electrical Engineering, Harbin Institute of Technology Xin Lin,Jun Xue and Jianyuan Xu Harbin, Heilongjiang, China

Department of Electrical Engineering Shenyang University of Technology Power supply Shenyang,Liaoning Province,China •Consist of the 1#system 2# Emergency power zFirstly, Kalman algorithm has routine power supply system 1# 2# Automatic transfer been chosen according to the supply system and switch analysis of the calculate errors the emergency ATS ATS of the different algorithms; power supply zSecondly, the errors caused system by the nonsynchronous sample • Propose hardware ATS Lighting Power load Power load Lighting load load have been corrected by using and software the method of tracing the real- design scheme time frequency calculated by Table1 Caulation Errors on Signals Containing The Station work load Fire load Emergency lighting load Fourier equal ratio algorithm. Harmonic and Decaying DC Component The Primary System Block Diagram of Power Supply and Distribution System

㪮㪧㪉㪄㪏㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪏㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 A Supercapacitor Based Ride-Through System A contactless Power Generation System for for Industrial Drive Applications Automobiles Tongzhen Wei, Sibo Wang, Zhiping Qi Institute of Electrical Engineering, Chinese Academy of Sciences Feng Guihong, Pu Yanzhou, Zhang Bingyi, and Zhuang Fuyu Beijing, China Faculty of Electrical Engineering, Shenyang University of Technology Shenyang, Liaoning, China • Supercapacitor can attain greater • A 1.2kW, 14 V contactles automobile energy density than those of power generation system has been conventional capacitors and greater designed, built and tested successfully power density than those of batteries. in the laboratory. • Industrial drive system under short- • The laboratory test results showed term power interruptions can result efficiency improvements over the in significant loss. Lundell machine from idle sped up to • Supercapacitor is very suitable to the cruising speed. use in hundred-kilowatts and several • The system output voltage characteristic is better than Lundell second supporting time ride-through machine. Whether at no load or full systems. Supercapacitor based ride through system load the output voltage fluctuate from PMSG rotor structure 0 to 0.1V.

㪮㪧㪉㪄㪏㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪏㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 A dsPIC-based Excitation Control System A Method of Modifying Generation Bidding Price for Synchronous Generator Based on Power Distribution GuangMing Lu, Hai Bao,Fang Zhang and Wei Li Wenling Zhang, Yanjie Yang and Jingqin Wang College of Electrical & Electronic Engineering, North China Electric Power University School of Electrical Engineering and Automation Beijing, China Hebei University of Technology, Tianjin, China • The power distribution theorem Operate command Field current • The dsPIC DSC integrates the ET phase voltage alarm & state signal Stator voltage describes the distribution of power control attributes of a MCU with & current components supplied by every power Synchronous Digital signal Analog signal the computation and throughput signal input & output processing supply in transmitted power along capabilities of DSP in a single core. branches, transmission losses and load

• Using input capture and output Capture input I/O Pin 12-bit A/D with analytic expression. compare modules to generate firing dsPIC DSC • The nodal price computation model of pulses for 3-phase full-controlled thyristor rectifier . Output compare CAN1CAN2 SPI a generator is created on the basis of the power distribution theorem. • Two CAN bus module may Pulse CAN CAN TCP/IP interface to other function blocks amplifier interface interface Ethernet • This paper proposes a method of or to the redundant channel easily. modifying generation bidding price Controlled Keyboard To another To DCS • SPI plus ENC28J60 to perform rectifier & display channel considering transmission losses based Nodal price computation model TCP/IP Ethernet connection. hardware function block diagram on power distribution theorem.

121 IEEE ICMA 2007 Conference Digest

WP2-9: Image Processing Applications

Session Chairs: Yun g Ting, Chung Yuan Christian Univ. Yonghua Li, Harbin Engineering Univ. Room 9: Dalian, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪐㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪐㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Non-contact Rail-wear Inspecting System Based SAR Image De-noising Using ICA Basis on Image Understanding Enhancement and Separation Wenrui Jin 1, Xingqun Zhan 1, Benhe Jiang 2 Yutong Li, Yue Zhou, and Jie Yang 1 Institute of Aerospace Science & Technology, Shanghai Jiao Tong University Institute of Image Processing and Pattern Recognition, Shanghai JiaoTong University Huashan Road 1954, Shanghai, China Shanghai, China 2 Institute of Science & Technology for Optoelectronic Information, Yantai, China • The basis images and the code • A dynamic inspecting system based on matrix of the original image are machine vision is presented obtained using ICA algorithm. • A DLT algorithm is analyzed and • Pointwise Hölder exponent of each modified. basis is computed as a cost criterion • Using CSS corner algorithm for basis enhancement. • Hundreds of rail profile images have been • The enhanced basis images are acquisitioned andprocessed. classified into two sets according to • Having high performance /cost ratio, the a separation rule which means the system is much suitable for Chinese context. clean basis can be separated from the original basis. The Original Images & Results

㪮㪧㪉㪄㪐㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪐㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉 The Research and Application of Content-Based Study on the Automatic Instrumental Reading Satellite Cloud Image Retrieval System Based on Image Processing Wei ShangGuan, YanLing Hao, YanHong Tang and Yi Zhu College of Automation, Harbin Engineering University, Harbin, China Le Song and Yuchi Lin State Key Lab. of Precision Measuring Technology and Instruments, Tianjin University Tianjin, China ¾ The satellite cloud image is a valuable image data, how to use the information efficiently is a very important problem, • Automatic data reading solution for ¾ Traditional satellite cloud image retrieval method have some limitation, traditional ocular optical measuring using Content-based image retrieval instruments. base on synthetical character; ¾ Pretreatment of satellite cloud image is a • Reticle and staff location based on key procedure before practical image sub-pixel techniques. processing and analysis; ¾ satellite cloud image database and the • Digit character recognition based on basic data model; a two-layer model with multiple ¾ The key character of content-based feature extraction. image retrieval includes: color, texture, Universal Tools Microscope shape, spatial relation and synthetical The CBIR method retrieval procedure • High universality and flexibility. character,etc.

㪮㪧㪉㪄㪐㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪐㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 The Application of the MIC and Improved Snake Apply Computer Vision and Neural Network Algorithm on the Image Segmentation to Glue Dispenser Route Inspection Liqun Tang,Kejun Wang,Guangsheng Feng,Yong Hua Li Yung Ting, Chih-Ho Chen, Hui-Yi Feng, and Shin-Liang Chen Harbin Engineering University Department of Mechanical Engineering, Chung Yuan Christian University Harbin, Heilongjiang, China Chung-Li, Taiwan, R.O.C. • For segmenting the regions in the • The dispenser route inspection system image exactly and quickly , The in combination computer vision with segmentation algorithm based on the the techniques of back propagation simulated annealing and the neural network is developed. improved snake model was • The positioning by use of vector inner proposed. product method increases the accuracy of inspection. • The improved snake model is that centre-energy is added on the • Diagnosis for dispenser route includes two parts: checking edge number and traditional snake model and curve BPN network inspection. energy can be tuned according to the • The recognition rate of BPN network The platform of glue dispenser position of the dot. can reach 96.9%.

122 IEEE ICMA 2007 Conference Digest

WP2-10: Manufacturing Modeling

Session Chairs: M. An ge de Cicco, Univ. of Corsica Ze Tao, Univ. of Tsinghua Room 10: Qin gdao, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪈㪇㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪈㪇㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍 Petri Net and GASA Based Approach for Dynamic JSP A New Model of Flexible Manufacturing ZE Tao , Tianyuan Xiao , and Changzhong Hao System Based on Petri Nets Department of Automation, University of Tsinghua, Beijing, China Department of Mechanical Engineering, University of Shenyang Ligong, Liaoning, China Haifeng Zhang, Dexin Li, Shiqiang Yang and Wen Wang School of Machinery and Precision Instrument Engineering • Design Petri net model with controller in flexible JSP scheduling. Xi’an University of Technology, Xi’an, 710048, P. R. China • GASA hybrid algorithm and mathematic model of JSP scheduling. • Using object-oriented advanced Petri P P • Dynamic JSP scheduling net to establish FMS model. machine tools AGV warehouse with a new classified • brief introduction of Petri net. P P machine system transportation storage system scheduling method. • problem description, system running system • Test the effectiveness of mode program . the proposed approach • Petri net model of system. Hardware composition of FMS with several cases, and • Conclusion the results were showed as a Gantt graph. Gantt Graph of Dynamic Scheduling

㪮㪧㪉㪄㪈㪇㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪈㪇㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Modelling and Simulation Applied to the Cheese Estimating a Product Quality by Support Tradition Vector Machines Method Ange de Cicco, Emmanuelle de Gentili and Jean-Francois Santucci Ruzhong Yan, Zhijun Lv,Jianguo Yang University of Corsica, UMR CNRS 6134 College of Mechanical Engineering, Donghua University Shanghai, China In this article, we describe the modeling of a

manufacturing process of cheese to the milk believed Raw User Interface Yarn using formalism Devs (Discrete Event System Material Yarn Quality Prediction Properties Specification ). The approach of B.P. Zeigler makes it possible to model various software applications, of distributed systems, dynamic systems and systems of • The Paper Brief Induction. Reasoning Machines production, independently of simulation. Some is the SVM-based Process Simulator model, modeling and simulation is separate. • SVM Regression Formalism DEVS makes it possible to use the same Textile Engineering Database technique of simulation the some either applicability • SVM BasedYarn of the system and thus the some or model chooses. Because of the types of data and uncertainty of some Predictive Model Data Acquisition among, we use the theory of fuzzy subsets developed by Zadeh. Moreover, we present a short synopsis of • The Experiments Study the basic concepts of the fuzzy logic used in our Atomic Model Devs Yarn Production Process problem, to model dubious data of manufacturing process. • Conclusions Fig. Yarn Quality Predictive Model Architecture

㪮㪧㪉㪄㪈㪇㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪈㪇㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 The Research on Electronically Collaborative Distributed Knowledge-Based Product Design Model in Automotive Industry Supply Chain Fu Wu, Xijuan Yang, Min Pan and Duowang Fan Key Laboratory of Opto-Electronic Technology and Intelligent Control of Ministry of Education Yuan-Ping Luh, Jeng-Bang Wang, Jer-Jeong Chen Department, Lanzhou Jiaotong Universit Harbin Engineering University Institute of Manufacturing Technology, National Taipei University of Technology Lanzhou, Gansu, China Taipei, Taiwan, R.O.C. tacit • Car industry has developed its • Product design is not only a very knowledge complex design activity but also a It is difficult to express Use multimedia to record it collaborative model to enhance its supply chain efficiency. creative design process. (2) Design Summarization knowledge • The integration and application of experience warehouse • The global vehicle assemblers (3) Files, broadly adopt message platforms knowledge resources is a core classification documents Product as the assistant tools. problem to support the modern (4) Product Design • Without reengineering the Collaborative operation model product design. model parts library collaborative operation model, the efficiency of SC would not reveal.

• With the fast development of Enterprise Information program • Applies “Lean Production” concept to explicate JIT, JIS or Kanban. (5) modeling  systems network, modern product design is • An integration model of inter-business process reengineering and not only limited a domain and it is ebXML is proposed to promote the entire efficiency of car supply Knowledge-based product design distributed. chain and other industries.

123 IEEE ICMA 2007 Conference Digest

WP2-11: Industrial Robot Systems

Session Chairs: Hidenori Ishihara, Ka gawa Univ. Jianjun Yuan, Shanghai Jiaotong Univ. Room 11: Xian, 15:30-17:18, Wednesda y, 8 August 2007

㪮㪧㪉㪄㪈㪈㩿㪈㪀㩷㩷㪈㪌㪑㪊㪇㪄㪈㪌㪑㪋㪏 㪮㪧㪉㪄㪈㪈㩿㪉㪀㩷㩷㪈㪌㪑㪋㪏㪄㪈㪍㪑㪇㪍

Research on Novel Wire Driving Robot An Effective Method of Upgrading Manipulator for Local Industrial Production Line Industrial Robot for Contour Tracking Jianjun Yuan, Weijun Zhang, Jun Tao, Zhicheng Wan, and Zhixia Tang Nazim Mir-Nasiri Institute of Robotics, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, China School of Engineering., Swinburne University of Technology (Sarawak) Kuching, Sarawak, Malaysia

• Normal industrial robot is being • A trial of localization of transformed into the autonomous contour tracking robot with more added industrial robot manipulator. values and simple control. • Light, big payload, low cost. • This work demonstrates that the automation of tedious and time • Novel wire-driving system. consuming robot contour tracking task is possible just by employing only one • Novel wire tensioner easy to low cost discrete optical sensor. operate. • The main objective of this research is to automate the incremental gradient measuring motion by utilizing the gross output of total positions and yaw X-Porter orientation angles from the task Single Sensor Approach planning algorithm.

㪮㪧㪉㪄㪈㪈㩿㪊㪀㩷㩷㪈㪍㪑㪇㪍㪄㪈㪍㪑㪉㪋 㪮㪧㪉㪄㪈㪈㩿㪋㪀㩷㩷㪈㪍㪑㪉㪋㪄㪈㪍㪑㪋㪉

Industrial Arc Welding Robot Defect Tracking High Performance Motion Control Command Generator System in Automotive Industry and Its Application in a 3-link Plane Manipulator Khadijeh Daeinabi and Mohammad Teshnehlab ZhengYi John ZHAO, Shuzhi Sam GE Department of Mechatronics Engineering, Azad University, Science and Research Branch Dept. of Electrical & Computer Engineering, National University of Singapore Tehran, IRAN • Twin-Sine command generator • Fast and exact defect tracking – up to 3rd order continuity in of technical problems which distance command are created in robot during – constant speed motion is production. allowable • Offer presentation in order to setting, repair and change the – very low computational cost defective part. • Application in 3-link Plane • Preventing of long term stop of Manipulator production line at the time of – RT Motion error appearing in robot. Robot Defect Tracking – General Linear Motion

㪮㪧㪉㪄㪈㪈㩿㪌㪀㩷㩷㪈㪍㪑㪋㪉㪄㪈㪍㪑㪇㪇 㪮㪧㪉㪄㪈㪈㩿㪍㪀㩷㩷㪈㪎㪑㪇㪇㪄㪈㪎㪑㪈㪏 Simulation Comparisons among PID Control, Automated Engine Piston Installation Adaptive Control and MFC on Ship Anti-rolling Using Industrial Robots Tank Test Platform George Zhang, Hui Zhang, JianJun Wang, Jie Ma,Gang Zhao,Zhiyong Chen,Guobin Li Heping Chen, Tom Fuhlbrigge, Dan McGillis and Bruno Barrey Department of Computer Science and Automation,Beijing Institute of Machinery,Beijing,china. ABB Corporate Research Center, Windsor, Connecticut, USA • Under the same condition, by making comparison research among three typical • Tight tolerance engine piston kinds of control methods: PID control, installation by use of industrial robots adaptive control and model-free control • Unique piston stuffing gripper design (MFC). • Active search in cylinder bore finding • Considering the limitation of PID control and with robot force control adaptive control, we apply MFC to the • Three- and two- robot with fixed tool system and the controller is also set cell configurations designed.Experimental results show that Ship Anti-rolling Tank • On-line ring presence detection MFC has a good performance in the sea Test Platform navigation control, especially under complex and variable sea conditions.

124