CIS-RAM 2010

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C Program & Abstracts CIS 2010 IEEE Catalog Number: CFP10835-CDR ISBN: 978-1-4244-6501-9 Organized by

RAM 2010 IEEE Systems, Man & Cybernecs (SMC) IEEE Robocs & Automaon (R&A) Singapore Chapter Singapore Chapter IEEE Catalog Number: CFP10834-CDR ISBN: 978-1-4244-6505-7

Supported by

Design, Typeset & Printed by Research Publishing Services Centre for Intelligent Control Centre for Intelligent Machines Mechatronics Group E-mail: [email protected] Naonal University of Singapore, Singapore Nanyang Technological University, Singapore SIMTech, Singapore June 16, 2010 21:16 Research Publishing cis-ram2010-prelims June 16, 2010 21:16 Research Publishing cis-ram2010-prelims

2010 IEEE Conference on Cybernetics and Intelligent Systems (CIS 2010) & 2010 IEEE Conference on Robotics, Automation and Mechatronics (RAM 2010)

28–30 June 2010 Grand Copthorne Waterfront Hotel Singapore

PROGRAMME&ABSTRACTS

Organized by IEEE Systems, Man & Cybernetics (SMC), Singapore Chapter IEEE Robotics & Automation (R&A), Singapore Chapter

Supported by Centre for Intelligent Control, National University of Singapore, Singapore Centre for Intelligent Machines, Nanyang Technological University, Singapore Mechatronics Group, SIMTech, Singapore June 16, 2010 21:16 Research Publishing cis-ram2010-prelims

Published by

Organizing Committee 2010 IEEE Conference on Cybernetics and Intelligent Systems (CIS 2010) 2010 IEEE Conference on Robotics, Automation and Mechatronics (RAM 2010)

Copyright © 2010 CIS & RAM Organizing Committee. All rights reserved.

Personal use of this material is permitted. However, permission to reprint/republish this material for adver- tising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the Publisher.

CIS 2010 (cd-rom) ISBN: 978-1-4244-6502-6 Library of Congress: CFP10835-ART

RAM 2010 (cd-rom) ISBN: 978-1-4244-6506-4 Library of Congress: CFP10834-ART

Design, Typeset & Printed by Research Publishing Services, Singapore. E-mail: [email protected] June 16, 2010 21:16 Research Publishing cis-ram2010-prelims

Brief Contents

Welcome Message Info-2 About CIS & RAM 2010 Info-4 Acknowledgements Info-5

Committee

Organizing Committee Info-6 Steering Committee Info-8 Technical Programme Committee Info-9 International Advisory Board Info-11

Organizers/Sponsors Info-12 General Information Info-13 Conference Location & Floor Plan Info-14 Exhibitors Info-18 Conference Activities Info-19

Plenary Session

Lower Extremity Exoskeleton Systems for Medical Applications by Prof. H. Kazerooni Info-21 Cybercars: The New Market for Robotics? by Prof. Michel Parent Info-23

Technical Program

Monday, 28 June 2010 Info-27 Tuesday, 29 June 2010 Info-38

Abstracts

CIS 2010 Abstracts 3 RAM 2010 Abstracts 21

Author Index 55

Programme-at-a-Glance End

Info-1 June 16, 2010 21:16 Research Publishing cis-ram2010-prelims

Welcome Message

On behalf of the Organizing Committee, we would like to welcome you to 2010 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and 2010 IEEE International Conference on Robotic