Conference Digest 2015 IEEE International Conference on Mechatronics and Automation IEEE ICMA 2015 Beijing, China August 2 - 5, 2015 Cosponsored by IEEE Robotics and Automation Society Beijing Institute of Technology Kagawa University, Japan Technically cosponsored by The Institute of Advanced Biomedical Engineering System, BIT Intelligent Robotics Institute, Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, BIT State Key Laboratory of Intelligent Control and Decision of Complex Systems, BIT Tianjin University of Technology Harbin Engineering University Harbin Institute of Technology State Key Laboratory of Robotics and System (HIT) The Robotics Society of Japan The Japan Society of Mechanical Engineers Japan Society for Precision Engineering The Society of Instrument and Control Engineers University of Electro-Communications University of Electronic Science and Technology of China Changchun University of Science and Technology National Natural Science Foundation of China Chinese Mechanical Engineering Society Chinese Association of Automation Life Electronics Society, Chinese Institute of Electronics IEEE ICMA 2015 PROCEEDINGS Additional copies may be ordered from: IEEE Service Center 445 Hoes Lane Piscataway, NJ 08854 U.S.A. IEEE Catalog Number: CFP15839-PRT ISBN: 978-1-4799-7097-1 IEEE Catalog Number (CD-ROM): CFP15839-CDR ISBN (CD-ROM): 978-1-4799-7096-4 Copyright and Reprint Permission: Copyright and Reprint Permission: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For reprint or republication permission, email to IEEE Copyrights Manager at [email protected]. All rights reserved. Copyright ©2015 by IEEE. The papers in this book comprise the proceedings of the meeting mentioned on the cover and title page. They reflect the author’s opinions and, in the interest of timely dissemination, are published as presented and without change. Their inclusion in this publication does not necessarily constitute endorsement by the editors or the Institute of Electrical and Electronics Engineers, Inc. The Institute of Electrical and Electronics Engineers, Inc. Foreword On behalf of the IEEE ICMA 2015 Conference Organizing Committee, it is our great pleasure, an honor, and a privilege to welcome you to Beijing for the 2015 IEEE International Conference on Mechatronics and Automation. This conference reflects the growing interests in the broad research areas of mechatronics, robotics, sensors and automation. ICMA 2015 marks the 12th edition of the IEEE ICMA annual conference series. We are proud to announce that a high number of 715 papers were submitted from 31 countries and regions, including 679 contributed papers, 36 papers for organized sessions, and 461 papers were accepted for oral or poster presentation at the conference after a rigorous full-paper review process, achieving an acceptance rate of less than 65%. Presentations at ICMA 2015 are organized in 7 parallel tracks, for a total of 64 sessions, including 1 poster session, taking place during the three conference days. We are fortunate to be able to invite three distinguished speakers to deliver plenary talks. We are very pleased that you are joining us at IEEE ICMA 2015 in Beijing to take part in this unique experience. The main objective of IEEE ICMA 2015 is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, sensors and automation to disseminate their latest research results and exchange views on the future research directions of the related fields. IEEE ICMA 2015 promises to be a great experience for participants from all over the world, with an excellent technical program as well as social activities. We would like to express our most sincere appreciation and thanks to all of our sponsoring societies and organizations and to all the individuals who have contributed to the organization of this conference. Our special thanks are extended to our colleagues in the Program Committee for their thorough review of all the submitted papers, which is vital to the success of this conference. We must also extend our thanks to our Organizing Committee and our volunteers who have dedicated their time toward ensuring the success of this conference. Last but not least, we thank all the contributors for their support and participation in making this conference a great success. Finally, we wish you a great conference and enjoyable stay in Beijing, China. Jie Chen Kazuhiro Kosuge Qiang Huang Shuxiang Guo Yulin Deng General Chair General Chair Program Chair Organizing Chair Organizing Chair Welcome Remarks It is my honor to welcome you to attend the 2015 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2015) on behalf of Beijing Institute of Technology. We are delighted to host the Conference which marked as the 12th edition of the IEEE ICMA among the annual conference series. The Conference reflects the growing interests in the broad research areas of mechatronics, robotics, sensors and automation. To begin with, I would like to make a brief introduction to Beijing Institute of Technology. Beijing Institute of Technology (BIT) is one of the national key universities in China, an open, public, research-oriented university with a focus on science and technology. The 10th university to enter the 985 Project, which started in order to develop 39 Chinese universities that would seek to become world renowned universities. One of the first 15 universities to join 211 Project which established roughly 100 universities to cope with the challenges of the 21st century. Annual research fund in 2014 amounts to over 2 billion RMB ranking in the top 10 in China. Our research on mechatronics and automation has become increasingly active. It is sincerely hoped that IEEE ICMA 2015 will provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, sensors and automation to disseminate their latest research results and exchange views on the future research directions of the related fields. Finally, on behalf of Beijing Institute of Technology, I would like to express my sincere gratitude to all of the sponsoring societies and organizations as well as all the individuals contributed to the organization of the Conference. Also, special thanks are owed to all the authors, session organizers, plenary speakers, exhibitors for contributing their research works and making IEEE ICMA 2015 a successful and fruitful event. To all participants, I extend my heartfelt welcome and thanks for attending this event, wish your stay here in Beijing, China, is very pleasant and enjoyable. Changlu Zhao, Professor Vice President of Beijing Institute of Technology Advisory Council Chair of IEEE ICMA 2015 IEEE ICMA 2015 Conference Digest Table of Content Foreword Welcome Remarks IEEE ICMA 2015 Conference Committees………………….……………………………………….. .i Organizing Committees ……………………………………………………………………….……. i Program Committee...…………………………………………………………………………....v IEEE ICMA 2015 Cosponsors...……………………….………………………………….……….…..xi General Information…….…...……………………………………………………………………xii Conference Information....………………………………………………………………….……xix Conference Venue...………………………………………………………………………….……xix Conference Registration..…………………………………………………………………….… xxi Social Events…………………………………………………………………………….………… xxxi Technical Program Plenary Talks…………………………………………………………………..………………..xxv Tutorials and Workshop…………………………………………………………………….....xxxiii Program at Glance……………………………………………………………………………….....xli Technical Session Schedule………………………………………………………..…………....xxlii Floor Map of Conference Rooms…………………………………………………….………..xlv Technical Sessions Monday, 3 August 2015…………………………………………………………………………… 1 Tuesday, 4 August 2015……………………………………………………………………..….. 37 Wednesday, 5 August 2015……………………………………………..…………………….....59 Index of Session Chairs…………………………………………..…………………………………81 Index of Authors …………………………………………………………………….………...…....107 Memo Sheet ……………………………………………………………………….…………...…...110 IEEE ICMA 2015 Conference International Scientific Advisory Board Advisory Council Honorary Chairs T. J. Tarn Washington University, USA Toshio Fukuda Nagoya University, Japan Advisory Council Chairs Changlu Zhao Beijing Institute of Technology, China Tianyou Chai Northeastern University, China Hegao Cai Harbin Institute of Technology, China Paolo Dario Scuola Superiore Sant'Anna, Italy Kazuhiro Kosuge Tohoku University, Japan Masayoshi Tomizuka UC Berkeley, USA Mario A. Rotea University of Massachusetts, USA Ju-Jang Lee KAIST, Korea Ren C. Luo National Taiwan University, Taiwan Zhigang Liu Harbin Engineering University, China Yanrong Li UESTC, China Huadong Yu CUST, China Hongyang Jing Tianjin University of Technology, China Organizing Committees Founding Council Chair Shuxiang Guo Kagawa University, Japan Max Q.H. Meng Chinese University of Hong Kong, China Aiguo Ming University of Electro-Communications, Japan Hong Zhang University of Alberta, Canada Dagui Huang UESTC, China General Chairs Kazuhiro Kosuge Tohoku University, Japan Jie Chen Beijing Institute of Technology, China General Co-Chairs Shigeki Sugano Waseda University, Japan i William R.Hamel The University