2009 International Conference on Mechatronics and Automation (ICMA 2009) Changchun, China 9 – 12 August 2009 Pages 1-615 IEEE Catalog Number: CFP09839-PRT ISBN: 978-1-4244-2692-8 TABLE OF CONTENTS MA1-1: ORGANIZED SESSION – HUMAN FACTORS IN AUTOMOTIVE SAFETY A Warning Method for Rear-Side Obstacles based on Driver’s Perceptual Risk Model ..........................................................................1 Akihiro Nishiyama, Takahiro Wada, Shigeyoshi Tsutsumi, Shun’ichi Doi Individual Differences in Effects of Secondary Cognitive Activity during Driving on Temperature at the Nose Tip............................7 Makoto Itoh The Differences of Eye Movement According to Turn Conditions in Driving Situation : Comparison of Older and Young Drivers...................................................................................................................................................................................................12 Bo-seong Kim, Hyun-Woo Kim, Dong- Hoon Lim, Byung-Chan Min, Yoon-Ki Min Difference of Driving Performance According to Turn Types at the Intersection and Age....................................................................16 Seung-Hee Hong, Su-Young Min, Bo-seong Kim, Yoon-Ki Min, Jin-Kyu Kang, Byung-Chan Min Long Term Study of Simulator Sickness: Differences in Psychophysiological Responses due to Individual Sensitivity ..........................................................................................................................................................................................................20 Mi Hyun Choi, Soo Jeong Lee, Hyo Seong Kim, Soo Young Min, Byung Chan Min, Jae Woong Yang, Jin Seung Choi, Gye Rae Tack, Bongsoo Lee, Soon Cheol Chung MA1-2: INDUSTRIAL ROBOT SYSTEM Solution of Inverse Kinematic Problem for Serial Robot Using Quaterninons.........................................................................................26 Emre Sariyilidiz, Hakan Temeltas Robotic Hand with a New Bending Mechanism............................................................................................................................................32 Chiharu Ishii, Yosuke Nishitani, Hiroshi Hashimoto A Generic Framework for Workpiece-based Programming of Cooperating Industrial Robots.............................................................37 Gunther Reinhart, Sherif Zaidan Development of an Automatic Dishwashing Robot System.........................................................................................................................43 Kazuhiro Kosuge, Yasuhisa Hirata, Jina Lee, Akira Kawamura, Koichi Hashimoto, Shingo Kagami, Yu Hayashi, Norio Yokoshima, Hiroshi Miyazawa, Ryosuke Teranaka, Yosuke Teranaka, Yasutoshi Natsuizaka, Kazuhisa Sakai, Mizuo Koizumi, Junji Koyama, Naoki Kanayama, Shunichi Tezuka, Hiroshi Torimitsu Flexible Handling Robot System for Cloth....................................................................................................................................................49 Seiji Hata, Takehisa Hiroyasu, Junichro Hayashi, Hirotaka Hojoh, Toshihiro Hamada A Patrol Robot for Electric Power Substation ..............................................................................................................................................55 Rui Guo, Bingqiang Li, Yutian Sun, Lei Han MA1-3: HAPTICS AND HAPTIC INTERFACE Design of a Minimally Invasive Surgical Teleoperated Master-Slave System with Haptic Feedback....................................................60 Linda van den Bedem, Ron Hendrix, Nick Rosielle, Maarten Steinbuch, Henk Nijmeijer Comparison of Power- and Wave-based Control of Remote Dynamic Proxies for Networked Haptic Cooperation...........................66 Zhi Li, Daniela Constantinescu An Evaluation of Multimodal Feedback in Tracking State for Pen-based Interfaces..............................................................................72 Minghui Sun, Xiangshi Ren Haptic Interaction in Tele-operation Control System of Construction Robot Based on Virtual Reality...............................................78 Xinxing Tang, Hironao Yamada, Dingxuan Zhao, Tao Ni An Adaptive Haptic Interaction Architecture for Knee Rehabilitation Robot .........................................................................................84 Dangxiao Wang, Jiting Li, Chao Li Modeling of Deformable Objects in Haptic Rendering System for Virtual Reality .................................................................................90 Huiying Wang, Yu Wang, Hasan Esen MA1-4: IMAGE PROCESSING - I Image Segmentation Algorithms Based on Information Compression and Graph Structures...............................................................95 Gancho Vachkov, Hidenori Ishihara An Interactive Image Inpainting Algorithm Based on Markov Random Field ......................................................................................101 Junxi Sun, Defang Hao, Dongbing Gu, Guangwen Liu, Hua Cai A Kind of Global Motion Estimation Algorithm Based on Feature Matching........................................................................................107 Shuxiang Guo, Chenguang Qiu, Xiufen Ye A Multipurpose Digital Watermarking Algorithm Of Color Image ........................................................................................................112 Yu Wei, Yanling Hao, Yushen Li Technique of Foot Three-dimensional Shape Measurement Based on Digital Still Camera and Rear-view Mirror .........................118 Chengchun Han, Xiaogen Shao, Liqing Xiao, Takakazu Ishimatsu A New Adaptive Bayesian Super-resolution Reconstruction Algorithm for Digital Image Sequence with Different Noise Levels.....................................................................................................................................................................................................123 Yueqian Hou, Qingchang,Tian, Qiucheng Sun, Qinghua Li MA1-5: ORGANIZED SESSION – NEUROMEDICAL ENGINEERING Development of a New Experimental Device and Investigate Human Characteristics on Visual Feedback Control and Pointing Movement.................................................................................................................................................................................129 Jiajia Yang, Jinglong Wu, Taichi Honda Central Versus Peripheral Retinotopic and Temporal Frequency Sensitivities of Human Visual Areas Measured Using fMRI......................................................................................................................................................................................................135 Tianyi Yan, Fengzhe Jin, Jinglong Wu Processing of Chinese Characters and Pure Tones in Literate and Illiterate Subjects: An Auditory fMRI Study ............................141 Xiujun Li, Jinglong Wu, Hongzan Sun, Qiyong Guo Multisensory Interactions of Audiovisual Stimuli Presented at Different Location in Auditory-Attention Tasks: A Event-related Potential (ERP) Study ...........................................................................................................................................................146 Qi Li, Jinglong Wu Investigation of Neuronal Substrates for Language Processing Using Word Priming ..........................................................................152 Chunlin Li MA1-6: ACTUATORS - I 3D Finite Element Analysis and Experiment on the Piezoelectric Ultrasonic Transducer Motion ......................................................158 Fu-Sheng Hsiao, Jen-Ai Chao, Yi-Cheng Huang Space Charge Distribution and Mechanical Properties in Plasticized PVC Actuators..........................................................................164 Hong Xia, Toshihiro Hirai Characteristic of Torque on Spherical Stepping Motor based on Hexahedron-Octahedron Structure...............................................170 Yongsu Um, Tomoaki Yano A Moving Coil Electromagnetic Valve Actuator for Camless Engines ....................................................................................................176 Liang Liu, Siqin Chang Design and Analysis of a Double Rings Type Ultrasonic Motor Using longitudinal Transducers........................................................181 Yingxiang Liu, Junkao Liu, Weishan Chen, Shengjun Shi Research on Push Type Piezoelectric Insulin Pump...................................................................................................................................186 Jingshi Dong, Wei Zheng, Zhigang Yang, Boda Wu, Bin Jiang, Xuefeng Yao MA1-7: MOBILE ROBOTS - I Magnetic Patterns based Global Localization for a Mobile Robot using Hall Sensors..........................................................................192 Byung June Choi, Bumsoo Kim, Joo Young Chun, Hyungpil Moon, Ja Choon Koo, Wankyun Chung, Hyouk Ryeol Choi Nonlinear Parity Space Applied to an Electric Autonomous Vehicle.......................................................................................................198 Kamel Bouibed, Abdelouhab Aitouche, Mireille Bayart Reader Placement Design for Two Wheeled Robots on Floor-Installed RFID System - Extracting Backward Sensing Problem -...........................................................................................................................................................................................204 Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano A Reconfigurable Mobile Robot with 5th Wheel ........................................................................................................................................211