- Email: [email protected]
Conference Program
The 6th IFAC Symposium on Mechatronic Systems
IFAC MECH2013 April 10-12, 2013 Zhejiang University, Hangzhou, China
Sponsored by IFAC Technical Committee on Mechatronic Systems
Co-sponsored by ASME DSCD Technical Committee on Mechatronics National Natural Science Foundation of China (NSFC) Chinese Mechanical Engineering Society Ministry of Education of the People's Republic of China Chinese Association of Automation Natural Science Foundation of Zhejiang Province of China
IFAC Mech’13 Final Program Copyright and Disclaimer The material submitted for presentation at an IFAC meeting (Congress, Symposium, Conference, Workshop) must be original, not published or being considered elsewhere. All papers accepted for presentation will appear in the Preprints of the meeting and will be distributed to the participants. Proceedings of the IFAC Congress, Symposia, Conferences and Workshops will be hosted on-line on the IFAC-PapersOnLine.net website. The presented papers will be further screened for possible publication in the IFAC Journals (Automatica, Mechatronics, Control Engineering Practice, Annual Reviews in Control, Journal of Process Control, and Engineering Applications of Artificial Intelligence), or in IFAC affiliated journals. All papers presented will be recorded as an IFAC Publication. All IFAC papers in IFAC-PapersOnLine are indexed by Scopus and EI. They also appear on Google Academics. Copyright of material presented at an IFAC meeting is held by IFAC. Authors will be required to transfer copyrights electronically. The IFAC Journals and, after these, IFAC affiliated journals have priority access to all contributions presented. However, if the author is not contacted by an editor of these journals within three months after the meeting, he/she is free to submit an expanded version of the presented material for journal publication elsewhere. In this case, the paper must carry a reference to the IFAC meeting where it was originally presented and, if the paper has appeared on the website www.IFAC-PapersOnLine.net, also a reference to this publication.
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Welcome Message On behalf of the Conference Organizing Committee, we are very pleased to welcome you to Hangzhou, China for the 2013 IFAC Symposium on Mechatronic Systems. This is the 6th edition of the triennial event organized by the IFAC Technical Committee on Mechatronic Systems, following the previous ones held in Darmstadt of Germany (2000), Berkeley of USA (2002), Sydney of Australia (2004), Heidelberg of Germany (2006), and Boston of USA (2010). The Symposium is technically sponsored by the IFAC Technical Committee on Mechatronic Systems with the support of the ASME DSCD Mechatronics Technical Committee, National Natural Science Foundation of China (NSFC), Chinese Mechanical Engineering Society, Ministry of Education of China, Chinese Association of Automation, and Natural Science Foundation of Zhejiang Province of China. There is a strong overlap between the focus of the IFAC Symposium and that of the International Conference on Fluid Power Transmission and Control Conference (ICFP), which sparked the idea of concurrently holding the two events at the same location. The organizing committees of the two events have worked out schemes to maximize the participants’ experience from technical, social, and financial points of view. Participants may freely select the sessions from the two events that they wish to attend, regardless of the event they registered for. The technical program includes three plenary and four semi-plenary lectures representing North America (Professors Brad E. Paden and Tsu-Chin Tsao), Europe (Professors Klaus JANSCHEK and Andreas Kugi), and Asia (Professors Makoto Kaneko, Han Ding, and Reza Moheimani), and a panel discussion on Future Education on Mechatronics. The program also includes 18 technical sessions comprising 98 papers selected out of 117 full paper submissions from 20 countries/regions, with 26 papers from the host country of China. Out of all nominations, five finalists have been selected for the Best Student Paper Award with the winner to be decided by the Award Committee based on the quality of the paper and the presentation during the conference. The Best Student Paper Award, along with three triennial Awards by IFAC Technical Committee on Mechatronic Systems, will be given in the conference banquet on Thursday. The conference social program includes a welcome reception on Tuesday, three lunches, a conference banquet on Thursday, and a farewell party on Friday. Hangzhou is the capital of Zhejiang province and its political, economic and cultural center. When Marco Polo came to Hangzhou in the 13th century he declared it " the most beautiful and elegant city in the world ". With the picturesque scenery of the West Lake located right in the heart of the city, which is also a UNESCO's World Heritage site, Hangzhou has always been the most attractive tourist city in China. Above is paradise, below is Suzhou and Hangzhou expresses peoples’ praise to Hangzhou. We believe you will not forget your time in Hangzhou. We wish to express our gratitude to all the individuals who have contributed to the organization II
Welcome Message of this conference. Special thanks are extended to our colleagues in the International Program Committee for advertising the conference and the Conference Associate Editors for obtaining thorough reviews of all the submissions, which is vital to the success of this conference. We must thank 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 participants for their support and participation in making this conference a great success. We wish you a great conference and an enjoyable visit in Hangzhou!
Prof. Yongxiang Lu Honorary Chair
Prof. Qingfeng Wang NOC Chair
Prof. Masayoshi Tomizuka Honorary Chair
Prof. Bin Yao IPC Co-Chair
Prof. Huayong Yang IPC Co-Chair
Table of Contents
International Program Committee
1
National Organizing Committee
3
Sponsorship
4
Plenary Lectures
5
Semi-Plenary Lectures
10
Panel Forum
18
Best Student Paper Awards
23
IFAC TC on Mechatronic Systems Awards
25
Local Information
26
Public Transportation
27
General Information
28
Transportation to the Conference Venue
29
Venue Floor Plan
32
Program at A Glance
34
Detailed Program Listing
38
Book of Abstracts
47
Authors Index
70
Keywords Index
74
Table of Contents
International Program Committee
Honorary Chairs Yongxiang Lu Masayoshi Tomizuka
Zhejiang University, China University of California at Berkeley, USA
Co-Chairs Bin Yao Huayong Yang
Purdue University, USA Zhejiang University, China
Vice-Chairs Andy Chang Klaus Janschek Kok-Meng Lee Huei Peng Abu Sebastian Takashi Yamaguchi
National Instruments, USA Dresden University of Technology, Germany Georgia Institute of Technology, USA University of Michigan, USA IBM Lab, Switzerland Ricoh, Japan
Members Gursel Alici; U of Wollongong, Australia Jordan M. Berg; Texas Tech U, USA George Chiu; Purdue U, USA Li-Chen Fu; Natl. Taiwan U Roger Goodall; Loughborough U, UK Yoichi Hori; U of Tokyo, Japan Katerina Hyniova; Czech TU, Czech Republic Doyoung Jeon; Sogang U, Korea Makoto Kaneko; Hiroshima U, Japan Won-jong Kim; Texas A&M U, USA Andreas Kugi; Vienna UT, Austria Gian Antionio Magnani; Poly. di Milano, Italy Claudio Melchiorri; U of Bologna, Italy Jun Ho Oh; KAIST, Korea Brad Paden; UC Santa Barbara, USA Bruno Siciliano; U of Naples, Italy Tsu-Chin Tsao; UC Los Angeles, USA
Marcelo Ang, Natl; U of Singapore, Singapore Carlos Canudas-de-Wit; CNRS, France Roger Dixon; Loughborough U, UK Hiroshi Fujimoto; U of Tokyo, Japan Mitsuo Hirata; Utsunomiya U, Japan Roberto Horowitz; UC Berkeley, USA Rolf Isermann; TU Darmstadt, Germany Karel Jezernik; U of Maribor, Slovenia Okyay Kaynak; Bogazici U, Turkey Ralf Koeppe; KUKA Roboter GmbH, Germany Tong Heng Lee; Natl. U of Singapore, Singapore Jianqin Mao; Beihang U, China Reza Moheimani; U of Newcastle, Australia Kohei Ohnishi; Keio U, Japan Klaus Schilling; U of Wuerzburg, Germany Maarten Steinbuch; Eindhoven UT, Netherlands Jia-Yush Yen; Natl. Taiwan U
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International Program Committee
Associate Editors Marcelo H Ang Jr Jordan M. Berg Andy Chang Roger Dixon Hiroshi Fujimoto Li-Chen Fu Mitsuo Hirata Yoichi Hori Chuxiong Hu Katerina Hyniova Klaus Janschek Doyoung Jeon Won-jong Kim GianAntonio Magnani Claudio Melchiorri Amit Mohanty S.O. Reza Moheimani Huei Peng Klaus Schilling Abu Sebastian Bruno Siciliano Chun-Yi Su Tsu-Chin Tsao Takashi Yamaguchi Huayong Yang Bin Yao Xiaocong Zhu
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University of Singapore, Singapore Texas Tech University, USA National Instruments, USA Loughborough University, UK University of Tokyo, Japan Natl. Taiwan University Utsunomiya University, Japan University of Tokyo, Japan Tsinghua University, China Czech TU, Czech Republic Dresden University of Technology, Germany Sogang University, Korea Texas A&M University, USA Politecnico di Milano, Italy University of Bologna, Italy Idaho National Laboratory, USA University of Newcastle, Australia University of Michigan, USA University of Wuerzburg, Germany IBM Lab, Switzerland University of Naples, Italy Concordia University, Canada University of California at Los Angeles, USA Ricoh, Japan Zhejiang University, China Purdue University, USA Zhejiang University, China
National Organizing Committee
Chair:
Qingfeng Wang
Zhejiang University
Vice-Chair, Industry:
Lau Fowai
Bosch Rexroth China
Publicity:
Ying Chen
Zhejiang University
Finance:
Wei Li
Zhejiang University
Local Arrangements:
Xin Fu Bing Xu
Zhejiang University Zhejiang University
Editor:
Bingfeng Ju
Zhejiang University
General Secretary:
Bingfeng Ju
Zhejiang University
Deputy Secretary:
Xiaoping Ouyang
Zhejiang University
Kaimin Guan
Zhejiang University
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Sponsorship
Co-Sponsors ASME DSCD Technical Committee on Mechatronics
National Natural Science Foundation of China (NSFC)
Chinese Mechanical Engineering Society
Ministry of Education of the People's Republic of China
Chinese Association of Automation
Natural Science Foundation of Zhejiang Province of China
Industrial Sponsors Bosch Rexroth China
Festo (China) Ltd. SMC (China) Co., Ltd. National Instruments
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Plenary Lectures Plenary Lecture I: Time: 09:00-10:00, Wednesday, April 10, 2013 Venue: XIXI 1&2 Chair: Yang, Huayong Prof. Brad E. Paden University of California, Santa Barbara LaunchPoint Technologies, Inc, USA
Adventures in Mechatronics Abstract : This talk aims to illustrate the creativity, challenge, technical depth and professional enjoyment associated with the invention and design of mechatronic devices. Example systems include a maglev transportation system, a guided-catheter system, an oxygen concentrator, maglev artificial hearts, high-speed switching mechanisms including an electronic engine valve, an energy storage system, a MEMS device, and a high-energy battery system. While modeling, control and optimization are essential ingredients in mechatronic systems, the large design and application spaces of mechatronic systems compel us to place a high value on innovation at the level of system architectures – this point is illustrated throughout the talk.
Brief Biography : Brad E. Paden is a Professor of Mechanical Engineering at the University of California, Santa Barbara, with a joint appointment in the Department of Electrical and Computer Engineering. Dr. Paden is a Fellow of the IEEE and a Fellow of the American Institute of Medical and Biological Engineering (AIMBE). He was the recipient of the 2010 ASME DSCD Draper Award for innovative practice, the 2001 IEEE Control Systems Society Technology Award, and the 1993 Kalman Best Paper Award from the ASME Journal of Dynamic Systems, Measurement, and Control. Dr. Paden has co-authored over 80 publications and holds 17 patents in the field of engineering systems. He is also Chairman of the Board and Co-Founder of LaunchPoint Technologies, Inc. As former CEO, Dr. Paden led the magnetic bearing and control system consulting business, expanded the business to contract engineering in the mid-1990’s, and in 2001, engaged the company in early-stage venture engineering activities. By involving the company with start-ups, intellectual property development, entity formation, and team building, Dr. Paden has focused LaunchPoint on value creation. He currently serves on the Board for LaunchPoint start-up partner, LaunchPoint Energy and Power, LLC (LEAP), and serves as an observer on the Boards of Magnetecs Corporation and Gravity Power, LLC. 5
Plenary Lectures Plenary Lecture II: Time: 09:00-10:00, Thursday April 11, 2013 Venue: XIXI 1&2 Chair: Yao, Bin Prof. Dr.techn. Klaus Janschek Chair of Automation Engineering Faculty of Electrical and Computer Engineering Technische Universität Dresden, Germany
Trapping and Guiding the Light – A Systems View on Optomechatronics Abstract : Light is ubiquitous in our daily life and yet it has many intrinsic hidden properties that one normally is not aware of at all. Optical engineering has helped to reveal some of those secrets in century old collaboration with mechanical engineering by building optical instruments with highest precision and stability - optomechanical engineering. A big step forward has been done through optoelectronics engineering that allowed suddenly the generation of artificial light sources with predetermined optical properties as well as using electro-optical phenomena for changing optical properties of materials or getting technical access to certain intrinsic light properties. Combining optomechanical and optoelectronic engineering under the umbrella of the systems oriented mechatronics engineering paradigm is offering much more added value beside the pure sum of heterogeneous technologies synthesized in one technical product or just integrating optical technology into the mechatronic loop, e.g. contactless optical motion sensors. It is the optomechatronics engineering paradigm that allows using light in a smart “trap and guide” way for creating new system functions, outstanding system performances and innovative problem solving products for industrial automation, scientific instrumentation and consumer market. This plenary talk will discuss optomechatronics from a systems perspective. Starting with a functional view on a generic optomechatronic system, the physical foundation of light and its principal properties that can be used for technical access will be further revisited (wave characteristics, Gaussian optics, interference, diffraction, polarization, etc.). Understanding of these properties allows (i) deriving and allocating requirements at optomechatronic system and component level for a given system task and (ii) defining the optomechatronic design space (design degrees of freedom) at functional and technological level taking into account specific technologies. How this optomechatronic design space is actually usable will be outlined by typical state-of-the-art optomechatronic design solutions (autofocus imaging, active vs. adaptive optics, optical communication, etc.) as well as by innovative concepts at research level. Special emphasis is further laid on the discussion of modeling and simulation issues for supporting a 6
Plenary Lectures model-based optomechatronics engineering process and recent advances on the synthesis of optical and mechatronic modeling and simulation approaches will be presented.
Brief Biography : Klaus Janschek received his Dipl.-Ing. degree in Electrical Engineering (1979) and PhD (Dr.techn.) in Control Systems Engineering (1982) from Technische Universität Graz, Austria. He had industrial experiences in control systems development (fatigue and vehicle test systems, aerospace guidance, navigation and control) from 1982 to 1995. Since 1995, he has been a Full Professor of Automation Engineering and Managing Director of Institute of Automation at the Faculty of Electrical and Computer Engineering and affiliated faculty member of the Faculty of Mechanical Engineering, Technische Universität Dresden, Germany. He was Dean of Studies in Mechatronics Engineering from 2001-2006 and Dean of Faculty Electrical and Computer Engineering, TU Dresden from 2009 to 2012. Visiting positions (scholar/professor): Stanford University, USA, Aeronautics & Astronautics Department (2005); Universidade Tecnológica Federal do Paraná, Campus Curitiba, Brasil (2007); Universidade Federal de Santa Catarina (UFSC), Florianópolis, Brasil (2009, 2012); Guest Professorship (2012-2015) at East China University for Science and Technology (ECUST), Shanghai, China. Scientific activities (selection): IFAC – International Federation of Automatic Control: Vice-Chair Technical Committee on Mechatronics (2009-2011, 2012-2014); Chair of Application Paper Prize Selection Committee (2012-2014); 4th IFAC Symposium on Mechatronic Systems 2006, Heidelberg, Germany: Chair of the International Program Committee. DFG – Deutsche Forschungsgemeinschaft (German Research Foundation): Elected Review Board Member (2008-2011, 2012-2015) for Automation, Control Systems, Robotics and Mechatronics; Head of Review Board on Systems Engineering (2012-2015). VDI – Verein Deutscher Ingenieure, Measurement and Automation Engineering Society (GMA): Elected Board Member, Branch Chair of Mechatronics, Robotics and Actuators; Chairman of the Technical Committee on Mechatronics (1999-2010) German Mechatronics Conferences: Program-Co-Chair (biannual, since 2005). Research interests: guidance-navigation-control, data fusion, mobile robotics, optical data processing and optomechatronics, systems design.
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Plenary Lectures
Plenary Lecture III: Time: 09:00-10:00, Friday, April 12, 2013 Venue: XIXI 1&2 Chair: Tomizuka, Masayoshi Prof. Makoto Kaneko Department of Mechanical Engineering Osaka University, Japan
Hyper Human Vision Opens Door of Breakthrough Abstract : The recognition speed of human eye is at most 15frames/sec. Due to this, we often miss what is happening when we observe a high speed phenomenon. A high speed vision is a kernel technology to make clear such a high speed phenomenon. There are two different ways of utilization of high speed vision system; one is in offline where we can precisely analyze the phenomenon while the recording time is limited in a few seconds, and the other is in online where we can obtain sensing data continuously processed in real time. In this talk, focusing on online vision system, we discuss the basic working principle how to increase the handling time of vision and show a couple of application examples. As for robot, we introduce the 100G capturing robot where it can capture a dropping object with the maximum acceleration of 100G (G:gravutational acceleration). As for bio, we introduce the deformability measurement system of red blood cell (RBC). When a cell passes through a micro channel whose width is less than the cell, it receives a viscous force depending upon how much deformation of cell. The passing time is therefore the function of cell stiffness and cell viscosity under uniform size. By excluding the time-dependent-phase, we succeeded in evaluating the pure cell stiffness with 400cells/sec in maximum speed. High deformability of RBC is a key for keeping our life. The loss of deformability of RBC eventually results in the increase of resistance force in blood pipe and as a result brings about the increase of blood pressure, which may lead to various issues on circulation system. We also apply the online high speed vision system to cell stress test where we observe the recovery behavior of cell after imparting extremely high stress which never appears in our body. All examples will be explained with video demonstration.
Brief Biography : Makoto Kaneko received BS in Mechanical Engineering from Kyushu Institute of Technology in 1976, and MS and Ph.D in Mechanical Engineering from Tokyo University in 1978 and 1981, respectively. He was a researcher at Mechanical Engineering Laboratory, 1981-1990, Associate 8
Plenary Lectures Professor at Kyushu Institute of Technology, 1990-1993, Professor at Hiroshima University, 1993-2006, and Professor at Osaka University since 2006. His research interests include dynamic-based active sensing, grasping strategy, hyper human technology and its application to medical diagnosis. He was a vice president of IEEE Robotics and Automation Society from 2004 to 2005. He has been an IEEE Fellow (2006) and received 25 awards, such as the Humboldt Research Award from Humboldt Foundation (1997), IEEE ICRA the Best Manipulation Paper Award (2000), IEEE ISATP the Outstanding Paper Award (2001), IEEE RAS 2003 King-Sun Fu Memorial Best Transactions Paper Award (2004), EEE ICIA the Best Conference Paper Award (2005), IEEE MHS the Best Paper Award (2011), and IEEE ICMA the Best Paper Award in Automation.
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Semi-Plenary Lectures Semi-plenary Lecture I-1 Time: 10:30-11:30, Wednesday, April 10, 2013 Venue: XIXI 1 Chair: Schitter, Georg Prof. Reza Moheimani School of Electrical Engineering & Computer Science University of Newcastle, Australia
Control of Atomic Force Microscope Microcantilever Dynamics: Mechatronics at the Nanoscale Abstract : The atomic force microscope (AFM) has emerged as a key enabling tool for nanoscience and nanotechnology. It has provided scientists and engineers with one of the most versatile methods of imaging structures at nanometer-scale. The ability to operate in air and in fluid environments gives the AFM a significant advantage over competing microscopy methods such as the Transmission Electron Microscope and the Scanning Electron Microscope that must operate in vacuum. The AFM has brought about significant progress in numerous scientific fields ranging from nanotechnology through to life sciences and medicine. Being a “mechanical microscope", it has also been used to manipulate matter at the nanometer-scale. Thus, it has emerged as the driving technology in nanomanipulation and nanoassembly, and as the key tool in nanorobotics research. A widely used AFM mode of operation is the tapping mode, in which the micro-cantilever is oscillated at its resonance frequency and comes into contact with the sample for a brief moment in each cycle. The quality (Q) factor of the AFM micro-cantilever influences both the maximum scan speed and the image quality when operating in tapping mode. In this talk, we present two new approaches to Q-factor control in AFM micro-cantilevers and explain how the Q factor can be changed as needed. The first method is based on the idea of piezoelectric shunt control, whereby the mechanical damping of a piezoelectric self-actuating micro-cantilever is controlled by applying an electrical impedance to the piezoelectric transducer. The second method is based on using a feedback controller with strictly negative imaginary transfer function, which is known to result in a remarkably robust feedback loop due to the collocated nature of the micro-cantilever transfer function.
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Semi-Plenary Lectures Brief Biography : Reza Moheimani joined The University of Newcastle, Australia in 1997, where he founded and directs the Laboratory for Dynamics and Control of Nanosystems, a multi-million-dollar state-of-the-art research facility dedicated to the advancement of nanotechnology through innovations in mechatronics and control engineering. He is a Professor and an Australian Research Council (ARC) Future Fellow with the School of Electrical Engineering and Computer Science at The University of Newcastle. His current research interests are mainly in the area of dynamics and control at the nanometer scale, and include applications of control and estimation in nanopositioning systems for high-speed scanning probe microscopy, modeling and control of micro-cantilever based devices, control of microactuators in microelectromechanical systems (MEMS) and control issues related to ultrahigh-density probe-based data storage systems. Professor Moheimani is a Fellow of IEEE, a Fellow of IFAC and a Fellow of the Institute of Physics (UK). He is a co-recipient of the 2007 IEEE Transactions on Control Systems Technology Outstanding Paper Award, and the 2009 IEEE Control Systems Technology Award; the latter with a group of researchers from IBM Zurich Research Labs, where he held several visiting appointments. He has served on the editorial board of a number of journals including the IEEE Transactions on Control Systems Technology, the IEEE/ASME Transactions on Mechatronics and Control Engineering Practice, and has chaired several international conferences and workshops. He is currently chairing the IFAC Technical Committee on Mechatronic Systems.
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Semi-Plenary Lectures
Semi-plenary Lecture I-2 Time: 10:30-11:30, Wednesday, April 10, 2013 Venue: XIXI 2 Chair: Yang, Huayong Prof. Han Ding Professor, School of Mechanical Science and Engineering Director, State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology, Wuhan, China
New Development of the Dynamics and Control for Five-axis NC Machining of Complex Surfaces Abstract : Motivated by the high-speed machining technology, five-axis NC machining of high-quality complex surfaces with high efficiency is urgently demanded by various industries, such as aerospace industry, automotive industry, and shipping industry etc. Along with the fast-developing machine tool industry, the manufacturing scientists and engineers have devoted considerable efforts to investigating the basic physics of material-removing processes, designing tools, planning tool paths, and selecting the optimal machining parameters in the decades. To go a step further to exploit the potential of five-axis NC machining, it is necessary to more deeply understand the tool dynamics and control involved in five-axis NC machining. This talk is intended to review the fundamental dynamics and control for five-axis NC machining of complex surfaces from the viewpoint of robotics, and to present the new development results achieved by our team. As for the dynamics, we propose a full-discretization method for prediction of milling stability. It is a general and efficient stability prediction method suitable for the cases of milling with low or high radial depths of cut, milling with low or high axial depths of cut, milling with variable pitch cutters, and milling of thin-walled workpieces etc. Moreover, this method can serve as a useful tool for simultaneous prediction of surface location errors. This presentation provides an opportunity for people working in the fields of multi-axis machining and robotics to share their perspectives and exchange information on new developments of the dynamics and control for five-axis NC machining of complex surfaces. Per the control method for five-axis NC machining, previous scholars focus on passive control to mitigate the chatter instability by reducing the working spindle speeds or depths of cut or both. But they have inherent disadvantages in gaining highly efficient machining. On the contrary, the research of our work is along the line of active control. It adopts an active structural control system to alter system dynamics by installing intelligent actuators (like piezo-electric and 12
Semi-Plenary Lectures electro-strictive actuators) and vibrations sensors (like strain gages) onto spindle and rotation tools, respectively. The sensors and intelligent actuators form an additional closed-loop to facilitate the controller design. By properly altering system dynamics with output regulation method, an active controller is developed to improve the chatter stability region in terms of stability lobes diagram for the closed-loop system and hence achieve a higher maximal metal removal rate. In this way, the tool pieces surface quality is preserved with higher machining efficiency.
Brief Biography : received his Ph.D. degree from Huazhong University of Science and Technology (HUST), Wuhan, China, in 1989. Supported by the Alexander von Humboldt Foundation, he was with the University of Stuttgart, Germany from 1993 to 1994. He worked at the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore from 1994 to 1996. He has been a Professor at HUST ever since 1997 and is now Director of the State Key Lab of Digital Manufacturing Equipment and Technology there. Dr. Ding was a "Cheung Kong" Chair Professor of Shanghai Jiao Tong University from 2001 to 2006. He chaired two 973 Projects (Basic Research Programs of China ) sponsored by Ministry of Science and Technology. Dr. Ding acted as an Associate Editor of IEEE Trans. on Automation Science and Engineering (TASE) from 2004 to 2007. Currently, he is an Editor of IEEE TASE and a Technical Editor of IEEE/ASME Trans. on Mechatronics. His research interests include multi-axis machining, robotics and control engineering.
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Semi-Plenary Lectures
Semi-plenary Lecture II-1 Time: 10:30-11:30, Thursday, April 11, 2013 Venue: XIXI 1 Chair: Paden, Brad Prof. Andreas Kugi Editor-in-Chief, Control Engineering Practice University Professor, Automation and Control Institute Vienna University of Technology, Austria
Model-based Nonlinear Control of Mechatronic Systems Abstract : The ever increasing availability of cheap and powerful integrated real-time hardware makes it possible to apply computationally intensive advanced nonlinear control and optimization methods to mechatronic systems. In view of the advances in nonlinear control theory in the last decades, it seems reasonable to pose the question how these achievements can be exploited in the overall mechatronic design process. This is not only concerned with the optimum selection of system parameters, the sensor and actuator placement problem, the controller and observer design itself but also with the principal question, which properties must be guaranteed by the constructional design and which properties can be adjusted by means of an embedded controller. By means of selected examples we will show that in order to make full use of the existing powerful nonlinear control concepts it is necessary to derive tailored (physics-based) mathematical models. In this talk, various applications ranging from electrical drives, pneumatic fast-switching valves, a MEMS angular rate sensor to hydraulic systems with smart fluids will be presented.
Brief Biography : Andreas Kugi received the Dipl.-Ing. degree in electrical engineering from Graz University of Technology, Austria, and the Ph.D. (Dr.techn.) degree in control engineering from Johannes Kepler University (JKU), Linz, Austria, in 1992 and 1995, respectively. From 1995 to 2000 he worked as an assistant professor and from 2000 to 2002 as an associate professor at JKU. He received his ”Habilitation” degree in the field of automatic control and control theory from JKU in 2000. In 2002, he was appointed full professor at Saarland University, Saarbrücken, Germany, where he held the Chair of System Theory and Automatic Control until May 2007. Since June 2007 he has been the Head of the Automation and Control Institute (ACIN) at Vienna University of Technology, Austria. His research interests include the physics-based modeling and control of (nonlinear) mechatronic systems, differential geometric and algebraic methods for nonlinear 14
Semi-Plenary Lectures control, and control design for infinite-dimensional systems. He is involved in several industrial research projects in the field of automotive applications, hydraulic, pneumatic and electrical drives, smart structures and rolling mill applications. Dr. Kugi is the Editor-in Chief of Control Engineering Practice. Since 2010, he is corresponding member of the Austrian Academy of Sciences.
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Semi-Plenary Lectures
Semi-plenary Lecture II-2 Time: 10:30-11:30, April 11, 2013 Venue: XIXI 2 Chair: Horowitz, Roberto Prof. Tsu-Chin Tsao Professor and Chair, Mechanical & Aerospace Engineering Department Henry Samueli School of Engineering and Applied Science University of California at Los Angeles, USA
Rejecting Deterministic and Random Disturbances in Mechatronic Systems Abstract : Mechatronics systems are often subject to mixed deterministic and random external signals for tracking or disturbance rejection. For example, a computer disk drive read-write head is subject to repeatable disturbances synchronized with the spindle rotation and other random disturbances from vibration and air flow turbulence. Numerous control algorithms in the literature have addressed these two types of disturbances separately. Recent control algorithms that are designed to address both will be discussed, which involve the utilization of internal model control, internal model principle, repetitive control, Youla parameterization of stabilizing controllers, adaptive estimation and control, and robust stability analysis. Also, the implementation on several mechatronic systems with parenthetical remarks on digital signal processing for real-time realization will be presented.
Brief Biography : Tsu-Chin Tsao, Professor and Chair of the Department of Mechanical and Aerospace Engineering, received his B.S. in Mechanical Engineering from National Taiwan University, and both his M.S. and Ph.D. also in Mechanical Engineering from the University of California, Berkeley. From 1988 to 1999, Dr. Tsao was Assistant then Associate Professor of Mechanical and Industrial Engineering at the University of Illinois at Urbana-Champaign. Dr. Tsao came to UCLA Engineering in 1999. Tsao’s research interests include modeling and control of dynamic systems and mechatronics. His work in precision motion control has created a number of control algorithms, including optimal feedforward tracking, repetitive and iterative learning control, and adaptive control, realized on a broad range of high technology applications. Particularly, his technology of Non-Circular Turning Process has been realized in the production of automotive engine pistons 16
Semi-Plenary Lectures and other bearing surfaces with tight tolerance, which has contributed to the technological advances and improvement in engine fuel economy and emission reduction. Tsao’s recent research addresses challenges and innovations in nano-precision positioning, laser beam target tracking, surgical robotic manipulators, and compressed air hybrid vehicles. Tsao’s research has been recognized by the International Symposium of Flexible Automation Best Paper Award, the American Automatic Control Council’s O. Hugo Schuck Best Paper Award, the ASME Journal of Dynamic Systems Measurement And Control Best Paper Award, and the ASME Dynamic Systems and Control Division Outstanding Young Investigator Award, just to name a few. Providing numerous service and leadership to technical communities, he has been the Chair of the Executive Committee of the ASME Dynamic Systems and Control Division, Program Chair of the 2010 ASME Annual Dynamic Systems and Control Conference, Technical Editor of IEEE/ASME Transactions of Mechatronics, and Associate Editor of Transactions of ASME Journal of Dynamic Systems Measurement and Control. He is a Fellow of American Society of Mechanical Engineers (ASME), Senior Member of Institute of Electrical and Electronic Engineers (IEEE), and Sustaining Member of American Society of Precision Engineers (ASPE).
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Panel Forum Theme of Panel Forum: Future Education on Mechatronics Time: 10:30-11:40, Friday, April 12, 2013 Venue: XIXI 1&2 Organizers: Professors G. T. Chiu and Bin Yao Chair: Prof. Bin Yao, School of Mechanical Engineering, Purdue University, USA Panelists: Profs. G. T. Chiu, Klaus Janschek, Okyay Kaynak, Andreas Kugi, Kok-Meng Lee, Reza Moheimani, Masayoshi Tomizuka
Prof. Bin Yao Professor, School of Mechanical Engineering, Purdue University Chang Jiang Chair Professor, State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University
Brief Biography: Dr. Yao received his PhD degree in Mechanical Engineering from the University of California at Berkeley in 1996 after obtaining B.Eng. in Applied Mechanics from Beijing University of Aeronautics and Astronautics of China in 1987 and M.Eng. degree in Electrical Engineering from Nanyang Technological University of Singapore in 1992. He has been with the School of Mechanical Engineering at Purdue University since 1996 where he was promoted to the rank of Professor in 2007. He was also honored as a Kuang-piu Professor in 2005 and a Chang Jiang Chair Professor at Zhejiang University by the Ministry of Education of China in 2010. He is currently on leave from Purdue and is with the State Key Laboratory of Fluid Power Transmission and Control at Zhejiang University under the National Recruitment Program of Global Experts. Dr. Yao was awarded a Faculty Early Career Development (CAREER) Award from the National Science Foundation (NSF) in 1998. His research interests include the design and control of intelligent high performance coordinated control of electro-mechanical/hydraulic systems, optimal adaptive and robust control, nonlinear observer design and neural networks for virtual sensing, modeling, fault detection, diagnostics, and adaptive fault-tolerant control. He is the recipient of the O. Hugo Schuck Best Paper (Theory) Award from the American Automatic Control Council in 2004, the Outstanding Young Investigator Award of ASME Dynamic Systems and Control Division (DSCD) in 2007, and the Best Conference Paper Award in Mechatronics from ASME DSCD in 2012. He is a Fellow of ASME and member of IEEE and has chaired numerous sessions and served in a number of International Program Committee of various IEEE, ASME, and IFAC conferences including the General Chair of the 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Details can be found at https://engineering.purdue.edu/~byao. 18
Panel Forum
Prof. G. T. Chiu Professor, School of Mechanical Engineering, Purdue University Professor, School of Electrical and Computer Engineering, Purdue University
Brief Biography: Dr. Chiu is a Professor in the School of Mechanical Engineering with courtesy appointments in the School of Electrical and Computer Engineering and the Department of Psychological Sciences at Purdue University. He is currently on leave from Purdue and is serving as the Program Director for the Control Systems Program in the Civil, Mechanical and Manufacturing Innovation Division of the Engineering Directorate at the National Science Foundation. He received the B.S. degree in Mechanical Engineering from the National Taiwan University in 1985 and the M.S. and Ph.D. degrees in Mechanical Engineering from the University of California at Berkeley, in 1990 and 1994, respectively. Dr. Chiu's current research interests are mechatronics and dynamic systems and control with applications to digital printing and imaging systems, digital fabrications, human motor control, motion and vibration perception and control. He is the Editor of the Journal of Imaging Science and Technology and the Vice-Chair for the ASME Dynamic Systems and Control Division (DSCD). Dr. Chiu received the 2010 IEEE Journal of Control Systems Technology Outstanding Paper Award and the Purdue University College of Engineering Team Excellence Award in 2006 and Faculty Engagement/Service Excellence Award in 2010. Dr. Chiu is a Fellow of the Society for Imaging Science and Technology and a member of ASME and IEEE.
Prof. Dr.techn. Klaus Janschek Chair of Automation Engineering Faculty of Electrical and Computer Engineering Technische Universität Dresden
Brief Biography: See Plenary Lecture II.
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Panel Forum
Prof. Okyay Kaynak UNESCO Chair on Mechatronics Bogazici University, Istanbul, Turkey Co-Editor-in-Chief, IEEE Transactions on Industrial Electronics Editor-in-Chief-Elect, IEEE/ASME Transactions on Mechatronics
Brief Biography: Dr. Okyay Kaynak is a graduate of University of Birmingham, UK (B.Sc. 1969, Ph.D. 1972). He holds UNESCO Chair on Mechatronics at Bogazici University, Istanbul, Turkey. He has held long-term (near to or more than a year) Visiting Professor/Scholar positions at various institutions in Japan, Germany, U.S. and Singapore. His current research interests are in the fields of intelligent control and mechatronics. He has authored three books and edited five and authored or coauthored more than 350 papers that have appeared in various journals and conference proceedings. Dr. Kaynak is a fellow of IEEE. He has served as the founding Editor-in-Chief of the IEEE Trans. on Industrial Informatics. Currently he is the Co-Editor-in-Chief of the IEEE Trans. on Industrial Electronics and the incoming Editor-in-Chief of IEEE/ASME Trans. on Mechatronics. Additionally he is on the Editorial or Advisory Boards of a number of scholarly journals. Dr. Kaynak is active in internationally organizations, has served on many committees of IEEE and was the president of IEEE Industrial Electronics Society during 2002-2003.
Prof. Andreas Kugi Editor-in-Chief, Control Engineering Practice University Professor, Automation and Control Institute Vienna University of Technology, Austria
Brief Biography: See Semi-Plenary Lecture II-1.
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Panel Forum Prof. Kok-Meng Lee Professor,George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology Distinguished Professor, School of Mechanical Science and Engineering, Huazhong University of Science and Technology. Editor-in-Chief, IEEE/ASME Transactions on Mechatronics
Brief Biography: Dr. Kok-Meng Lee received his B. S. degree in mechanical engineering from the State University of New York at Buffalo in 1980, and earned his S. M. and Ph. D. degrees in mechanical engineering from the Massachusetts Institute of Technology in 1982 and 1985 respectively. Since 1985, Dr. Lee has been a faculty with the George W. Woodruff School of Mechanical Engineering at Georgia Institute of Technology. Currently, he is Professor of Mechanical Engineering at Georgia Tech. He was also honored as Pao Yu-Kong Chair Professor at Zhejiang University. He is currently on leave from Georgia Tech and is a Distinguished Professor with the State Key Laboratory of Digital Manufacturing Equipment and Technology at Huazhong University of Science and Technology under the National Recruitment Program of Global Experts. His research interests include system dynamics/control, robotics, automation, machine vision, and mechatronics. Dr. Lee is a fellow of IEEE and ASME. Recognitions of his research contributions include the NSF Presidential Young Investigator (PYI) Award, Sigma Xi Junior Faculty Award, International Hall of Fame New Technology Award, Woodruff Faculty Fellow, three best paper awards and ten U. S., Canada and European patents. He is also recognized as advisor for nine Best Student Paper and Thesis Awards. Dr. Lee is Editor-in-Chief for the IEEE/ASME Transactions on Mechatronics (TMech) since 2008. Prior to this appointment, he served as Technical Editor for TMech (1995-1999) and as Associate Editor for IEEE Robotics and Automation Society Magazine (1994-1996), IEEE Transactions on Robotics and Automation (1994-1998) and IEEE Transactions on Automation Science and Engineering (2003-2005). He was ICRA Local Chair (1993), IEEE/ASME AIM General Co-Chair (1997), General Chair (1999) and as ASME Liaison for IEEE/ASME AIM since its inception. Details can be found at http://www.me.gatech.edu/aimrl/
Prof. Reza Moheimani School of Electrical Engineering & Computer Science University of Newcastle, Australia
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Panel Forum Brief Biography: See Semi-Plenary Lecture I-1.
Prof. Masayoshi Tomizuka Cheryl and John Neerhout, Jr., Distinguished Professorship Chair Department of Mechanical Engineering University of California at Berkeley
Brief Biography: Masayoshi Tomizuka received his B.S. and M.S. degrees in Mechanical Engineering from Keio University, Tokyo, Japan and his Ph. D. degree in Mechanical Engineering from the Massachusetts Institute of Technology in February 1974. In 1974, he joined the faculty of the Department of Mechanical Engineering at the University of California at Berkeley, where he currently holds the Cheryl and John Neerhout, Jr., Distinguished Professorship Chair and serves as Associate Dean of Engineering. He teaches courses in dynamic systems and controls. His current research interests are optimal and adaptive control, digital control, signal processing, motion control, and control problems related to robotics and rehabilitation, vehicles and mechatronic systems. He served as Program Director of the Dynamic Systems and Control Program of the National Science Foundation (2002-2004). He has supervised about 100 PhD students to completion. He has published over 600 articles in professional journals and conference proceedings. He served as Technical Editor of the ASME Journal of Dynamic Systems, Measurement and Control, J-DSMC (1988-93), Editor-in-Chief of the IEEE/ASME Transactions on Mechatronics (1997-99), and Associate Editor of the Journal of the International Federation of Automatic Control (IFAC), Automatica. He served as President of the American Automatic Control Council (AACC) (1998-99), and he chaired the IFAC Technical Committee on Mechatronic Systems. He is a Fellow of the ASME, the Institute of Electric and Electronics Engineers (IEEE), IFAC and the Society of Manufacturing Engineers. He is the recipient of the J-DSMC Best Paper Award (1995, 2010), the DSCD Outstanding Investigator Award (1996), the Charles Russ Richards Memorial Award (ASME, 1997), the Rufus Oldenburger Medal (ASME, 2002) and the John R. Ragazzini Award (AACC, 2006).
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Best Student Paper Award Procedure The procedure for selecting the winners of the IFAC Mechatronics’13 Best Student Paper Award is a two-step process; the two steps are independent. In Step one, finalists are selected from the nominations by the Program Committee based on reviews of the written submissions. The final selection of the Best Student Paper winners will be made by the IFAC Mechatronics’13 Best Student Paper Award Committee considering on a number of factors including originality, scientific/technical contributions, and clarity in both written paper and oral presentation. Best student paper finalists must be the first author of the paper and must present the paper. Papers not presented will be excluded. After careful review by the Program Committee and the Award Committee Chair, the following five finalists have been selected from the nominations for the Best Student Paper Award: 13:20-13:40, Paper WeBT02.2 Visual Servoing Considering Sensing Dynamics and Robot Dynamics Wang, Cong
Univ. of California, Berkeley
Lin, Chung-Yen
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
14:00-14:20, Paper WeBT1.4 High-Precision Positioning System Using a Low-Stiffness Dual Stage Actuator (I) Ito, Shingo
Vienna Univ. of Tech.
Steininger, Juergen
Vienna Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
16:00-16:20, Paper WeCT1.3 Analysis and Design of Multiresolution Scan Trajectories for High-Speed Scanning Probe Microscopy (I) Tuma, Tomas
IBM Res.
Lygeros, John
ETH Zurich
Sebastian, Abu
IBM Res. - Zurich
Pantazi, Angeliki
IBM Res. - Zurich
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Best Student Paper Award
13:20-13:40, Paper ThBT2.2 Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study Lu, Junkai
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
15:20-15:40, Paper ThCT1.1 A New Approach to Active Q Control of an Atomic Force Microscope Micro-Cantilever Operating in Tapping Mode (I) Fairbairn, Matthew
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
Winner of the Best Student Paper Award will be selected by the following Award Committee:
Award Committee Chair:
Brad Paden, Professor, University of California at Santa Barbara, USA
Members:
Doyoung Jeon, Professor, Sogang University, Korea Makoto Kaneko, Professor, Osaka University, Japan Andreas Kugi, Professor, Vienna University of Technology, Austria Claudio Melchiorri, Professor, University of Bologna, Italy
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IFAC Technical Committee on Mechatronic Systems Awards The three inaugural Awards of IFAC Technical Committee on Mechatronic Systems will be given in the conference banquet as well.
LIFETIME ACHIEVEMENT AWARD This award is presented triennially by IFAC TC4.2 to a researcher who has an exceptional history of participation in and contributions to IFAC mechatronic systems activities, and who has made enduring research contributions in mechatronics, either of a fundamental or applied nature. The recipient of the award is
Masayoshi Tomizuka for seminal and pioneering contributions in the field of mechatronics and the control of mechanical systems.
MECHATRONIC SYSTEMS AWARD This award is presented triennially by IFAC TC4.2 to a researcher who has demonstrated sustained outstanding research contributions in mechatronic systems, either of a fundamental or applied nature, and who has a significant history of participation in and contributions to IFAC mechatronic systems activities. The recipient of the award is
Reza Moheimani for outstanding contributions to design, fabrication, modeling and control of mechatronic systems for investigation and engineering of matter at the nanometer scale.
YOUNG RESEARCHER AWARD This award is presented triennially by IFAC TC4.2 to a researcher who is 40 years or younger (on first of March of the year of the award), who has an established history of participation in and contributions to IFAC mechatronic systems activities, and who has demonstrated outstanding research contributions in mechatronics, either of a fundamental or applied nature. The recipients of the award are
Abu Sebastian for significant contributions to the field of micro-/nanoscale mechatronic systems spanning areas such as scanning-probe technology, nanopositioning, nanoscale sensing, data storage and emerging memory technologies.
Georg Schitter for substantial contribution to the mechatronic design and control of nano-positioning systems for nano-metrology and high-speed scanning probe microscopy.
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Local Information Geography ! Hangzhou locates close to China east coast between 118°21!-120°30! east longitude and 29°11!-30°33! north latitude.
Trivia ! Hangzhou covers an area of 16596 km2 with a population of 6.60 million ! Hangzhou is one of the seven ancient capitals and the key scenic tourism and historical culture cities in China. So Hangzhou once was “the most splendid and luxurious city in the world” by Marco Polo. ! Hangzhou is the second provincial capital in economic strength and one of the top ten big-middle cites in economic general strength. ! Hangzhou attracts more than 20 million domestic and foreign tourists every year as a famous scenic city in China. ! Hangzhou is only 50 minutes away from Shanghai by High-speed Rail ! Scenic attractions: museums, cultural centers, West Lake, Xixi Wetland, shopping center etc.
Climate ! April is the spring season in China with average temperature around 15-25° C.
Electricity and water ! Electrical Outlet: TYPE A/TYPE B, 220volts, 50 Hz AC. ! Drinking water served at hotels and restaurants is distilled or boiled. Tap water should be boiled before drinking.
Time Zone ! China is 8 hours ahead Greenwich Mean Time (UTC/GMT +8 hours). No daylight saving time.
Currency and Bank ! The Country’s currency is the China Yuan (CNY). The exchange rate in current months is around CNY6.21=US$1. [Check the exchange rates] ! Foreign currencies can be exchanged at government-designated banks.(Most banks require no more than 5000US$/each time) ! Credit Cards are widely accepted throughout the country; Traveler’s checks may be accepted by tourist-oriented shops, most of international tourist hotels and banks. ! Most of the banks are open whole day from 9:00-17:00, Monday to Friday and 9:00-16:00 on weekends.
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Public Transportation Airports Information 1. Shanghai Pudong International Airport Add: No.900, Qihang Road, Pudong New District, Shanghai, China Tel: +86- 21- 68347575 Web: http://en.shairport.com/pudongair.html 2. Shanghai Hongqiao International Airport Add: No.2550, Hongqiao Road, Changning District, Shanghai, China Tel: +86- 21- 62688899 Website: http://en.shairport.com/hongqiaoair.html 3. Hangzhou International Airport (Xiaoshan International Airport) Add: Shaoshan, Hangzhou, China Tel: +86- 571- 86661234 or 86661182. Web: http://www.hzairport.com/en/index_flash_en.aspx
Railway Stations Information 1. Shanghai Hongqiao Railway Station Add: Shenlan Road, Minhang District, Shanghai (to the west of Hongqiao International Airport) Tel: +86- 21- 51245555 http://www.travelchinaguide.com/cityguides/shanghai/transportation/hongqiao-railway-station.htm 2. Hangzhou Railway Station Add: Chengzhan Road, Shangcheng District, Hangzhou Tele: +86- 571- 56720222 http://www.travelchinaguide.com/china-trains/hangzhou-schedule.htm
Coach Stations Information 1. Hangzhou Passenger Transport Centre Station (Jiubao Coach Station) Add: No.3339, Desheng East Road, Jiubao Town, Chiangkan District TEL: +86- 571- 87650679 2. Hangzhou South Coach Station Add: No.407, Qiutao Road(close to Dongbao Road), Chiangkan District TEL:+86- 571- 86075352 3. Hangzhou West Coach Station Address: No. 357, Tianmushan Road, West Lake District TEL: +86-571- 85222237 4. Hangzhou North Coach Station Address: No.766, Moganshan Road, Gongshu District TEL: +86-571- 88097761 For more Travel Information, please visit: http://www.travelchinaguide.com/cityguides/hangzhou.htm
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General Information Conference Venue The conference will take place at Sheraton Hangzhou Wetland Park Resort
Address 1 Westbrook Resort, Zijingang Road, Hangzhou city, Zhejiang Province Telephone: +86-0571-85002222 Fax: +86-0571-85002666 Official Website: http://www.starwoodhotels.com/
Registration Desk Location: Lobby of Sheraton Hangzhou Wetland Park Resort Time: 13:00-21:00, Tuesday(April 9); 8:00-17:00, Wednesday & Thuesdaty; 8:00-12:00, Friday
Secretariat of IFAC2013 Room: 1026 TEL: +86-15967108016 (Mr. Ouyang), +86-18758260369 (Ms. Guan) E-mail:,[email protected], [email protected]
Official Language The official language of the conference is English.
Conference Auxiliary Facilities At each presentation room, one set of LCD Projector will be provided. The presenters could prepare and use their own computers or use the computer we provided.
Internet Access Wireless Internet access in Sheraton Hangzhou Wetland Park Resort will be provided.
Social Event Schedule The Social Events organized by IFAC2013 included Welcome Reception, Dinner, Banquet, Farewell Reception and three lunches. All the Social Events will be held in Sheraton Hangzhou Wetland Park Resort. Tuesday, April 9, 2013 Welcome Reception 18: 30 – 21: 00 XIXI 3 Wednesday, April 10, 2013 Lunch 11: 40 – 12: 50 Front Hall of XIXI Ballroom Dinner 18: 30 – 21: 00 Feast Restaurant of Hotel West Wing Thursday, April 11, 2013 Lunch 11: 40 – 12: 50 Front Hall of XIXI Ballroom Banquet & Award 18: 45 – 21: 30 XIXI 1&2 Friday, April 12, 2013 Lunch 11: 40 – 12: 50 Front Hall of XIXI Ballroom Farewell Reception 17: 20 – 19: 30 Feast Restaurant of Hotel West Wing 28
Transportation to the Conference Venue From Hangzhou International Airport (Xiaoshan International Airport) Way1: Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 45Km, 50min, RMB 160) Way2: A. Take an airport shuttle bus to Civil Aviation Ticket Office (WuLinMen): Departing Time
Distance
Time
Fare
30 Km
2 Hour
RMB 20
Every 30 minutes from 7: 30 – 9: 30 Every 15 minutes from 9: 30 – 17: 30 Every 20 minutes from 17: 30 – 21: 00 Every 30 minutes after 21: 00~ B. Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 11Km, 20min, RMB 30) PS: Buses depart after 21:00 terminate at WuLin Square (near Civil Aviation Ticket Office)
From Shanghai Pudong International Airport A. Take the coach to Hangzhou at Coach station in Pudong airport: Departing Time (Pudong airport—Hangzhou) 8:40, every 60 minutes from 10:00 - 21:00
Fare
Time
RMB 100
3 Hour
B. Get off at Civil Aviation Ticket Office (WuLinMen, available all day) or Hanglong Sport Center (only available in the afternoon ): C. Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 11Km, 20min, RMB 30).
From Shanghai Hongqiao International Airport A. Take subway line 10 (from Hongqiao Airport Terminal 1) or line 10/2 (from Hongqiao Airport Terminal 2) to Hongqiao Railway Station (two or one stations) B. Get a high-speed rail(HSR) ticket to Hangzhou Railway Station (NOT Hangzhou South Railway Station): Departing Time (Hongqiao Railway Station-Hangzhou) About every 30 minutes from 6:38 to 21:52
Fare
Time
About RMB 124 (first class) About RMB 78 (second class)
1 Hour
C. Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 14Km, 30min , RMB 45)
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Transportation to the Conference Venue
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Transportation to the Conference Venue
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Venue Floor Plan
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Venue Floor Plan
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Program at A Glance Mechatronics '13 Technical Program Tuesday, April 9, 2013 13:00 -21:00 Lobby of Sheraton Hangzhou Wetland Park Resort Registration 18:30-21:00 XIXI 3 Welcome Reception (included in Registration) Note: Other Registration Time 8:00-17:00, Wednesday 8:00-17:00, Thuesdaty 8:00-12:00, Friday
Mechatronics '13 Technical Program Saturday, April 13, 2013 09:30-Noon Tour to Xixi National Wetland Park or West Lake
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Program at A Glance
Mechatronics '13 Technical Program Wednesday April 10, 2013 Track T1
Track T2
Track T3
08:30-09:00 XIXI 1&2 Welcome Remarks by Honorary Chairs, Profs. Yongxiang Lu and Masayoshi Tomizuka, and IFAC and Zhejiang University Representatives 09:00-10:00 Plenary Lecture I XIXI 1&2 "Adventures in Mechatronics" by Prof. Brad E. Paden 10:00-10:30 Front Hall of XIXI Ballroom Tea Break 10:30-11:30 Semi-plenary Lecture I-1 10:30-11:30 Semi-plenary Lecture I-2 XIXI 1 XIXI 2 "Control of Atomic Force Microscope "New Development of the Dynamics and Micro-Cantilever Dynamics: Mechatronics at Control for Five-Axis NC Machining of the Nanoscale" by Prof. Reza Moheimani Complex Surfaces" by Prof. Han Ding 11:40-12:50 Front Hall of XIXI Ballroom Lunch (included in Registration) 13:00-15:00 13:00-15:00 13:00-15:00 Invited Session WeBT1 Regular Session WeBT2 Regular Session WeBT3 Boardroom XIYUAN 3 XIYUAN 4 Nanoscale Positioning and Sensing, Localization, and Control of Electro-Hydraulic Scanning Probe Technology I Visual Servoing Systems
5:20-17:20 Invited Session WeCT1 Boardroom Nanoscale Positioning and Scanning Probe Technology II
15:00-15:20 Front Hall of XIXI Ballroom Tea Break 15:20-17:20 Regular Session WeCT2 XIYUAN 3 Sensing and Actuation
15:20-17:20 Regular Session WeCT3 XIYUAN 4 Precision Motion Control
18:30-21:00 Feast Restaurant of Hotel West Wing Dinner (included in Registration) Tips: Shuttle buses will be arranged by the organizer to pick up the participants from conference venue to the 35
Program at A Glance State Key Lab of Fluid Power Transmission and Control every one hour in the afternoon.
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Program at A Glance
Mechatronics '13 Technical Program Thursday April 11, 2013 Track T1
Track T2
Track T3
09:00-10:00 Plenary Lecture II XIXI 1&2 "Trapping and Guiding the Light – A Systems View on Optomechatronics" by Prof. Dr.techn. Klaus JANSCHEK 10:00-10:30 Front Hall of XIXI Ballroom Tea Break 10:30-11:30 Semi-plenary Lecture II-1 10:30-11:30 Semi-plenary Lecture II-2 XIXI 1 XIXI 2 "Model-Based Nonlinear Control of "Rejecting Deterministic and Random Mechatronic Systems" by Prof. Andreas Kugi Disturbances in Mechatronic Systems" by Prof. Tsu-Chin Tsao 11:40-12:50 Front Hall of XIXI Ballroom Lunch (included in Registration) 13:00-15:00 13:00-15:00 13:00-15:00 Invited Session ThBT1 Regular Session ThBT2 Regular Session ThBT3 Boardroom XIYUAN 3 XIYUAN 4 Mechatronics for Adaptive Noval Exoskeleton and Control Methodologies Optics and Optical Metrology Robotic Devices 15:00-15:20 Front Hall of XIXI Ballroom Tea Break 5:20-17:20 15:20-17:20 Invited Session ThCT1 Regular Session ThCT2 Boardroom XIYUAN 3 Nanoscale Positioning and State Estimation and Scanning Probe Technology III Electrical Vehicle
15:20-17:20 Regular Session ThCT3 XIYUAN 4 Modeling and Control of Pneumatic/Hydraulic Systems
18:45-21:30 XIXI 1& 2 Banquet & Award (included in Registration) Tips: Shuttle buses will be arranged by the organizer to pick up the participants from conference venue to the State Key Lab of Fluid Power Transmission and Control every one hour in the afternoon.
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Program at A Glance
Mechatronics '13 Technical Program Friday April 12, 2013 Track T1
Track T2
Track T3
09:00-10:00 Plenary Lecture III XIXI 1&2 "Hyper Human Vision Opens Door of Breakthrough" by Prof. Makoto Kaneko 10:00-10:30 Front Hall of XIXI Ballroom Tea Break 10:30-11:40 Panel Forum XIXI 1&2 "Future Education on Mechatronics" organized by Professors G. T. Chiu and Bin Yao 11:40-12:50 Front Hall of XIXI Ballroom Lunch (included in Registration) 13:00-15:00 Invited Session FrBT1 Boardroom Servo Control Technologies for Data Storage
13:00-15:00 Regular Session FrBT2 XIYUAN 3 Control of Mechatronic Systems I
13:00-15:00 Regular Session FrBT3 XIYUAN 4 Biped, Network, and Multi-Agent Systems
15:00-15:20 Front Hall of XIXI Ballroom Tea Break 5:20-17:20 Invited Session FrCT1 Boardroom Nanorobotic Manipulation and Assembly
15:20-17:20 Regular Session FrCT2 XIYUAN 3 Control of Mechatronic Systems II
15:20-17:20 Regular Session FrCT3 XIYUAN 4 Design of Mechatronic Systems
17:20-19:30 Feast Restaurant of Hotel West Wing Farewell Reception (included in Registration) Tips: Shuttle buses will be arranged by the organizer to pick up the participants from conference venue to the State Key Lab of Fluid Power Transmission and Control every one hour in the afternoon.
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Detailed Program Listing Technical Program for Wednesday April 10, 2013 WeBT1
Posada, Luis Felipe
Boardroom
Nanoscale Positioning and Scanning Probe Technology I (Invited Session) Chair: Schitter, Georg
Vienna Univ. of Tech.
Co-Chair: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
Organizer: Sebastian, Abu
IBM Res. - Zurich
13:00-13:20
WeBT1.1
Position Sensor Performance in Nanometer Resolution Feedback Systems (I), pp. 1-6. Fleming, Andrew John
Univ. of Newcastle
13:20-13:40
WeBT1.2
Time Domain Resolution of Nanopositioning Systems (I), pp. 7-12. Fleming, Andrew John
Univ. of Newcastle
13:40-14:00
WeBT1.3
Self-Tuning in Sliding Mode Control of High-Precision Motion Systems (I), pp. 13-19. Heertjes, Marcel
Eindhoven Univ. of Tech.
Vardar, Yasemin
Eindhoven Univ. of Tech.
14:00-14:20
WeBT1.4
High-Precision Positioning System Using a Low-Stiffness Dual Stage Actuator (I), pp. 20-27. Ito, Shingo
Vienna Univ. of Tech.
Steininger, Juergen
Vienna Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
14:20-14:40
WeBT1.5
Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning (I), pp. 28-36. Norwegian Univ. of Science & Tech.
Vagia, Marialena
Norwegian Univ. of Science & Tech.
Gravdahl, Jan Tommy
Norwegian Univ. of Science & Tech.
Pettersen, Kristin Y.
Norwegian Univ. of Science & Tech.
WeBT2
XIYUAN 3
Sensing, Localization, and Visual Servoing (Regular Session)
Co-Chair: Wang, Junmin
National Chiao Tung Univ. Ohio State Univ.
13:00-13:20
WeBT2.1
Acquisition of Behavioral Dynamics for Vision Based Mobile Robot Navigation from Demonstrations, pp. 37-44. Narayanan, Krishna Kumar
Hoffmann, Frank
Univ. of Dortmund
Bertram, Torsten
Tech. Univ. Dortmund
13:20-13:40
WeBT2.2
Visual Servoing Considering Sensing Dynamics and Robot Dynamics, pp. 45-52. Wang, Cong
Univ. of California, Berkeley
Lin, Chung-Yen
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
13:40-14:00
WeBT2.3
Wearable Sensing for Physical Activity Measurement: Design and Performance Evaluation, pp. 53-60. Liu, Shaopeng
GE Global Res.
Gao, Robert
Univ. of Connecticut
Mo, Lingfei Freedson, Patty
Southeast Univ. Univ. of Massachusetts Amherst
14:00-14:20
Tech. Univ. Dortmund
WeBT2.4
Bearings-Only Localization Using Nonlinear Second-Order Extended H! Filter, pp. 61-66. Hu, Jwu-Sheng
National Chiao Tung Univ.
14:20-14:40
WeBT2.5
Target Design and Recognition for 2-D Localization of Indoor Mobile Robots Using a Laser Sensor, pp. 67-74. Govindarajan, Madhu Soodhanan
Ohio State Univ.
Wang, Junmin
Ohio State Univ.
Post, Bill
Honda R & D Americas Inc
Fox, Andrew
Honda R & D Americas Inc
WeBT3
XIYUAN 4
Control of Electro-Hydraulic Systems (Regular Session) Chair: Kugi, Andreas
Eielsen, Arnfinn Aas
Chair: Hu, Jwu-Sheng
Tech. Univ. Dortmund
Vienna Univ. of Tech.
Co-Chair: Zhu, Xiaocong
Zhejiang Univ.
13:00-13:20
WeBT3.1
An Industrial Tool for Identification and Control of Nonlinear Valve Characteristics, pp. 75-83. Schirrer, Alexander
Vienna Univ. of Tech.
Kozek, Martin
Vienna Univ. of Tech.
Bacher, Wolfgang
Vienna Univ. of Tech.
13:20-13:40
WeBT3.2
Energy Saving Control of a Hydraulic Manipulator Using five Cartridge Valves and One Accumulator, pp. 84-90. Lu, Lu
Purdue Univ. West Lafayette
Yao, Bin
Purdue Univ.
Liu, Zhibin
Zhejiang Univ.
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Detailed Program Listing 13:40-14:00
WeBT3.3
Modeling and Control of a Mobile Concrete Pump, pp. 91-98.
Iannuzzi, Davide
VU Univ. Amsterdam
Schitter, Georg
Vienna Univ. of Tech.
Henikl, Johannes
Vienna Univ. of Tech.
16:00-16:20
Kemmetmueller, Wolfgang
Vienna Univ. of Tech.
Analysis and Design of Multiresolution Scan Trajectories for
Kugi, Andreas
Vienna Univ. of Tech.
High-Speed Scanning Probe Microscopy (I), pp. 138-144.
14:00-14:20
WeBT3.4
Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives, pp. 99-108. Schmidt, Lasse
Bosch Rexroth A/S
WeCT1.3
Tuma, Tomas
IBM Res.
Lygeros, John
ETH Zurich
Sebastian, Abu
IBM Res. - Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Andersen, Torben Ole
Aalborg Univ.
16:20-16:40
Pedersen, Henrik Clemmensen
Aalborg Univ.
Image-Based Modeling of the Lateral Axes of a Scanning
14:20-14:40
WeBT3.5
Control Strategy for Hybrid Excavator Swing System Driven by Electric Motor, pp. 109-115.
WeCT1.4
Probe Microscope (I), pp. 145-152. Clayton, Garrett
Villanova Univ.
McManus, Brian
Villanova Univ.
Yao, Hong
Zhejiang Univ.
16:40-17:00
Wang, Qingfeng
Zhejiang Univ.
On Detection and Estimation in Atomic Force Microscopy at
14:40-15:00
WeBT3.6
Robust Inverse Dynamics Control for a Hydrostatic Transmission with Actuator Uncertainties, pp. 116-124. Sun, Hao
Univ. of Rostock
Aschemann, Harald
Univ. of Rostock
WeCT1.5
Different Scan Speeds (I), pp. 153-159. Huang, Peng
Boston Univ.
Andersson, Sean
Boston Univ.
WeCT2
XIYUAN 3
Sensing and Actuation (Regular Session) WeCT1
Boardroom
Nanoscale Positioning and Scanning Probe Technology II (Invited Session) Chair: Pantazi, Angeliki Co-Chair: Chang, Peter I.
IBM Res. - Zurich Vienna Univ. of Tech.
Organizer: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
15:20-15:40
WeCT1.1
A High-Speed Electromagnetically-Actuated Scanner for Tuma, Tomas
IBM Res.
Haeberle, Walter
IBM Res.
Rothuizen, Hugo
IBM Res. ETH Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Sebastian, Abu
IBM Res. - Zurich
15:40-16:00
Huazhong Univ. of Science and Tech.
Co-Chair: Kong, Kyoungchul
Sogang Univ.
15:20-15:40
WeCT2.1
A Sensor-Less Motion Sensing Method of a 3-DOF Permanent Magnet Spherical Motor, pp. 160-164. Bai, Kun
Huazhong Univ. of Science and Tech.
Lee, Kok-Meng
Georgia Inst. of Tech.
15:40-16:00
Dual-Stage Nanopositioning (I), pp. 125-130.
Lygeros, John
Chair: Bai, Kun
WeCT1.2
Towards High Speed Ferrule-Top Atomic Force Microscopy (I), pp. 131-137.
WeCT2.2
Design of an Actuation System for a High-Speed Quadruped Robot, Cheetaroid-I, pp. 165-169. Na, Byeonghun
Sogang Univ.
Choi, Hyunjin
Sogang Univ.
Kong, Kyoungchul
Sogang Univ.
16:00-16:20
WeCT2.3
Voltage Based Linearization of a Reluctance Actuator for High-Precision Applications, pp. 170-176. Katalenic, Andelko
Eindhoven Univ. of Tech.
van den Bosch, P. P. J.
Eindhoven Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Chavan, Dhwajal
VU Univ. Amsterdam
16:20-16:40
Paris, Rene
Vienna Univ. of Tech.
Modeling of Hybrid Stepper Motors for Closed Loop
40
WeCT2.4
Detailed Program Listing Operation, pp. 177-183.
High Performance Tracking of Piezoelectric Positioning
Henke, Benjamin
Univ. of Stuttgart
Sawodny, Oliver
Univ. of Stuttgart
Schmidt, Steffen
Festo AG & Co. KG
Neumann, Ruediger
Festo AG & Co. KG
16:40-17:00
WeCT2.5
Analytical Calculation of No-Load Magnetic Field Distribution in the Slotted Airgap of a Permanent Magnet
Gain Scheduling, pp. 214-224. Xu, Jian-Xin
National Univ. of Singapore
Huang, Deqing
National Univ. of Singapore
Venkatakrishnan,
Data Storage Inst. (DSI)
Venkataramanan Huynh, The Cat Tuong
National Univ. of Singapore
16:20-16:40
Synchronous Motor, pp. 184-189. Ma, Jie
Harbin Inst. of Tech.
Tao, Ruichao
Harbin Inst. of Tech.
Li, Xinglong
Harbin Inst. of Tech.
17:00-17:20
WeCT2.6
Inductance Measurement of the Switched Reluctance Motor with the Current Traversal Response for Exciting Voltage Pulse, pp. 190-196. Shao, Da
Stage Using Current-Cycle Iterative Learning Control with
School of Mechanical Engineering Shanghai Jiao Tong Univ.
WeCT3.4
Improving Positioning Accuracy Using a General Framework for Macro Mini Manipulation, pp. 225-230. Arifin, Ahmad Suryo
National Univ. of Singapore
Ang Jr, Marcelo H
National Univ. of Singapore
Lim, Chee Wang
Singapore Inst. of Manufacturing and Tech.
Lai, Chow Yin
National Univ. of Singapore
16:40-17:00
WeCT3.5
Proposal of Position Reconstruction with Polynomial Fitting Approach for Precise Motion Control, pp. 231-236.
Gong, Liang
School of Mechanical Engineering Shanghai Jiao Tong Univ.
Zhu, Hongzhong
The Univ. of Tokyo
Li, Bing-chu
School of Mechanical Engineering
Fujimoto, Hiroshi
The Univ. of Tokyo
Shanghai Jiao Tong Univ.
Sugie, Toshiharu
Kyoto Univ.
Liu, Cheng-liang
School of Mechanical Engineering Shanghai Jiao Tong Univ.
17:00-17:20
WeCT3.6
Predictive Control for the Stabilization of a Fast Mechatronic System : From Simulation to Real-Time Experiments, pp.
WeCT3
XIYUAN 4
Precision Motion Control (Regular Session) Chair: Ang Jr, Marcelo H Co-Chair: Chen, Zheng
237-242. Touati, Nahla
National Engineering School of Tunis (ENIT)
National Univ. of Singapore
Chemori, Ahmed
UM2
Zhejiang Univ.
15:20-15:40
WeCT3.1
Adaptive Prefilter Design for Control of Quasistatic Microscanners, pp. 197-206. Janschek, Klaus Sandner, Thilo
Tech. Univ. Dresden Fraunhofer Inst. for Photonic Microsystems, Dresden
Schroedter, Richard
Tech. Univ. Dresden
Roth, Matthias
Tech. Univ. Dresden
15:40-16:00
WeCT3.2
$mu$-Synthesis Based Adaptive Robust Control of Linear-Motor-Driven Stages with High-Frequency Flexible Modes, pp. 207-213. Chen, Zheng Yao, Bin Wang, Qingfeng 16:00-16:20
Zhejiang Univ. Purdue Univ. Zhejiang Univ. WeCT3.3
41
Detailed Program Listing The Openloop Liquid Crystal Adaptive Optics for Technical Program for Thursday April 11, 2013
Astronomical Application (I), pp. 271-275. Hu, Lifa
ThBT1
Boardroom
Mechatronics for Adaptive Optics and Optical Metrology (Invited Session) Chair: Schitter, Georg
Vienna Univ. of Tech.
Co-Chair: Song, Hong
Zhejiang Univ.
Organizer: Schitter, Georg
14:40-15:00
ThBT1.6
Prediction Control Algorithm for Close-Loop Adaptive Optical System (I), pp. 276-284. Li, Xinyang
Inst. of Optics and Electronics, CAS
Vienna Univ. of Tech.
Organizer: Song, Hong
Zhejiang Univ.
13:00-13:20
ThBT1.1
ThBT2
Chair: Melchiorri, Claudio
Laser Beam Propagating Over Saline Water and Sands (I),
Co-Chair: Kim, Kyung-Soo
pp. 243-248. Zhu, Songsong
Zhejiang Univ.
Song, Hong
Zhejiang Univ. Hangzhou Dianzi Univ.
XIYUAN 3
Noval Exoskeleton and Robotic Devices (Regular Session)
Wavefront Aberration Characterization and Correction for
Yang, Ping
CIOMP
Univ. of Bologna KAIST
13:00-13:20
ThBT2.1
7 Degrees of Freedom Passive Exoskeleton for Human Gait Analysis: Human Joint Motion Sensing and Torque Estimation During Walking, pp. 285-292.
Liu, Hongbo
Zhejiang Univ.
Kanjanapas, Kan
Univ. of California, Berkeley
Lan, Ruihong
Zhejiang Univ.
Tomizuka, Masayoshi
Univ. of California, Berkeley
Liu, Yuan
Zhejiang Univ.
Huang, Haocai
Zhejiang Univ.
Qu, Fengzhong
Zhejiang Univ.
Leng, Jianxing
Zhejiang Univ.
Chen, Ying
Zhejiang Univ.
13:20-13:40
ThBT1.2
Modeling and Identification of the Optical Path at ELTs - a Case Study at the LBT (I), pp. 249-255.
13:20-13:40
ThBT2.2
Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study, pp. 293-300. Lu, Junkai
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
13:40-14:00
Böhm, Michael
Univ. of Stuttgart
Pott, Jörg-Uwe
Max-Planck-Inst. for Astronomy, Heidelberg
Kürster, Martin
Max-Planck-Inst. for Astronomy, Heidelberg
Sawodny, Oliver
ThBT2.3
Mechanical Design and Kinematic Analysis of a 10 D.O.F. Robot Manipulator, pp. 301-306. Teng, Ming-Chang
Mechanical and System Res. Lab. Industrial Tech.
Univ. of Stuttgart
13:40-14:00
ThBT1.3
Sub-Nanometre Validation of a Deformable Mirror Concept (I), pp. 256-263.
Tsai, Yi-Jeng
Mechanical and System Res. Lab. Industrial Tech.
Hsiao, Chin-Chi
Industrial Tech. Res. Inst.
Saathof, Rudolf
Delft Univ. of Tech.
14:00-14:20
Ursem, Luuk, J.
Delft Univ. of Tech.
Mechatronic Design of a Three-Fingered Gripper for
Spronck, Jo, W.
Delft Univ. of Tech.
Munnig Schmidt, Robert, H.
Delft Univ. of Tech.
14:00-14:20
ThBT1.4
Compensation Based Displacement Measurement Using Objective Laser Speckles (I), pp. 264-270. Paris, Rene Thurner, Thomas Schitter, Georg 14:20-14:40
42
Vienna Univ. of Tech. Graz Univ. of Tech. Vienna Univ. of Tech. ThBT1.5
ThBT2.4
Underwater Applications, pp. 307-312. Bemfica Rodrigues, Jéferson
Univ. of Bologna
Melchiorri, Claudio
Univ. of Bologna
Moriello, Lorenzo
Univ. of Bologna
Palli, Gianluca
Univ. of Bologna
Scarcia, Umberto
Univ. of Bologna
Vassura, Gabriele
Univ. of Bologna
14:20-14:40
ThBT2.5
Design of Prosthetic Robot Hand with High Performances Based on Novel Actuation Principles, pp. 313-318.
Detailed Program Listing Coefficient Diagram Methods, pp. 355-361.
Shin, Young June
KAIST
Kim, Soohyun
KAIST
Zhao, Jinlei
Xi'an Jiaotong Univ.
Kim, Kyung-Soo
KAIST
Cao, Junyi
Xi'an Jiaotong Univ.
ThBT2.6
Chen, Wen
Wayne State Univ.
14:40-15:00
Design of a Robot Gripper for a Rapid Service Robot, pp.
Ma, Chengbin
Tong Univ. Joint Inst.
319-324. Jung, TaeJin
Korea Advanced Inst. of Science and Tech.
Oh, Jun Ho
KAIST
Univ. of Michigan-Shanghai Jiao
Cao, Binggao
Xi'an jiaotong Univ.
14:40-15:00
ThBT3.6
Robust Stabilizer Design for High-Precision Tracking of a Linear Gantry, pp. 362-367. ThBT3
XIYUAN 4
Control Methodologies (Regular Session) Chair: Ma, Chengbin
Liu, Bofeng
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Co-Chair: Feng, Ying
Leng, Tongtong
South China Univ. of Tech.
13:00-13:20
Shandong Univ. Shanghai Jiaotong Univ.
Lu, Chao
Tsinghua Univ.
Zhang, Zhen
Tsinghua Univ.
Yan, Peng
Beihang Univ.
ThBT3.1
Prescribed Adaptive Control of a Class of Nonlinear System with Asymmetric Hysteresis, pp. 325-331.
ThCT1
Boardroom
Li, Zhi
Concordia Univ.
Nanoscale Positioning and Scanning Probe Technology III
Su, Chun-Yi
Concordia Univ.
(Invited Session)
Chai, Tianyou
Northeastern Univ.
Feng, Ying
South China Univ. of Tech.
13:20-13:40
ThBT3.2
Control of Transient Response Via Polynomial Method, pp. Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst. Qiao, Yue
Co-Chair: Tsao, Tsu-Chin
Univ. of Newcastle Univ. of California, Los Angeles
Organizer: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
15:20-15:40
332-339. Ma, Chengbin
Chair: Moheimani, S.O. Reza
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Cao, Junyi
Xi'an Jiaotong Univ.
13:40-14:00
ThBT3.3
ThCT1.1
A New Approach to Active Q Control of an Atomic Force Microscope Micro-Cantilever Operating in Tapping Mode (I), pp. 368-374. Fairbairn, Matthew
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
15:40-16:00
ThCT1.2
Robust Finite Frequency H! Passive Fault Tolerant Static
Control of a MEMS Nanopositioner for Atomic Force
Output Feedback Control with Application to Active
Microscopy (I), pp. 375-382.
Vibration Attenuation, pp. 340-346.
Yong, Yuen Kuan
The Univ. of Newcastle
Zhang, Hui
Ohio State Univ.
Fowler, Anthony
The Univ. of Newcastle
Wang, Rongrong
Ohio State Univ.
Mohammadi, Ali
The Univ. of Newcastle
Wang, Junmin
Ohio State Univ.
Moheimani, S.O. Reza
The Univ. of Newcastle
14:00-14:20
ThBT3.4
16:00-16:20
ThCT1.3
Limits of Performance in Systems with Periodic Irregular
Control of Jitter in a Laser Beam Experiment by Receding
Sampling and Actuation Rates, pp. 347-354.
Horizon Adaptive Control (I), pp. 383-390.
Shahsavari, Behrooz
Univ. of California, Berkeley
Gibson, James Steven
Univ. of California, Los Angeles
Conway, Richard
Univ. of California, Berkeley
Tsao, Tsu-Chin
Univ. of California, Los Angeles
Keikha, Ehsan
National Univ. of Singapore
Tsuchiya, Nolan Eizo
Univ. of California, Los Angeles
Horowitz, Roberto
Univ. of California, Berkeley
Verhaegen, Michel
14:20-14:40
ThBT3.5
Delft Univ. of Tech.
16:20-16:40
ThCT1.4
Polynomial Control for Air-To-Air Missiles Based on
43
Detailed Program Listing Closed-Loop Control of a Novel 2-DOF MEMS
Nguyen, Binh Minh
The Univ. of Tokyo
Nanopositioner with Electrothermal Actuation (I), pp.
Wang, Yafei
The Univ. of Tokyo
Fujimoto, Hiroshi
The Univ. of Tokyo
Hori, Yoichi
The Univ. of Tokyo
391-398. Fowler, Anthony Rakotondrabe, Micky Moheimani, S.O. Reza
The Univ. of Newcastle Univ. de Franche Comté The Univ. of Newcastle
16:40-17:00
ThCT1.5
ThCT3
XIYUAN 4
Modulated-Demodulated Q Control of an Atomic Force
Modeling and Control of Pneumatic/Hydraulic Systems
Microscope Microcantilever, pp. 399-405.
(Regular Session)
Karvinen, Kai
The Univ. of Newcastle
Chair: Mattila, Jouni
Moheimani, S.O. Reza
The Univ. of Newcastle
Co-Chair: Zhu, Xiaocong
Tampere Univ. of Tech. Zhejiang Univ.
15:20-15:40
ThCT3.1
Levelling Control of an Electro-Pneumatic Stabilized ThCT2
XIYUAN 3
State Estimation and Electrical Vehicle (Regular Session) Chair: Fujimoto, Hiroshi Co-Chair: Li, Yaoyu
The Univ. of Tokyo Univ. of Texas at Dallas
15:20-15:40
ThCT2.1
Extended Kalman Filtering for Robot Joint Angle Estimation Using MEMS Inertial Sensors, pp. 406-413.
Platform Driven by Pneumatic Muscles, pp. 445-452. Cao, Jian
Hefei Univ. of Tech.
Zhu, Xiaocong
Zhejiang Univ.
Yao, Bin
Purdue Univ.
Tao, Guoliang
Zhejiang Univ.
Wang, Qingfeng
Zhejiang Univ.
15:40-16:00
Wang, Yizhou
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
15:40-16:00
ThCT2.2
Scale and Rotation Invariant Two View Microgripper Detection That Uses a Planar Pattern, pp. 414-422.
ThCT3.2
Modeling of Ultra-Precision Pneumatic Servo Control Stage, pp. 453-456. Tian, Yanbing
Qingdao Tech. Univ.
Wang, Tao
beijing Inst. of Tech.
16:00-16:20
ThCT3.3
Reliability Prediction Method of Hydraulic System by Fuzzy
Hirvonen, Juha Robert
Tampere Univ. of Tech.
Theory, pp. 457-462.
Kallio, Pasi
Tampere Univ. of Tech.
Chen, Dongning
Yanshan Univ.
Yao, Chengyu
Yanshan Univ.
Feng, Zhongkui
Yanshan Univ.
16:00-16:20
ThCT2.3
Optimal Charging Strategy for EV Charging Stations by Two-Stage Approximate Dynamic Programming, pp. 423-430. Zhang, Lei
Univ. of Texas at Dallas
Li, Yaoyu
Univ. of Texas at Dallas
16:20-16:40
ThCT2.4
16:20-16:40
ThCT3.4
Reliability Optimization of Multi-State Hydraulic System Based on T-S Fault Tree and Extended PSO Algorithm, pp. 463-468. Yao, Chengyu
Yanshan Univ.
Multi-Rate Kalman Filter Design for Electric Vehicles Control
Wang, Bin
Yanshan Univ.
Based on Onboard Vision System with Uneven Time Delay,
Chen, Dongning
Yanshan Univ.
pp. 431-436. Wang, Yafei
The Univ. of Tokyo
Nguyen, Binh Minh
The Univ. of Tokyo
Fujimoto, Hiroshi
The Univ. of Tokyo
Hori, Yoichi
The Univ. of Tokyo
16:40-17:00
ThCT2.5
Advanced Multi-Rate Kalman Filter for Double Layer State Estimator of Electric Vehicle Based on Single Antenna GPS and Dynamic Sensors, pp. 437-444.
44
16:40-17:00
ThCT3.5
Study on the Influence of Flow Force on a Large Flowrate Directional Control Valve, pp. 469-477. Gao, Haiping
Huazhong Univ. of Science and Tech.
Li, Baoren
Huazhong Univ. of Science and Tech.
Yang, Gang
Huazhong Univ. of Science and Tech.
Detailed Program Listing Pang, Chee Khiang Technical Program for Friday April 12, 2013 FrBT1
Boardroom
Servo Control Technologies for Data Storage (Invited Session) Chair: Tomizuka, Masayoshi
National Univ. of Singapore
Ng, Adam
NUS
Hong, Fan
Data Storage Inst.
Lee, Tong Heng
National Univ. of Singapore
Univ. of California, Berkeley
Co-Chair: Pantazi, Angeliki
IBM Res. - Zurich
Organizer: Cherubini, Giovanni
IBM
Organizer: Yamaguchi, Takashi
Ricoh Company Ltd.
Organizer: Pantazi, Angeliki
IBM Res. - Zurich
13:00-13:20
FrBT2
XIYUAN 3
Control of Mechatronic Systems I (Regular Session) Chair: Book, Wayne J. Co-Chair: Maas, Jürgen
Georgia Inst. of Tech. Ostwesfalen-Lippe Univ. of Applied Sciences
FrBT1.1
Adaptive Regulation of Time Varying Disturbances in a Tape
13:00-13:20
Storage System (I), pp. 478-483.
Operator Error Based Design of Position Controllers for
de Callafon, Raymond
Univ. of California, San Diego
Wang, Longhao
Univ. of California, San Diego
13:20-13:40
FrBT1.2
FrBT2.1
Dynamically Slow Systems, pp. 517-522. Elton, Mark
HUSCO International
Book, Wayne J.
Georgia Inst. of Tech.
Skew Estimation and Feed-Forward Control in Flangeless
13:20-13:40
Tape Drives (I), pp. 484-489.
Active Seat Suspension with Two Degrees of Freedom for
Pantazi, Angeliki
IBM Res. - Zurich
Cherubini, Giovanni
IBM
Jelitto, Jens
IBM Res. - Zurich
13:40-14:00
FrBT1.3
FrBT2.2
Military Vehicles, pp. 523-529. Kieneke, Rüdiger Ostwesfalen-Lippe Univ. of Applied Sciences Graf, Christian
Ostwesfalen-Lippe Univ. of Applied Sciences
Maas, Jürgen
Ostwesfalen-Lippe Univ. of Applied Sciences
Inverse-Based Local Loop Shaping and IIR-Filter Design for
13:40-14:00
Precision Motion Control (I), pp. 490-497.
Switching Robust Control for Transparent and Stable
Chen, Xu
Univ. of California, Berkeley
Oshima, Atsushi Tomizuka, Masayoshi
NSK Ltd Univ. of California, Berkeley
14:00-14:20
FrBT1.4
FrBT2.3
Teleoperation, pp. 530-536. López Martínez, César Augusto
Eindhoven Univ. of Tech.
Molengraft, René van de
Eindhoven Univ. of Tech.
Steinbuch, Maarten
Eindhoven Univ. of Tech.
Contact-Induced Vibration in Dual-Stage HDD Servo
14:00-14:20
Systems and Its Compensation Using PQ Method and Peak
MEMS Resonator with Displacement Sensor Based on
Filters (I), pp. 498-505. Venkatakrishnan,
Electro-Thermal Principles, pp. 537-542. Data Storage Inst. (DSI)
Venkataramanan National Univ. of Singapore
Huang, Deqing
National Univ. of Singapore
Huynh, The Cat Tuong
National Univ. of Singapore
14:20-14:40
FrBT1.5
Vibration Compensation in Tape Drive Track Following Using Multiple Accelerometers (I), pp. 506-510.
Lantz, Mark 14:40-15:00
Moore, Steven
The Univ. of Newcastle
Moheimani, S.O. Reza
Xu, Jian-Xin
Pantazi, Angeliki
FrBT2.4
IBM Res. - Zurich IBM FrBT1.6
Integrated Servo-Mechanical Design of Distribution-Based Robust Mechatronics Using GKYP Lemma (I), pp. 511-516. Tan, Yan Zhi
National Univ. of Singapore
Tang, Muchen
National Univ. of Singapore
Univ. of Newcastle
14:20-14:40
FrBT2.5
Controller Design of Electric Loading System Based on T-S Fuzzy Logic, pp. 543-548. Wang, Xingjian
Beihang Univ.
Wang, Shaoping
BeiHang Univ.
14:40-15:00
FrBT2.6
Improving Force Control Using Zero Coupling Impedance Criterion in Series Manipulator Systems, pp. 549-554. Li, Renjun
National Univ. of Singapore
Vuong, Ngoc Dung Singapore Inst. of Manufacturing and Tech. Lim, Chee Wang Chew, Chee Meng
Singapore Inst. of Manufacturing and Tech. National Univ. of Singapore
45
Detailed Program Listing FrBT3
XIYUAN 4
Biped, Network, and Multi-Agent Systems (Regular Session) Chair: Jayasuriya, Suhada
Univ. of Central Florida
Co-Chair: Chen, Xiang
Univ. of Windsor
13:00-13:20
FrBT3.1
Co-Chair: Liu, Lianqing
Shenyang Inst. of Automation
Organizer: Liu, Lianqing
Shenyang Inst. of Automation
15:20-15:40
FrCT1.1
Active Landmark Configuration for Accurate Nano-Positioning (I), pp. 594-599.
Compensation of Time Delay in a Network-Based Gait
Yuan, Shuai
SIA
Rehabilitation System with a Discrete-Time Communication
Liu, Lianqing
Shenyang Inst. of Automation
Disturbance Observer, pp. 555-562. Zhang, Wenlong
15:40-16:00
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
13:20-13:40
FrBT3.2
Re-Configuration Strategy for PTZ Camera Networks, pp. 563-568.
FrCT1.2
Frequency Based Combination Control Strategy for AFMs (I), pp. 600-605. Ren, Xiao
Nankai Univ.
Fang, Yongchun
Nankai Univ.
16:00-16:20
FrCT1.3
Alarcon, Jose
Univ. of Windsor
Chen, Xiang
Univ. of Windsor
Ahmadi, Majid
Univ. of Windsor
Xiao, Shunli
Univ. of Macau
FrBT3.3
Li, Yangmin
Univ. of Macau
Yang, Qinmin
Zhejiang Univ.
13:40-14:00
Multi-Agent Deployment Based on Homogenous Maps and a Special Inter-Agent Communication Protocol, pp. 569-576. Rastgoftar, Hossein
Univ. of Central Florida
Jayasuriya, Suhada
Univ. of Central Florida
14:00-14:20
FrBT3.4
Moving Horizontal Reference Map for Bipedal Robot Walking
A Novel Flexure-Based 3-DOF Micro-Parallel Manipulator with a Gripper for Micro/nano Manipulation (I), pp. 606-611.
16:20-16:40
FrCT1.4
A Novel Analytical Model for Flexure-Based Compliant Proportion Mechanisms, pp. 612-619. Meng, Qiaoling
Univ. of Macau
Li, Yangmin
Univ. of Macau
Over Uneven Terrain, pp. 577-582. Wu, Ning
National Univ. of Singapore
Chew, Chee Meng
National Univ. of Singapore
FrCT2
Poo, Aun Neow
National Univ. of Singapore
Control of Mechatronic Systems II (Regular Session)
Li, Renjun
National Univ. of Singapore
14:20-14:40
FrBT3.5
XIYUAN 3
Chair: Zhu, Jihong
Tsinghua Univ.
Co-Chair: Fan, Dapeng
National Univ. of Defense Tech.
A Novel Self-Adaptation Hybrid Artificial Fish-Swarm
15:20-15:40
Algorithm, pp. 583-588.
Reducing Intersample Ripple of Actuator in Multirate
Hu, X. T. Huang, Y. A.
No.38 Res. Inst. of CETC State Key Lab. of Digital Manufacturing Equipment and Tech.
14:40-15:00
FrBT3.6
The Study on the Learning of Walking Gaits for Biped Robots, pp. 589-593. National Chung-Cheng Univ.
Yeh, Keng-Hao
National Chung-Cheng Univ.
Liu, Jia-Yan
Environment by a Joint Space Interpolator, pp. 620-627. Ji, Lan Yue
DFKI RIC
Kirchner, Frank
DFKI RIC, Univ. of Bremen
15:40-16:00
FrCT2.2
Energy-Saving Trajectory Planning for a Toggle Mechanism Driven by a PMSM, pp. 628-635. Hsu, Yi-Lung
Hwang, Kao-Shing
FrCT2.1
National Kaohsiung First Univ. of Science and Tech.
Fung, Rong Fong
National Kaohsiung First Univ. of Science and Tech.
National Sun Yat-sen Univ. 16:00-16:20
FrCT2.3
LuGre-Model-Based Friction Compensation in Direct-Drive FrCT1
Boardroom
Nanorobotic Manipulation and Assembly (Invited Session) Chair: Li, Yangmin
46
Univ. of Macau
Inertially Stabilization Platforms, pp. 636-642. Li, Zhiqiang
National Univ. of Defense Tech.
Detailed Program Listing Fan, Dapeng
National Univ. of Defense Tech.
Fan, Shixun
National Univ. of Defense Tech.
16:20-16:40
FrCT2.4
Remedial Operations of Permanent Magnet Fault Tolerant
Insertion into Soft Tissue, pp. 684-691. Gao, Dedong
Zhejiang Univ.
Lei, Yong
Zhejiang Univ.
Yao, Bin
Purdue Univ.
Motor for Short-Circuit Fault, pp. 643-649. Si, Binqiang
Tsinghua Univ.
Zhu, Jihong
Tsinghua Univ.
Ji, Jinghua
Jiangsu Univ.
16:40-17:00
FrCT2.5
A Linear Interpolation Fuzzy Controller for a Boiler Pressure Control System, pp. 650-654. Bai, Yanhong
Taiyuan Univ. of Science and Tech.
Zhao, Zhijuan
Taiyuan Univ. of Science and Tech.
Sun, Zhiyi
Taiyuan Univ. of Science and Tech.
Quan, Long
Taiyuan Univ. of Science and Tech.
FrCT3
XIYUAN 4
Design of Mechatronic Systems (Regular Session) Chair: Wang, Xingsong Co-Chair: Lei, Yong 15:20-15:40
Southeast Univ. Zhejiang Univ. FrCT3.1
Holistic Design Optimization in Mechatronics, pp. 655-662. Frede, Daniel
KTH Royal Inst. of Tech.
Malmquist, Daniel
KTH Royal Inst. of Tech.
Wikander, Jan
KTH Royal Inst. of Tech.
15:40-16:00
FrCT3.2
Mechatronic Design of a Four Wheel Steering Mobile Robot with Fault-Tolerant Odometry Feedback, pp. 663-669. Oftadeh, Reza
Tampere Univ. of Tech.
M. Aref, Mohammad
Tampere Univ. of Tech.
Ghabcheloo, Reza
Tampere Univ. of Tech.
Mattila, Jouni
Tampere Univ. of Tech.
16:00-16:20
FrCT3.3
Autonomous Stair Climbing of a Wheeled Double Inverted Pendulum, pp. 670-677. Strah, Bruno
Tech. Univ. Darmstadt
Rinderknecht, Stephan
Tech. Univ. Darmstadt
16:20-16:40
FrCT3.4
Design of a Gravity Balanced Upper Limb Exoskeleton with Bowden Cable Actuators, pp. 678-683. Wu, Qingcong
Southeast Univ.
Wang, Xingsong
Southeast Univ.
16:40-17:00
FrCT3.5
Analysis of Dynamic Tissue Deformation During Needle
47
Book of Abstracts Technical Program for Wednesday April 10, 2013
done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision
WeBT1
Boardroom
Nanoscale Positioning and Scanning Probe Technology I (Invited Session) Chair: Schitter, Georg Co-Chair: Sebastian, Abu
IBM Res. - Zurich Vienna Univ. of Tech.
Organizer: Sebastian, Abu
IBM Res. - Zurich WeBT1.1
Position Sensor Performance in Nanometer Resolution Feedback Systems (I), pp. 1-6 Fleming, Andrew John
14:00-14:20
WeBT1.4
High-Precision Positioning System Using a Low-Stiffness Vienna Univ. of Tech.
Organizer: Schitter, Georg
13:00-13:20
motion system.
Dual Stage Actuator (I), pp. 20-27 Ito, Shingo
Vienna Univ. of Tech.
Steininger, Juergen
Vienna Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
In this paper, a dual stage actuator (DSA) system that is able to achieve both large stroke and high precision positioning is
Univ. of Newcastle
The performance of precision mechatronic systems is restrained by the linearity, bandwidth and resolution of position sensors. Unfortunately, these parameters may not be available in a form that allows direct comparison between sensors or the prediction of closed-loop performance. This article presents concise definitions for the linearity, drift, bandwidth and resolution of position sensors. These definitions allow position sensors to be readily compared and the performance of feedback systems to be accurately predicted.
proposed. The DSA system is composed of an industrial linear motor and a commercial CD/DVD laser pickup head used as coarse and fine actuators, respectively. Since the pickup head is constructed as a low-stiffness fine actuator, by implementing a high control bandwidth for the fine actuation, the system is able to reject disturbances stemming from the low mechanical coupling of the DSA design. By estimating the relative distance of the two actuators without a position sensor, a phase lag compensator and a feedforward controller are implemented for the coarse actuation. Experimental results demonstrate that the DSA system is able to position over a long range of 500mm at ±15 nanometer static
13:20-13:40
WeBT1.2
Time Domain Resolution of Nanopositioning Systems (I), pp. 7-12
precision with a settling time of only 1.72 seconds. 14:20-14:40
WeBT1.5
Fixed-Structure, Low-Order Damping and Tracking Control
Fleming, Andrew John
Univ. of Newcastle
Schemes for Nanopositioning (I), pp. 28-36
In this article, the resolution of a nanopositioning system is defined
Eielsen, Arnfinn Aas
as the smallest distance between two non-overlapping points.
Vagia, Marialena
Norwegian Univ. of Science & Tech.
Techniques are then described for estimating the closed-loop
Gravdahl, Jan Tommy
Norwegian Univ. of Science & Tech.
Pettersen, Kristin Y.
Norwegian Univ. of Science & Tech.
resolution from time-domain recordings of the contributing noise sources. Practical guidelines are also discussed to ensure
Norwegian Univ. of Science & Tech.
statistically valid estimates. Experimental results show that the
Fast and accurate tracking of periodic reference trajectories is
resolution of a piezoelectric tube nanopositioner is 2.1~nm with a
highly desirable in many nanopositioning applications, including
closed-loop bandwidth of 100~Hz. This figure is identical to
scanning probe microscopy. Performance in common positioning
previous resolution estimates obtained using more involved
stage designs is limited by the presence of lightly damped
frequency-domain measurements.
resonances, and actuator nonlinearities such as hysteresis and
13:40-14:00
WeBT1.3
Self-Tuning in Sliding Mode Control of High-Precision Motion Systems (I), pp. 13-19
creep. To improve the tracking performance in such systems, several damping and tracking control schemes have been presented in the literature. In this paper, five different control schemes are presented and applied to a nanopositioning system
Heertjes, Marcel
Eindhoven Univ. of Tech.
for experimental comparison. They include schemes applying
Vardar, Yasemin
Eindhoven Univ. of Tech.
damping control in the form of positive position feedback, integral
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be
48
resonant
control,
shunt-damping.
integral
Also,
a
force
control
feedback, scheme
and
requiring
passive only
a
combination of a low-pass filter and an integrator is presented. The control schemes are fixed-structure, low-order control laws, for which few results exist in the literature with regards to optimal tuning. A practical tuning procedure for obtaining good tracking performance for all of the presented control schemes is therefore presented. The schemes provide similar performance, and the main differences are due to the specific implementation of each scheme.
Book of Abstracts WeBT2
XIYUAN 3
Sensing, Localization, and Visual Servoing (Regular Session) Chair: Hu, Jwu-Sheng
National Chiao Tung Univ.
Co-Chair: Wang, Junmin
Ohio State Univ.
13:00-13:20
WeBT2.1
Acquisition of Behavioral Dynamics for Vision Based Mobile Robot Navigation from Demonstrations, pp. 37-44 Narayanan, Krishna Kumar
Tech. Univ. Dortmund
Posada, Luis Felipe
Tech. Univ. Dortmund
Hoffmann, Frank
Univ. of Dortmund
Bertram, Torsten
Tech. Univ. Dortmund
dealt with by the two layers of the control law respectively. The proposed method is validated through experiments on a SCARA robot. 13:40-14:00
WeBT2.3
Wearable Sensing for Physical Activity Measurement: Design and Performance Evaluation, pp. 53-60 Liu, Shaopeng
GE Global Res.
Gao, Robert
Univ. of Connecticut
Mo, Lingfei Freedson, Patty
Southeast Univ. Univ. of Massachusetts Amherst
In-situ monitoring of human physical activity under free-living conditions is key to establishing correlation between activity and
The design of robust vision based robot navigation behaviors
health. This paper presents the design and performance evaluation
remains a challenge in mobile robotics as it requires a coherent
of a multi-sensor integrated measurement system (IMS) for
mapping between a complex visual perception and its associated
quantifying human physical activity. The IMS consists of two
robot motion. This contribution proposes a framework to learn this
accelerometers, one UV sensor, and one respiration sensor to
general
representative
track and record body movement and the level of exertion of
demonstrations in which an expert manually navigates the robot
human body, to enable an objective assessment of the activities
through its environment. Behaviors are represented by a dynamic
that human test subjects engage in during daily lives. Detailed
system that ties the perceptions to actions. The state of the
analysis and simulations were performed leading up to a
behavioral dynamics is characterized by a small set of visual
parametric design of the IMS unit. Experiments performed on
features extracted from an omnidirectional image of the local
human subjects in a clinical study have demonstrated that the
environment. Recording, learning and generalization takes place in
multi-sensing system working in conjunction with a supervised
the product space of visual features and robot controls. Training
learning algorithm is effective in recognizing activities types of
instances are recorded for three distinctive behaviors namely
varying intensity.
relationship
from
a
small
set
of
corridor following, obstacle avoidance and homing. Behavioral dynamics
are
parameters
represented
of
which
are
as
Gaussian
identied
mixture
from
the
models, recorded
demonstrations. The learned behaviors are able to accomplish the task across a diverse set of initial poses and situations. In order to
14:00-14:20
WeBT2.4
Bearings-Only Localization Using Nonlinear Second-Order Extended H! Filter, pp. 61-66 Hu, Jwu-Sheng
National Chiao Tung Univ.
realize global navigation the behaviors are coordinated via hand The
Simultaneous localization and mapping (SLAM) is an important
experimental validation of the proposed approach confirms that the
issue in intelligent robotic research. The existing works perform
acquired visual navigation behaviors in cooperation accomplish
robot localization using several nonlinear Bayesian filter such as
robust navigation in indoor environments.
extended Kalman filter (EKF), unscented Kalman filter (UKF),
designed
arbitration
or
13:20-13:40
command
fusion
schemes.
WeBT2.2
Visual Servoing Considering Sensing Dynamics and Robot Dynamics, pp. 45-52
particle filter, etc. To cope with different types of disturbances other than Gaussian noise, this work proposes a nonlinear filter mechanism based on the H! control theory. First, a nonlinear system is introduced to be expanded by using Taylor's theorem.
Wang, Cong
Univ. of California, Berkeley
The 3rd and higher order term are ignored. The second order
Lin, Chung-Yen
Univ. of California, Berkeley
extended (SOE) Kalman filter is applied to show it performance
Tomizuka, Masayoshi
Univ. of California, Berkeley
comparing with the second order extended (SOE) H! filter. When the noise component is not perfect Gaussian distribution, which
For many desirable applications of vision guided industrial robots,
would usually happen in practical situation, the SOE H! filter
real-time visual servoing is necessary but also challenging.
outperform SOE Kalman filter. Also, the SOE H! filter requires less
Difficulty comes from the limited sampling rate and response time
computation than particle filter which is more adequate to. A
of typical machine vision systems equipped on industrial robots.
simulation result is shown and an experiment is design to test its
These factors are addressed as the dynamics of visual sensing. In
real-time function.
addition, robot dynamics should also be fully considered when
14:20-14:40
designing the control law. Considering these aspects, this paper presents a control scheme of visual servoing. A dual-rate adaptive tracking filter is presented to compensate the visual sensing
WeBT2.5
Target Design and Recognition for 2-D Localization of Indoor Mobile Robots Using a Laser Sensor, pp. 67-74
dynamics. Based on the compensated vision feedback, the
Govindarajan, Madhu Soodhanan
techniques of multi-surface sliding control and dynamic surface
Wang, Junmin
control are used to formulate a two-layer control law for target
Post, Bill
Honda R & D Americas Inc
Fox, Andrew
Honda R & D Americas Inc
tracking. System kinematics and dynamics are decoupled and
Ohio State Univ. Ohio State Univ.
49
Book of Abstracts Indoor mobile robots (IMR) can work autonomously if they have the capability to perform localization. This paper presents a design of a target that is used for laser sensor based IMR localization and an algorithm for recognizing the target in a noisy environment from the laser sensor measurements. An onboard laser sensor mounted on top of a rotary actuator is used to scan the entire front area of the IMR. The distance measurements obtained from the laser sensor are then be used to detect the uniquely designed target based on edge
detection
and
pattern
recognition
techniques.
This
recognized target can then be used as a fiducial marker (whose global positions are known) to localize the IMR, i.e., to obtain estimates of the vehicle pose and location in a 2-D indoor environment. The target recognition method and hence the designed target is validated with experimental results.
for the accurate motion tracking of a hydraulic manipulator. To achieve independent pressure regulation for each chamber of the cylinder as well as energy recovery during the back-and-forth movement of the cylinder, a hardware configuration with five low-cost programmable cartridge valves and an accumulator is developed to control the motion of the cylinder. Based on the hardware configuration, a novel control algorithm consisting of three levels is proposed. In level I, an adaptive robust controller is synthesized to generate the desired flow rates for the two chambers of the cylinders Q1m and Q2m so that the joint angle of the manipulator tracks the desired trajectory as accurately as possible, and the offside pressure of the cylinder also follows the desired pressure profile to be generated in level III accurately. In level II, an energy-optimum flow distribution law is designed and implemented to generate the desired flow rates passing through the five programmable valves. In level III, the desired offside pressure of the cylinder is generated so that the total energy
WeBT3
XIYUAN 4
Control of Electro-Hydraulic Systems (Regular Session) Chair: Kugi, Andreas Co-Chair: Zhu, Xiaocong
Vienna Univ. of Tech. Zhejiang Univ.
13:00-13:20
consumption during the whole movement cycle is minimized. Experimental study validates that the proposed strategy can indeed achieve both accurate motion tracking and minimum energy consumption simultaneously. Compared to the previous 4-valve scheme and 5-valve flow regeneration scheme without the use of
WeBT3.1
accumulator in Liu and Yao (2008), the proposed strategy has
An Industrial Tool for Identification and Control of Nonlinear
much less total energy consumption and equally good tracking
Valve Characteristics, pp. 75-83
performance.
Schirrer, Alexander
Vienna Univ. of Tech.
13:40-14:00
Kozek, Martin
Vienna Univ. of Tech.
Modeling and Control of a Mobile Concrete Pump, pp. 91-98
Bacher, Wolfgang
Vienna Univ. of Tech.
This work presents an industrial system identification and control design tool in the context of nonlinear valve control as a typical problem in the refinery industry. A parametric SISO Hammerstein model structure is assumed. Two Hammerstein model identification approaches are implemented and integrated into an efficient tool: Prediction Error Minimization (PEM) as well as a closed-form method involving a Least-Squares and a Singular Value Decomposition part. Parameter uncertainty analysis methods are developed and presented. The second focus of the tool is to give comprehensive support in nonlinear control design and validation. For invertible static nonlinear maps, the Hammerstein structure can be transformed to a globally linear control design problem. This is exploited to design scheduled PID control laws. A series of tools for validation, closed-loop analysis, and tuning is developed and shown. The tool implementation is outlined and the functionality is demonstrated by a series of simulation results highlighting each
Henikl, Johannes
WeBT3.3
Vienna Univ. of Tech.
Kemmetmueller, Wolfgang
Vienna Univ. of Tech.
Kugi, Andreas
Vienna Univ. of Tech.
A decentralized control concept for the active damping of elastic boom vibrations of a mobile concrete pump is presented. The weaknesses of the existing hydraulic actuation concept in view of the control task are identified and an alternative concept is proposed. Furthermore, a systematic approach for the derivation of a tailored simulation model is illustrated. Based
on
controler for the cylinder piston velocity is designed. The proposed passivity-based feedback control law is motivated by the analysis of a single rotating flexible beam with the angular velocity as a virtual control input. The methods are tested by means of simulation results on a validated mathematical model of a mobile concrete pump.
major feature, based on artificially generated test data. The user is
14:00-14:20
thus equipped with an efficient, state-of-the-art numerical tool to
Robust Non-Chattering Observer Based Sliding Control
support control engineering for this class of nonlinear control problems. WeBT3.2
Andersen, Torben Ole
Energy Saving Control of a Hydraulic Manipulator Using five Cartridge Valves and One Accumulator, pp. 84-90 Lu, Lu
Purdue Univ. West Lafayette
Yao, Bin Liu, Zhibin
Purdue Univ. Zhejiang Univ.
In this paper, a novel energy-saving control strategy is proposed
50
WeBT3.4
Concept for Electro-Hydraulic Drives, pp. 99-108 Schmidt, Lasse
13:20-13:40
the
mathematical description of the hydraulic system a feedforward
Bosch Rexroth A/S Department of Energy Tech. Aalborg Univ.
Pedersen, Henrik Clemmensen
Department of Energy Tech. Aalborg Univ.
This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's).
Book of Abstracts The proposed control concept requires only common data sheet
system parameters -- actuator time constants -- and unknown
information and no knowledge on load characteristics. Furthermore
disturbances -- a leakage volume flow and a disturbance torque
the proposed scheme only employ piston- and valve spool
acting on the hydraulic motor. The proposed approach involves
positions- and pressure feedback, commonly available in industry.
three different control actions: 1) an inverse dynamics control that
The main target is to overcome problems with linear controllers
allows for tracking desired trajectories for the difference pressure
deteriorating performance due to the inherent nonlinear nature of
and the motor angular velocity, 2) a robust control that stabilizes
such systems, without requiring extensive knowledge on system
the error dynamics despite uncertain actuator time constants, and
parameters nor advanced control theory. In order to accomplish
3) a reduced-order disturbance observer that estimates the
this task, an integral sliding mode controller designed for the
leakage volume flow as well as the unknown load torque and
control derivative employing state observation is proposed, based
allows for a disturbance compensation. Simulation results show
on a generalized reduced order model structure of a VCD with
that with the proposed approach an accurate trajectory tracking is
unmatched valve flow- and cylinder asymmetries. It is shown that
achieved despite the uncertain time constants and the given
limited attention can be given to bounds on parameter estimates,
disturbances in the system dynamics.
that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed
WeCT1
Boardroom
Nanoscale Positioning and Scanning Probe Technology II (Invited Session)
controller tolerates signicant noise levels, while still remaining
Chair: Pantazi, Angeliki
stable and accurate.
Co-Chair: Chang, Peter I.
14:20-14:40
WeBT3.5
Organizer: Sebastian, Abu
IBM Res. - Zurich
Control Strategy for Hybrid Excavator Swing System Driven
Organizer: Schitter, Georg
Vienna Univ. of Tech.
by Electric Motor, pp. 109-115
IBM Res. - Zurich Vienna Univ. of Tech.
15:20-15:40
WeCT1.1
Yao, Hong
Zhejiang Univ.
A High-Speed Electromagnetically-Actuated Scanner for
Wang, Qingfeng
Zhejiang Univ.
Dual-Stage Nanopositioning (I), pp. 125-130 Tuma, Tomas
IBM Res.
lower the emission of construction machinery. The efficiency can
Haeberle, Walter
IBM Res.
be improved better if the swing system is driven by electric motor in
Rothuizen, Hugo
IBM Res.
hybrid construction machinery due to its better efficiency than the
Lygeros, John
Hybrid power technology is adopted to raise the efficiency and
hydraulic motors used in conventional hydraulic excavators and the regeneration of kinetic energy of upper structure. The purpose of this paper is to investigate the control strategy for hybrid excavator swing system driven by electric motor. At first, the configuration and working principle are introduced of swing system driven by electric motor and the working condition is also analyzed; then the model of the swing system is built and analyzed and the range of swing inertia of the upper structure is tested for controller design by site experiments. Based on the working requirement, the control flow chart of the swing system is given and a dual-mode (torque and speed) control strategy is presented. In speed control mode and torque control mode, a robust speed controller based on simplified mixed sensitivity algorithm and a P torque controller are designed respectively. Simulations and actual tests that compare the proposed control strategy with a conventional PI control verify the feasibility and effectiveness of the proposed control method. 14:40-15:00
WeBT3.6
Robust Inverse Dynamics Control for a Hydrostatic Transmission with Actuator Uncertainties, pp. 116-124 Sun, Hao
Univ. of Rostock
Aschemann, Harald
Univ. of Rostock
ETH Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Sebastian, Abu
IBM Res. - Zurich
This paper presents the mechanical design, finite element simulations and experimental verification of an electromagnetically -actuated uniaxial high-speed nanopositioner. The nanopositioner is designed specifically as a fast, short-range scanner for a dual-stage nanopositioning system. To that end, the scanner has high
linearity
owing
to
its
electromagnetic
actuation
and
well-defined dynamic behavior over a large bandwidth. There was significant emphasis on reducing the mechanical and thermal coupling from the actuation block. Using model-based feedback controllers with direct shaping of the closed-loop noise transfer function, experimental results are presented in which the scanner is integrated in a dual-stage nanopositioning system and used for high-speed imaging in a custom-built atomic force microscope. 15:40-16:00
WeCT1.2
Towards High Speed Ferrule-Top Atomic Force Microscopy (I), pp. 131-137 Chang, Peter I.
Vienna Univ. of Tech.
Chavan, Dhwajal
VU Univ. Amsterdam
This paper presents a robust inverse dynamics control strategy in
Paris, Rene
Vienna Univ. of Tech.
combination with a reduced-order disturbance observer for a
Iannuzzi, Davide
VU Univ. Amsterdam
Schitter, Georg
Vienna Univ. of Tech.
hydrostatic transmission. The corresponding nonlinear system model, however, is characterized by only imperfectly known
51
Book of Abstracts This paper introduces a high speed ferrule-top Atomic Force
Different Scan Speeds (I), pp. 153-159
Microscope (AFM) system by integrating an all optic miniaturized
Huang, Peng
Boston Univ.
ferrule-top cantilever probe with a high speed AFM scanner. The
Andersson, Sean
Boston Univ.
ferrule-top cantilevers are a new generation of AFM probes that are manufactured directly at the end of a ferruled optical fiber. With a laser coupled into the optical fiber from its opposite end, the cantilever detection readout is directly available via interferometry. This paper is focused on integrating the ferrule-top probes into a high speed AFM system for simplification of the AFM adjustment towards automation and as a pre-step for a fast scanning tip AFM system. Recorded AFM images that are acquired by the ferrule-top AFM system demonstrates successful imaging at the speed of two frames per second, with 256 by 256 pixel resolution. 16:00-16:20
A typical user of an atomic force microscope (AFM) judges the quality of information in the scan of a sample by the images generated from either the height signal (in contact mode) or the height, amplitude, and phase signals (in intermittent contact mode). As the speed of the tip across the sample is increased, these signals become corrupted by the dynamics in the actuators and other elements in the system. The amplitude and phase signals are derived from the motion of the cantilever during the scan and there have been alternative schemes proposed, such as transient mode AFM, that derive several other signals from the cantilever motion.
WeCT1.3
In this work we study the utility of the height, amplitude, and other
Analysis and Design of Multiresolution Scan Trajectories for
derived signals at different tip speeds for both imaging and for
High-Speed Scanning Probe Microscopy (I), pp. 138-144
detection. The results are demonstrated through experiments using
Tuma, Tomas
IBM Res.
Lygeros, John
ETH Zurich
Sebastian, Abu
IBM Res. - Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Recently, a new family of multi-resolution scan trajectories for
a grating sample scanned on an Agilent 5500 AFM.
WeCT2
XIYUAN 3
Sensing and Actuation (Regular Session) Chair: Bai, Kun
Huazhong Univ. of
high-speed scanning probe microscopy has been introduced based on Lissajous patterns. In this mode of imaging, the cantilever tip traverses the sample by following a pattern which is created by two
Science and Tech. Co-Chair: Kong, Kyoungchul
Sogang Univ.
single-tone harmonic waveforms interfering in a two dimensional
15:20-15:40
plane. This paper provides a rigorous analysis of some of the
A Sensor-Less Motion Sensing Method of a 3-DOF
fundamental properties of Lissajous scan trajectories, such as the
Permanent Magnet Spherical Motor, pp. 160-164
imaging time and spatial resolution, and presents a step-by-step procedure which allows for the design of such trajectories. We also explore the multiresolution character of Lissajous scan trajectories
WeCT2.1
Bai, Kun
Huazhong Univ. of Science and Tech.
Lee, Kok-Meng
Georgia Inst. of Tech.
which enables for a real-time preview of the sample in fractions of
This paper presents a sensor-less method for measuring in
the overall imaging time. Experimental results are presented to
real-time the 3-DOF orientation as well as the angular velocity of a
substantiate the analytical results.
permanent
16:20-16:40
back-electromagnetic force. By utilizing the relationship between
WeCT1.4
Image-Based Modeling of the Lateral Axes of a Scanning Probe Microscope (I), pp. 145-152
magnet
spherical
motor
(PMSM)
using
the induced voltages of the coil windings and the moving magnetic fields of rotor permanent magnets, this method can incrementally compute the 3-DOF orientation and angular velocity by measuring
Clayton, Garrett
Villanova Univ.
the induced voltages in the static electro-magnets of a PMSM
McManus, Brian
Villanova Univ.
without installing any sensors. This method is experimentally
In order to enable high-speed operation of scanning probe microscopes (SPMs), a dynamic model of the SPM's lateral
investigated on a prototype PMSM and the results are compared with a commercialized gyroscope sensor.
nanopositioner is typically required (e.g for model inverse
15:40-16:00
feedforward control). One of the primary difficulties associated with
Design of an Actuation System for a High-Speed Quadruped
developing such models is the availability of nanoposition sensors,
Robot, Cheetaroid-I, pp. 165-169
especially in very high resolution systems. In order to overcome this problem, a method capable of finding models of the individual SPM nanopositioner axes using only the SPM's imaging capabilities is presented. Specifically, images of a calibration sample acquired using a spiral scan trajectory are analyzed to determine frequency response information for the SPM's lateral positioning axes. The method is presented, followed by simulation results that show the feasibility of the approach.
WeCT2.2
Na, Byeonghun
Sogang Univ.
Choi, Hyunjin
Sogang Univ.
Kong, Kyoungchul
Sogang Univ.
Quadruped robots are regarded as a new trend in robotics due to their superior gait stability and robustness to disturbances. In recent years, many robotics researchers are making their best efforts to improve the locomotion speed, as well as the stability and
WeCT1.5
robustness, of quadruped robots. The high-speed locomotion
On Detection and Estimation in Atomic Force Microscopy at
creates various challenges in the development of actuators,
16:40-17:00
52
Book of Abstracts mechanical design, and control algorithms of the robot. In this
Tao, Ruichao
Harbin Inst. of Tech.
paper, a linear actuation system for the high-speed locomotion of a
Li, Xinglong
Harbin Inst. of Tech.
quadruped robot is introduced. The proposed actuator is designed based on the principle of brushed direct-current electric motor
An analytical method for calculation of no-load magnetic field
systems. The mechanical and electrical properties of the actuation
distribution in the slotted airgap of a surface permanent magnet
system, such as back-drivability, controllability, and response time,
synchronous motor has been presented. The method involves the
are verified by experimental results. A robotic leg, which is the rear
solution of the governing field equations in polar coordinates in the
leg of a cheetah-like robot, is designed with the proposed actuator,
annular airgap region of a slotless motor in which the magnets are
and is introduced briefly in this paper also.
assumed to have uniform radial magnetization and constant
16:00-16:20
WeCT2.3
Voltage Based Linearization of a Reluctance Actuator for
relative recoil permeability. Then it introduces the notion of complex relative airgap permeance calculated from the conformal transformation to account the effect of slotting. As a result, an
High-Precision Applications, pp. 170-176
accurate solution of both radial and tangential components of the
Katalenic, Andelko
Eindhoven Univ. of Tech.
flux density can be obtained.
van den Bosch, P. P. J.
Eindhoven Univ. of Tech.
17:00-17:20
A single-phase C-core reluctance actuator is linearized using a combined
analog
and
digital
control,
and
magnetic
field
measurements. The analog stage contains a high-bandwidth sensing coil voltage tracking controller which rejects the electric
Inductance Measurement of the Switched Reluctance Motor with the Current Traversal Response for Exciting Voltage Pulse, pp. 190-196 Shao, Da
School of Mechanical Engineering
Gong, Liang
School of Mechanical Engineering
and magnetic circuit disturbances and makes the plant behave as an idealized transformer between the driving coil and the sensing
Shanghai Jiao Tong Univ.
coil on a wide frequency range. Since this is the natural high frequent behavior of the actuator, very low sensing coil voltage tracking errors are achieved. Furthermore, in combination with flux feedforward and drift stabilizing low bandwidth Hall probe feedback, this circuitry achieves very low reluctance force tracking
Shanghai Jiao Tong Univ. Li, Bing-chu
voltage-based
control
schemes.
The
performance
is
experimentally verified on a 1DoF measurement rig with 1 nm position and less than 50 mN force resolution, where linearization errors smaller than 0.05 N for challenging 200 N second order force profiles are measured.
School of Mechanical Engineering Shanghai Jiao Tong Univ.
Liu, Cheng-liang
School of Mechanical Engineering Shanghai Jiao Tong Univ.
errors, i.e. very small linearization errors and low stiffness inherent to
WeCT2.6
The stator inductance of the Switched Reluctance Motor (SRM) is the essential factor for the motor motion control, torque control and energy-efficient driving. However, the inductance possesses strongly nonlinear characteristics against the rotor position and phase current, which poses challenges for accurate measurement
16:20-16:40
WeCT2.4
of the inductance under varying current and ever-changing rotor position. A inductance measurement method, namely the current
Modeling of Hybrid Stepper Motors for Closed Loop
traversal response for exciting voltage pulse, is proposed on the
Operation, pp. 177-183
basis of an SRM model. The novel approach exerts a pulse voltage
Henke, Benjamin
Univ. of Stuttgart
Sawodny, Oliver
Univ. of Stuttgart
current response, and calculates the inductance under the varying
Schmidt, Steffen
Festo AG & Co. KG
current. The proposed method has the advantage of simple
Neumann, Ruediger
Festo AG & Co. KG
measuring facilities, full-range data-acquiring under semi-real
In automation and handling, many motion tasks are accomplished
helps to obtain an accurate full-range inductance under different
using servo motors. For simple motion tasks, hybrid stepper motors
rotor position and phase current, which renders a parameterized
can be used in closed loop operation as a cheaper replacement of
3-D mesh for the SRM stator inductance. Further a novel
expensive
the
cross-validation experimentation according to the magnetizing and
electromechanical behaviour is necessary for controller design. A
demagnetizing status measurement verifies the feasibilities and
detailed model of the hybrid stepper motor is derived, taking the
accuracy of the proposed inductance measuring method.
servo
motors.
Therefore
a
model
of
on a given stator winding, measures the dynamic process of a
driving scenario, and it is free of modeling errors. These merits
saliencies of the rotor and the stator into account. Least-squares optimal parameter values are identified for important model parameters. Validation experiments show the high accuracy of the model.
XIYUAN 4
Precision Motion Control (Regular Session)
16:40-17:00
WeCT2.5
Analytical Calculation of No-Load Magnetic Field Distribution in the Slotted Airgap of a Permanent Magnet
Chair: Ang Jr, Marcelo H
National Univ. of Singapore
Co-Chair: Chen, Zheng
Zhejiang Univ.
15:20-15:40
Synchronous Motor, pp. 184-189 Ma, Jie
WeCT3
Harbin Inst. of Tech.
WeCT3.1
Adaptive Prefilter Design for Control of Quasistatic
53
Book of Abstracts Microscanners, pp. 197-206 Janschek, Klaus
Tech. Univ. Dresden
Sandner, Thilo
Xu, Jian-Xin
National Univ. of Singapore
Huang, Deqing
National Univ. of Singapore
Fraunhofer Inst. for Photonic
Venkatakrishnan,
Microsystems, Dresden
Venkataramanan
Schroedter, Richard
Tech. Univ. Dresden
Roth, Matthias
Tech. Univ. Dresden
Data Storage Inst. (DSI)
Huynh, The Cat Tuong
National Univ. of Singapore
In this paper, two types of sampled-data current-cycle iterative
This paper describes an open loop control approach with analog
learning control (CILC) schemes are exploited to perform high
impedance
MEMS
performance tracking control for piezoelectric positioning stage
microscanners based on electrostatic comb transducers. The
systems. The proposed CILC schemes consist of a direct feedback
control task is determined by high dynamic input trajectory
control (FC) loop and an add-on iterative learning control (ILC)
following in the presence of an extremely lightly damped
loop,
mechanical mass-spring system with nonlinear electromechanical
non-repeatable components in tracking error. Based on the
characteristics. The approach presented in this paper makes use of
modeling result of control system, gain scheduling technique is
a model-based design approach resulting in a nonlinear adaptive
further incorporated in the learning filter design of ILC loop to
prefilter for optimally preshaping of customized trajectory inputs.
speed up the learning convergence. In consequence, low tracking
The open loop control is augmented by an easy to implement
error in the time domain and fast convergence speed in the
resistive analog impedance feedback scheme that introduces
iteration domain are achieved concurrently. In the end, to illustrate
electromechanical damping and increases robustness against
the respective characteristics of CILC schemes and verify their
physical parameter uncertainties of the MEMS microscanner
superiorities to pure FC or pure ILC, a set of experiments including
assembly. The paper outlines the underlying MEMS microscanner
low-frequency (2 Hz) tracking and high-frequency (100~Hz)
technology, it describes the mathematical model based on ANSYS
tracking are conducted with detailed comparisons among P/PI
computation, and it discusses in detail the proposed control
control, pure ILC with robust design, pure ILC with gain scheduling,
concepts. Simulations and experimental results prove the
two types of CILC, and CILC with gain scheduling.
applicability of the control approach.
16:20-16:40
feedback
damping
for
quasistatic
15:40-16:00
WeCT3.2
thus
can
simultaneously
repeatable
WeCT3.4
Linear-Motor-Driven Stages with High-Frequency Flexible
Arifin, Ahmad Suryo Ang Jr, Marcelo H
Zhejiang Univ.
National Univ. of Singapore National Univ. of Singapore
Lim, Chee Wang
Singapore Inst. of Manufacturing
Purdue Univ.
Wang, Qingfeng
and
Improving Positioning Accuracy Using a General Framework
Modes, pp. 207-213
Yao, Bin
with
for Macro Mini Manipulation, pp. 225-230
$mu$-Synthesis Based Adaptive Robust Control of
Chen, Zheng
deal
Zhejiang Univ.
and Tech. Lai, Chow Yin
National Univ. of Singapore
Linear motors have good potential to achieve high speed and high
This paper introduces a general framework for macro mini
accuracy by eliminating gear related mechanical problems. By
manipulator to improve the positioning accuracy of an industrial
using the effective model compensation of nonlinear rigid-body
manipulator. RMRC (Resolved Motion Rate Control) is used as the
dynamics, the close-loop bandwidth limitation due to the
controller for the industrial (macro) manipulator while PID with
appearance of neglected high-frequency flexible modes has to be
gravity compensation is used as the controller of the mini
the main issue to maximize the achievable performance. In this
manipulator. Gain scheduling is introduced to reduce the coupling
paper, the modeling and identifications are carried out to verify the
error that arises from the motions of the macro and mini
existing
The
manipulator. This paper also presents a trajectory planning which
is
ensures the macro and mini manipulator will always be inside of
developed. The adaptive feedforward loop is used to keep good
their respective workspaces. The experiment utilizes 7-DOF
online parameter estimation and nonlinear model compensation,
Mitsubishi PA-10 as the macro manipulator and 1-DOF voice coil
and also transfers the trajectory tracking problem into the
as the mini manipulator. The experiments show that the framework
traditional regulation problem which $mu$-synthesis control can
improves the position accuracy.
rigid-body
$mu$-synthesis
and
based
high-frequency
adaptive
robust
dynamics.
control
strategy
more easily deal with. Since considering the fundamental flexible mode as a part of the nominal plant model, the $mu$-synthesis feedback loop can achieve higher close-loop bandwidth with the appearance
of
various
model
uncertainties.
Comparative
16:40-17:00
WeCT3.5
Proposal of Position Reconstruction with Polynomial Fitting Approach for Precise Motion Control, pp. 231-236
experiments have been done and the results show the excellent
Zhu, Hongzhong
The Univ. of Tokyo
tracking performance of the propose algorithm.
Fujimoto, Hiroshi
The Univ. of Tokyo
Sugie, Toshiharu
Kyoto Univ.
16:00-16:20
WeCT3.3
High Performance Tracking of Piezoelectric Positioning Stage Using Current-Cycle Iterative Learning Control with Gain Scheduling, pp. 214-224
54
Optical encoders are extensively used for position measurements in motion control systems. The inherent quantization feature of the optical
encoders
limits
the
control
performance
in
many
Book of Abstracts applications. In this paper, a novel approach based on $ell_1-$norm regularization method is presented to reconstruct the real position signal from the quantized measurements. By fitting the quantized measurements with polynomials in a moving horizon manner, the reconstruction signal is obtained via solving a convex optimization problem in real time. Some constraint conditions are also utilized in order to achieve an accurate smooth reconstruction. The effectiveness of the proposed approach is verified by experiments using a high-precision linear stage. 17:00-17:20
WeCT3.6
Predictive Control for the Stabilization of a Fast Mechatronic System : From Simulation to Real-Time Experiments, pp. 237-242 Touati, Nahla
National Engineering School of Tunis (ENIT)
Chemori, Ahmed
UM2
In this paper a Generalized Predictive Control (GPC) scheme is proposed for the stabilization of a fast mechatronic system. Namely the inertia wheel inverted pendulum, which has two degrees of freedom and one actuator. The proposed control approach should be able to stabilize this system around its unstable equilibrium point and maintain it in this state. The efficiency and performance of the proposed control scheme are firstly illustrated through simulation results, then its robustness is shown through real-time experiments on the prototype of the system in question.
55
Book of Abstracts data taken at the Large Binocular Telescope in order to validate the Technical Program for Thursday April 11, 2013
lab setup's ability to reproduce the relevant dynamics of the telescope. Some early results of the lab setup are given as well.
ThBT1
Boardroom
Mechatronics for Adaptive Optics and Optical Metrology
13:40-14:00
ThBT1.3
Sub-Nanometre Validation of a Deformable Mirror Concept
(Invited Session)
(I), pp. 256-263
Chair: Schitter, Georg
Vienna Univ. of Tech.
Co-Chair: Song, Hong
Zhejiang Univ.
Organizer: Schitter, Georg
Vienna Univ. of Tech.
Organizer: Song, Hong
Zhejiang Univ.
13:00-13:20
ThBT1.1
Wavefront Aberration Characterization and Correction for Laser Beam Propagating Over Saline Water and Sands (I), pp. 243-248
Saathof, Rudolf
Delft Univ. of Tech.
Ursem, Luuk, J.
Delft Univ. of Tech.
Spronck, Jo, W.
Delft Univ. of Tech.
Munnig Schmidt, Robert, H.
Delft Univ. of Tech.
Highly accurate optical systems may suffer from heat induced optical aberrations, causing blurred images, or degraded sensing properties. Correcting these aberrations with nanometre precision requires a dedicated design of a deformable mirror and a
Zhu, Songsong
Zhejiang Univ.
measurement set-up that can validate the design. In this paper we
Song, Hong
Zhejiang Univ.
focus on the quantitative validation of the measurement set-up and
Hangzhou Dianzi Univ.
the deformable mirror. To obtain nanometre precise measurements
Yang, Ping
vibration isolation, turbulence isolation, beam enhancement and
Liu, Hongbo
zhejiang Univ.
Lan, Ruihong
Zhejiang Univ.
0.35 [nm] and reproducibility of 2.0 [nm]. With these known
Liu, Yuan
Zhejiang Univ.
characteristics, an uncertainty analyses is carried out on an
Huang, Haocai
Zhejiang Univ.
actuated shape of the deformable mirror, which is 50x50x4 [mm].
Qu, Fengzhong
Zhejiang Univ.
Leng, Jianxing
Zhejiang Univ.
Chen, Ying
Zhejiang Univ.
static noise reduction are applied. This resulted in a repeatability of
The stability of a deformed shape is 0.46 [nm] RMS and the difference with the modelled deformation is 2.0[nm] RMS on an amplitude of 30 [nm]. These low numbers quantify the validity of the actuation concept.
Wireless laser communication is a promising method for
14:00-14:20
communication in marine environment. However, as laser beam
Compensation Based Displacement Measurement Using
propagates through atmosphere, both wavefront and intensity of
Objective Laser Speckles (I), pp. 264-270
the laser beam can be influenced by the atmospheric turbulence. In this paper, wavefront aberration in the laser beam is characterized and corrected by an adaptive optics system while the laser propagates over saline water in a lab environment. Experiments have also been carried out when the laser beam propagates over sands for a comparison. With the correction by the closed-loop adaptive optics system, the variance of spots displacement in the Shack-Hartmann wavefront sensor has been reduced by 28% for saline water and 10% for sands.
ThBT1.4
Paris, Rene
Vienna Univ. of Tech.
Thurner, Thomas
Graz Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
Objective laser speckles can be observed as intensity pattern from free space propagation of coherent light that is diffracted from a technically rough surface. Utilizing this pattern allows for very localized non-contacting measurement of surface displacement as well as strain, and carries a high potential for miniaturization.
13:20-13:40
ThBT1.2
Existing objective speckle techniques suffer from decorrelation
Modeling and Identification of the Optical Path at ELTs - a
effects,
Case Study at the LBT (I), pp. 249-255
measurement
dramatically
decreasing
techniques.
In
the this
performance paper
we
of
such
present
a
compensation based displacement measurement scheme, where
Böhm, Michael
Univ. of Stuttgart
Pott, Jörg-Uwe
Max-Planck-Inst. for Astronomy, Heidelberg
Kürster, Martin
Max-Planck-Inst. for Astronomy, Heidelberg
feedback operation. This converts the image sensor into a
Univ. of Stuttgart
zero-detector, what considerably improves the speckle pattern
Sawodny, Oliver
we keep the measured speckle pattern displacement close to zero by actively following the measuring objects movement in a
correlation over a significantly extended measurement range. For real-time feedforward control of an opto-mechanical piezo driven correction device using acceleration measurements, we
14:20-14:40
ThBT1.5
model the Large Binocular Telescope's optical path using a linear
The Openloop Liquid Crystal Adaptive Optics for
dynamical
Astronomical Application (I), pp. 271-275
system
approach.
The
model
is
derived
from
experiments conducted at the telescope. These experiments will
Hu, Lifa
CIOMP
briefly be described and measurements along with simulation results will be presented. For off-site lab esting, a small experiment
Atmospheric
setup is described and experimental lab data is compared to the
astronomical objects and limits the spatial resolution of large
56
turbulence
deteriorates
the
image
quality
of
Book of Abstracts aperture optical telescopes. Adaptive optics (AO) corrects the
inside the human joint. Therefore, a dynamic model of human
aberrations induced by atmospheric turbulence in real time, which
walking used for estimating the human joint torque is proposed.
concentrates the incident light and enables the telescope to
Since the kinematic constraints of the lower-limb extremity during
achieve the diffraction-limited resolution on-axis or over an
walking vary depending on gait phases, the dynamic model of
extended field-of-view(FoV). In this paper, we present the transfer
human walking is described by multiple sub-dynamic models,
function of our open-loop liquid crystal adaptive optics system.
which are derived using Lagrangian mechanics. The joint kinematic
Based on the transfer function, we calculated the bandwidth of our
measurements and estimated human joint torque results are
nematic LC AO system: -3dB bandwidth are about 57.0 Hz and
verified by experiments.
82.4Hz for high order aberration and tilt-tip compensation control, respectively. Through further improvements on LC material, electronic interface port, shortened data processing time and optimized control, we will get a better LC AO system.
13:20-13:40
ThBT2.2
Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study, pp. 293-300
14:40-15:00
ThBT1.6
Prediction Control Algorithm for Close-Loop Adaptive Optical System (I), pp. 276-284 Li, Xinyang
Inst. of Optics and Electronics, CAS
To reduce the effect of servo lag error in the close-loop adaptive optics system (AOS), a prediction control algorithm (PCA) is proposed in this paper. We describe a linear predictive controller that uses the historical voltages of deformable mirror to predict their future voltages in advance. The parameters of the predictor are optimized in real time by a modified Recursive Least-Square (RLS) algorithm. Numerical simulations are carried out to show the significant improvements brought by the predictor. The close-loop Strehl Ratio of the residual wave-front error and the power spectrum density of the residual voltages of deformable mirror are calculated as the evaluation criterions. The comparison results between the PCA and the classical proportional integral (PI) control
Lu, Junkai
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
The integration of the brain-machine interface (BMI) and the exoskeleton
technique
has
the
potential
to
promote
the
understanding of fundamental principles in neural control of movement, as well as to motivate a new generation of rehabilitation or power augmentation exoskeleton systems. In this paper, the kinematic design and development of a 6-DOF upper limb exoskeleton for a BMI study is presented. In order to achieve a singularity-free design of the shoulder complex, a 4-DOF shoulder complex model is proposed using one redundant DOF in contrast to the commonly used orthogonal triad model. The feasibility of both singularity and joint limit avoidance control is investigated based on the reachability analysis.
algorithm show that the residual errors caused by servo lag in the
13:40-14:00
system could be more effectively reduced by using the PCA than
Mechanical Design and Kinematic Analysis of a 10 D.O.F.
using the classical PI control algorithm. In addition, the control
Robot Manipulator, pp. 301-306
bandwidth of AOS is improved by using the PCA.
Teng, Ming-Chang
ThBT2.3
Mechanical and System Res. Lab. Industrial Tech.
ThBT2
XIYUAN 3
Noval Exoskeleton and Robotic Devices (Regular Session) Chair: Melchiorri, Claudio
Tsai, Yi-Jeng
Mechanical and System Res. Lab. Industrial Tech.
Hsiao, Chin-Chi
Industrial Tech. Res. Inst.
Univ. of Bologna
Co-Chair: Kim, Kyung-Soo
KAIST
13:00-13:20
In this paper, a 10 degree-of-freedom (D.O.F.) robot manipulator consisting of a 6 D.O.F. light-weight arm and a 4 D.O.F. cable
ThBT2.1
driven hand is presented with the morphological analysis. The
7 Degrees of Freedom Passive Exoskeleton for Human Gait
robot manipulator, Roppie, has been developed as a service robot
Analysis: Human Joint Motion Sensing and Torque
by Industrial Technology Research Institute (ITRI) in Taiwan. Its
Estimation During Walking, pp. 285-292
main features are 10 degrees of freedom, light-weight design, and
Kanjanapas, Kan
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
In order to provide insightful information for the effective diagnosis of a patient's abnormal gait, this paper presents a 7-DOF passive exoskeleton which can deliver both kinematic information and estimated human joint torque during walking. This paper introduces
flexible object manipulation by integrating motion control and vision feature recognition. Its weight is 5.7 kg, its payload is 1.2 kg, and its tip point velocity is up to 1 m/s. 14:00-14:20
ThBT2.4
Mechatronic Design of a Three-Fingered Gripper for Underwater Applications, pp. 307-312
both a hardware implementation and an algorithm to obtain
Bemfica Rodrigues, Jéferson
Univ. of Bologna
kinematic information and human joint torque. To measure the joint
Melchiorri, Claudio
Univ. of Bologna
kinematic and ground contact force; encoders, gyroscopes and
Moriello, Lorenzo
Univ. of Bologna
Palli, Gianluca
Univ. of Bologna
Scarcia, Umberto
Univ. of Bologna
smart shoes are used and attached to the passive exoskeleton. However, human joint torque information cannot be directly measured due to the impracticality of installing a torque sensor
57
Book of Abstracts Vassura, Gabriele
Univ. of Bologna
In this paper, the design and experimental evaluation of a three-fingered robotic gripper for underwater applications is presented. The gripper has some innovative features with respect to other devices known in the literature, concerning in particular the
compliant jaw enhances the stability of its grasp, and its worm gear enables the gripper grasp to be stable while also reducing the gripper's weight. With a force sensor, it can manage sensitive force control. In this way, we designed a robot gripper suitable for rapid service robots.
workspace, the kinematic capabilities, and the sensory equipment. The main design specifications are described, deriving from the particular tasks in which the gripper will be involved, and the proposed solutions discussed. Results obtained during real
ThBT3
XIYUAN 4
Control Methodologies (Regular Session)
underwater experiments are provided as well, in order to
Chair: Ma, Chengbin
Univ. of Michigan-Shanghai Jiao
demonstrate the capabilities of the gripper. 14:20-14:40
Tong Univ. Joint Inst. Co-Chair: Feng, Ying
ThBT2.5
South China Univ. of Tech.
Design of Prosthetic Robot Hand with High Performances
13:00-13:20
Based on Novel Actuation Principles, pp. 313-318
Prescribed Adaptive Control of a Class of Nonlinear System
ThBT3.1
with Asymmetric Hysteresis, pp. 325-331
Shin, Young June
KAIST
Kim, Soohyun
KAIST
Li, Zhi
Concordia Univ.
Kim, Kyung-Soo
KAIST
Su, Chun-Yi
Concordia Univ.
Chai, Tianyou
In this paper, a conceptual design is presented to develop the
Feng, Ying
prosthetic robot hand which can accomplish most typical activities of daily life conducted by amputees. This design is based on three novel actuation principles, which are called distributed actuation, dual-mode twisting actuation, and EM joint locking mechanism, respectively. First of all, the distributed actuation may simulate the effect of the distributed muscles in human finger and provides an additional design freedom to structurally maximize the fingertip force. Second, the dual-mode twisting actuation is considered for a new type of power transmission which allows large actuating force and high-speed motion. Third, the EM joint locking mechanism guarantees additional degrees of freedom to the under-actuated robot finger/hand. It may lead to the dexterous motions and stable grasps. Finally, based on the design concepts of the actuation mechanisms, we design a finger module for a high performance and develop a robot hand having the five finger modules. 14:40-15:00
ThBT2.6
Design of a Robot Gripper for a Rapid Service Robot, pp. 319-324 Jung, TaeJin Oh, Jun Ho
Korea Advanced Inst. of Science and Tech. KAIST
Northeastern Univ. South China Univ. of Tech.
Control of uncertain nonlinear systems with hysteresis nonlinearity has re-attracted much attention in recent years. However, the most of the results are for symmetric hysteresis. In this paper, focusing on
the
asymmetric
hysteresis
phenomenon
by
adaptive method is proposed to mitigate the hysteresis effect. The main contributions lie in 1) firstly derive the analytic inverse compensation error of the ASPI model; 2) employ the prescribed adaptive control approach to achieve global stability of the nonlinear system and guarantee the transient and steady-state performance of the tracking error without knowledge of system parameters. Simulation results validate the effectiveness of the proposed approach. 13:20-13:40
ThBT3.2
Control of Transient Response Via Polynomial Method, pp. 332-339 Ma, Chengbin
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Qiao, Yue
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
This research designs a robot gripper for a rapid service robot. For a service robot that moves rapidly, a robot gripper must be
described
asymmetric shifted Prandtl-Ishlinskii (ASPI) model, a prescribed
Cao, Junyi
Xi'an Jiaotong Univ.
lightweight and must have the ability to grasp objects of any size or shape stably. In addition, sufficient gripping force, a low cost, and a
In this paper, a general discussion on the controller design for
friendly shape are necessary. To satisfy the above requirements,
transient response control is firstly conducted based on the
this research designs a new robot gripper. We use a four-bar
polynomial method. It is shown for general all-pole close-loop
linkage underactuated system for shape adaptability and to reduce
systems, their step responses have zero or nearly zero overshoot
the weight. In a simulation, the four-bar linkage is designed to
under the nominal characteristic ratio assignment $[2.5, 2, 2,
eliminate the rollback ejection phenomenon while also maximizing
dots]$; while the time constant $tau$ determines the speed of
the utilization of a parallel grasping. While other studies place
response. The control of the classical benchmark two-mass system
emphasis on preventing rollback ejection phenomenon, in this
is introduced as a case study, in which the m-IPD control
research we stress the maximum utilization of both parallel and
configuration is adopted. It is found the time constant $tau$ cannot
power grasping using a compliance jaw and a double four-bar
be arbitrarily specified under the m-IPD control configuration and
linkage design. With the parallel four-bar linkage system, the
the nominal characteristic ratio assignment. The designed m-IPD
gripper can perform both parallel grasping and power grasping,
controller
allowing it to grip a diverse range of objects. Moreover, the
Meanwhile, the large and negative derivative gain designed under
58
demonstrates
a
sufficient
damping
performance.
Book of Abstracts the nominal characteristic ratio assignment leads to a poor
time, using the irregular sampling and regular control action
robustness. Through the complementary sensitivity function
scheme for the HDD achieves an RMS standard deviation of the
analysis, the robustness of the polynomial-based m-IPD controller
position error signal (PES) that is 40% smaller than the
design
$(K_d^*
corresponding value achieved by using a controller provided by our
s^{*2}+K_p^*s^*+K_i^*)$; while the characteristic ratio assignment
industry partner, in which both the sampling and control rates are
and the time constant determine the nominal time response of the
irregular.
is
found
to
depend
on
the
term
of
close-loop control system.
14:20-14:40
13:40-14:00
ThBT3.3
Robust Finite Frequency H! Passive Fault Tolerant Static Output Feedback Control with Application to Active Vibration Attenuation, pp. 340-346 Zhang, Hui
Ohio State Univ.
Wang, Rongrong
Ohio State Univ.
Wang, Junmin
Ohio State Univ.
In this work, the robust finite frequency H1 passive fault-tolerant static output feedback controller design problem is investigated. The control law is a static output feedback control and the actuators are subject to faults. The fault matrix is described by a polytope with finite vertices. In order to attenuate the effect from the external disturbance to the controlled output, the finite frequency H1 control in which the Hamilton matrix is avoided is employed. The static output feedback gain is determined via a two-stage method. Then, an iterative algorithm is proposed to derive a smaller H1 performance index. The proposed algorithm is applied to an active control problem of a structural system under an earthquake excitation. Simulations and comparisons have shown that the designed fault-tolerant controller can significantly attenuate the vibration from the ground and protect the structural system even actuator faults occur.
ThBT3.5
Polynomial Control for Air-To-Air Missiles Based on Coefficient Diagram Methods, pp. 355-361 Zhao, Jinlei
Xi'an Jiaotong Univ.
Cao, Junyi
Xi'an Jiaotong Univ.
Chen, Wen
Wayne State Univ.
Ma, Chengbin
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Cao, Binggao Based
on
Coefficient
Xi'an jiaotong Univ. Diagram
Methods
(CDMs),
a
polynomial-control scheme for air-to-air missiles is proposed. According to the analysis of CDM-based polynomial control theory and missile dynamics, two overload-loop controllers with different structures for air-to-air missiles are designed. First, the structure and order of the controller and its corresponding characteristic polynomial of the closed-loop control system are defined following the coefficient diagram. Then, parameters of the polynomial are determined based on the desired control specifications. Numerical simulation studies for different controllers under various conditions, including the variation of aerodynamic parameters, different controller structures and output disturbances, are implemented to explore the characteristics of different control systems. Simulated results verify that the controller designed via CDMs has better
14:00-14:20
ThBT3.4
Limits of Performance in Systems with Periodic Irregular Sampling and Actuation Rates, pp. 347-354
robustness in comparison with the traditional three-loop autopilot. 14:40-15:00
ThBT3.6
Robust Stabilizer Design for High-Precision Tracking of a
Shahsavari, Behrooz
Univ. of California, Berkeley
Conway, Richard
Univ. of California, Berkeley
Leng, Tongtong
Keikha, Ehsan
National Univ. of Singapore
Liu, Bofeng
Horowitz, Roberto
Univ. of California, Berkeley
Lu, Chao
Tsinghua Univ.
This paper examines the limits of performance in systems with
Zhang, Zhen
Tsinghua Univ.
periodic irregular sampling rate when the actuation is not
Yan, Peng
necessarily synchronized with the sampling. For such a system, three sampling and actuation schemes are considered: when the sampling and control rate are both regular, when they are both irregular, and when the sampling rate is irregular while the control rate is regular. To ascertain the limits of performance of this type of systems under each sampling and actuation scheme, the system is modeled as a linear periodically time-varying (LPTV) system; optimal LQG control design with a variance constraint is applied to find the smallest achievable mean variance of the performance signal subject to a constraint on the mean control effort variance. In addition, to deal with the computational delay of the controller, an
Linear Gantry, pp. 362-367 Shandong Univ. Shanghai Jiaotong Univ.
Beihang Univ.
In this paper,we develop a robust H-inf stabilizer design method for a parallel structure of internal model-based tracking control for a Voice Coil Motor (VCM) driven servo gantry. The physical model of the VCM gantry is discussed and the system augmentation with the internal-model control structure and the exosystem immersion is generated, where the plant model uncertainties are taken into consideration as well. A mixed sensitivity optimization method is introduced for the synthesis of robust stabilizers. Simulations and Real time experiments demonstrate good performance of the proposed method for high precision tracking of the servo gantry system.
innovative discretization method is proposed which does not introduce any extra states into the state space model. The
ThCT1
proposed method is exploited to determine the performance of a
Nanoscale Positioning and Scanning Probe Technology III
hard disk drive (HDD) in track-following mode. A simulation study demonstrates that in the presence of 30% irregularity in sampling
Boardroom
(Invited Session)
59
Book of Abstracts Chair: Moheimani, S.O. Reza Co-Chair: Tsao, Tsu-Chin
Univ. of Newcastle Univ. of California Los Angeles
Organizer: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
15:20-15:40
ThCT1.1
A New Approach to Active Q Control of an Atomic Force Microscope Micro-Cantilever Operating in Tapping Mode (I), pp. 368-374 Fairbairn, Matthew
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
When imaging in tapping mode, scan speed and image quality may be improved by modification of the Atomic Force Microscope (AFM) micro-cantilever quality (Q) factor. The most commonly applied method of Q control uses velocity feedback with an
Tsao, Tsu-Chin
Univ. of California, Los Angeles
Tsuchiya, Nolan Eizo
Univ. of California, Los Angeles
Verhaegen, Michel
Delft Univ. of Tech.
This paper uses a new method for receding-horizon adaptive control to reduce laser beam jitter. The control scheme generates a control command derived from a receding-horizon performance index that involves future values of an output disturbance. A recursive least squares adaptive lattice filter performs the required prediction based on real time measurements. In a laser beam steering experiment, the adaptive controller drives a micro mirror to cancel broadband disturbance and maintain the laser spot on an optical position sensor. Experimental results demonstrate the capability of the receding-horizon adaptive controller to incorporate frequency weighting to reduce sensitivity to plant modeling error at high frequencies.
estimate of the cantilever tip velocity obtained by phase shifting the
16:20-16:40
displacement signal. System performance may be degraded and
Closed-Loop Control of a Novel 2-DOF MEMS
stability can not be guaranteed using this control technique as the control action affects unmodeled cantilever dynamics. In this paper a resonant controller is presented as a new method of controlling the cantilever Q factor which guarantees closed loop stability in the
ThCT1.4
Nanopositioner with Electrothermal Actuation (I), pp. 391-398 Fowler, Anthony
The Univ. of Newcastle
presence of unmodeled cantilever dynamics. AFM images are
Rakotondrabe, Micky
presented to demonstrate the effectiveness of this control
Moheimani, S.O. Reza
technique.
Univ. de Franche Comté Univ. of Newcastle
The design, characterization and control of a novel 2-DOF MEMS
15:40-16:00
ThCT1.2
nanopositioner
is
presented,
with
Z-shaped
electrothermal
Control of a MEMS Nanopositioner for Atomic Force
actuators being used to position the device's central stage.
Microscopy (I), pp. 375-382
Whereas the more commonly-used V-shaped electrothermal
A
actuator only allows displacements in one direction, the design of
Yong, Yuen Kuan
The Univ. of Newcastle
Fowler, Anthony
The Univ. of Newcastle
Mohammadi, Ali
The Univ. of Newcastle
motion along each of the two axes. Testing of the device shows
Moheimani, S.O. Reza
The Univ. of Newcastle
that stage displacements in excess of +/-5um are achievable for
2
DoF
MEMS-based
nanopositioner
with
integrated
electrothermal sensors for on-chip AFM applications is presented. The electrothermal sensors consist of a pair of 50um long silicon heaters that operate in a differential mode. It is demonstrated in this work that the sensor measurements can be used in feedback control loops to improve the quality of AFM images during high-speed raster scanning. The x and y resonance frequencies of the MEMS-based nanopositioner appear at 815 Hz and 800 Hz respectively. To obtain high-speed AFM images, a positive position feedback (PPF) controller is designed to damp the resonant mode of the fast axis and an integrator is used to achieve satisfactory tracking. For the slow axis, a notch filter and an integrator are implemented to track a slow ramp signal. To further increase the
the Z-shaped beams used in the presented device allows two actuators to be coupled back-to-back to achieve bidirectional
both the x and y axes. The device features integrated displacement sensors based on polysilicon electrothermal heaters, which are supplied with an electrical bias voltage that results in Joule heating. The resistance of each heater varies depending on the position of the central stage, with two heaters being used per axis in a differential configuration. The displacement measurements are utilized as part of an implemented closed-loop control scheme that uses both feedforward and feedback mechanisms based on the principle of internal model control. Experimental testing shows that the use of the controller enhances the static and dynamic performance of the system, with particular improvements being seen in the device's reference tracking, response time and cross-coupling rejection.
tracking bandwidth of the fast axis, an inversion-based feedforward
16:40-17:00
technique is combined with the PPF and integral feedback loops.
Modulated-Demodulated Q Control of an Atomic Force
With
Microscope Microcantilever, pp. 399-405
the
proposed
feedforward-feedback
control
strategy,
high-quality AFM images up to 50 Hz line rate are obtained without noticeable vibration-induced artifacts. 16:00-16:20
ThCT1.3
Control of Jitter in a Laser Beam Experiment by Receding Horizon Adaptive Control (I), pp. 383-390 Gibson, James Steven
60
Univ. of California, Los Angeles
ThCT1.5
Karvinen, Kai
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
We outline the application of the modulated-demodulated control technique to the quality (Q) factor control of an atomic force microscope
microcantilever.
The
modulated-demodulated
controller developed can be modeled as a linear time invariant
Book of Abstracts controller, which resembles a positive position feedback (PPF)
Zhang, Lei
Univ. of Texas at Dallas
controller. We utilize negative imaginary theory to concisely
Li, Yaoyu
Univ. of Texas at Dallas
summarize the requirements for robust stability of the closed loop system. The Q controller is verified experimentally on a
This study targets the charging scenario for multiple chargeable
microcantilever. Modulated-demodulated control appears to be
vehicles at parking lots or charging stations where most vehicles
well suited to the control of high frequency dynamics, simplifying
have extended parking time, e.g. at the commercial buildings. All
the bandwidth requirements of the baseband controller. Due to the
the vehicles are desired to be charged to full prior to the departure
controller parameterization, the tuning process is extremely simple.
time specified, under constrained total charging capacity. A
We believe modulated-demodulated control could find applications
two-stage approximate dynamic programming (TSADP) framework
in high speed atomic force microscopy (AFM) and MEMS-based
is proposed to determine the optimal charging strategy, utilizing the
nanopositioning.
predicted short-term future information and long-term estimation from historical data. The algorithm is separated into two stages, the optimization stage and approximation stage. The optimization
ThCT2
XIYUAN 3
State Estimation and Electrical Vehicle (Regular Session) Chair: Fujimoto, Hiroshi
The Univ. of Tokyo
Co-Chair: Li, Yaoyu
Univ. of Texas at Dallas
15:20-15:40
ThCT2.1
Extended Kalman Filtering for Robot Joint Angle Estimation Using MEMS Inertial Sensors, pp. 406-413
stage is to find the optimal charging strategy for the short-term ahead time horizon. The approximation stage is to approximate the long-term time horizon charging cost, by the way of approximate dynamic programming (ADP). The whole algorithm works as a partial
rollout
algorithm
and
partial
approximate
dynamic
programming. The TSADP framework can be integrated into stochastic
programming
framework,
when
the
short-term
information is uncertain with probabilities. The simulation results show that the proposed method can significantly decrease the
Wang, Yizhou
Univ. of California, Berkeley
energy cost.
Chen, Wenjie
Univ. of California, Berkeley
16:20-16:40
Tomizuka, Masayoshi
Univ. of California, Berkeley
Multi-Rate Kalman Filter Design for Electric Vehicles Control
The possibility of utilizing low-cost MEMS accelerometers and gyroscopes for accurate joint position estimation of the robot
ThCT2.4
Based on Onboard Vision System with Uneven Time Delay, pp. 431-436
manipulator is investigated in this paper. Cascade Kalman filtering
Wang, Yafei
The Univ. of Tokyo
formulation is derived from the robot forward kinematics and the
Nguyen, Binh Minh
The Univ. of Tokyo
stochastic models of the joint motion sensors. We validate the
Fujimoto, Hiroshi
The Univ. of Tokyo
Hori, Yoichi
The Univ. of Tokyo
accuracy of the proposed algorithm via experimentation. We also discuss the effect of the nonlinearity in the kinematic model on two approximation methods - the first-order linearization and the
Vehicle safety systems have become increasingly popular in
unscented transform.
modern vehicles, and real time information of vehicle states such
15:40-16:00
ThCT2.2
Scale and Rotation Invariant Two View Microgripper Detection That Uses a Planar Pattern, pp. 414-422
as
yaw
rate,
lateral
acceleration
and
lateral
position
is
indispensable for such systems. Yaw rate and acceleration signals can be obtained from onboard gyro/inertial sensors, and vehicle lateral position can be measured by an onboard vision system.
Hirvonen, Juha Robert
Tampere Univ. of Tech.
Normally, the sampling rate of a camera is much slower compared
Kallio, Pasi
Tampere Univ. of Tech.
with that of the other onboard sensors. Moreover, image
In automated grasping of microparts or objects with unknown dimensions and orientations, at least two cameras have to be used to acquire the depth information. In addition to recognition and reconstruction of the real-world coordinates of the target objects, the system has to be able to detect also the real-world coordinates of the microgrippers from the images. This paper presents a scale and rotation invariant microgripper detection method that uses a planar pattern. The method is suitable especially for prototyping systems, whose composition might vary between the experiments. The gripper detection is shown to be accurate enough for challenging
micromanipulation
tasks
of
small
electronic
components and individual paper fibers. 16:00-16:20
processing takes time and the time varies depending on captured images and hardware loads (delay time is measurable through time stamp). In case of integrated vehicle motion and position control, however, a unified feedback frequency is desired. Considering the slow control periods of traditional actuators such as hydraulic brakes, many previous studies down-sample the fast rate sensors to adapt the vision device. On the other hand, for electric vehicles, the control period of actuators (motors) is much shorter than the sampling time of a normal camera. To improve the control performance, this research employs a combined vehicle and vision model for lateral position estimation and proposes a multi-rate Kalman filter with reconstructed measurements based on an inter-sample residual estimation technique.
ThCT2.3
Optimal Charging Strategy for EV Charging Stations by Two-Stage Approximate Dynamic Programming, pp. 423-430
16:40-17:00
ThCT2.5
Advanced Multi-Rate Kalman Filter for Double Layer State Estimator of Electric Vehicle Based on Single Antenna GPS
61
Book of Abstracts and Dynamic Sensors, pp. 437-444
15:40-16:00
ThCT3.2
Nguyen, Binh Minh
The Univ. of Tokyo
Modeling of Ultra-Precision Pneumatic Servo Control Stage,
Wang, Yafei
The Univ. of Tokyo
pp. 453-456
Fujimoto, Hiroshi
The Univ. of Tokyo
Tian, Yanbing
Qingdao Tech. Univ.
Hori, Yoichi
The Univ. of Tokyo
Wang, Tao
beijing Inst. of Tech.
In this paper, a double layer state estimator for electric vehicle is
One ultra-precision pneumatic servo motion stage combined fine
proposed. The first layer provides sideslip angle and yaw angle
and coarse control is designed in this paper. Metal bellows and the
estimation. Utilizing the output the first layer, roll angle, longitudinal
voice coil motor are used as the driving element, aerostatic stage is
and lateral velocity are estimated from the second layer. The
used to support the working stage, and the control accuracy of the
estimator is designed by using the course angle and velocity vector
motion stage is improved under conditions without friction. The
obtained from single antenna GPS and a novel advanced multi-rate
hardware scheme is given in this paper, and the system
Kalman filter. While motion control system of electric vehicle
mathematical model is established, and the control algorithm is
requires state estimation every 1 millisecond, the sampling time of
analyzed too.
GPS based measurement is much longer. In order to solve this problem,
inter-sample
residual
prediction
is
proposed.
Furthermore, by treating the combination of model uncertainties and external disturbances as extended state to be estimated, the
16:00-16:20
ThCT3.3
Reliability Prediction Method of Hydraulic System by Fuzzy Theory, pp. 457-462
high robustness of vehicle state estimation is achieved. The
Chen, Dongning
Yanshan Univ.
satellite information is utilized for auto-tuning of GPS measurement
Yao, Chengyu
Yanshan Univ.
Feng, Zhongkui
Yanshan Univ.
noise covariance matrix.
The hydraulic system's reliability is a key factor to ensure the ThCT3
XIYUAN 4
reliability of hydraulic system. The paper describes a reliability
Modeling and Control of Pneumatic/Hydraulic Systems
prediction method that may be used to evaluate the reliability of
(Regular Session) Chair: Mattila, Jouni
Tampere Univ. of Tech.
Co-Chair: Zhu, Xiaocong
takes advantage of fuzzy set theory. The aim of this method is to minimize the deficiencies of the traditional reliability prediction
ThCT3.1
methods treating a failure rate as fixed value due to insufficiency practice data. Triangular fuzzy number and Gaussian fuzzy
Levelling Control of an Electro-Pneumatic Stabilized
number are used in the application of this prediction method, where
Platform Driven by Pneumatic Muscles, pp. 445-452
environmental factor, derating factor, and other factors are
Hefei Univ. of Tech.
Zhu, Xiaocong
hydraulic systems for industrial applications. The proposed method
Zhejiang Univ.
15:20-15:40
Cao, Jian
reliable operation of equipment and it is very important to evaluate
Zhejiang Univ.
Yao, Bin
Purdue Univ.
considered. Finally, an example of type crane's hydraulic system is given to verify the feasibility and practicability of the method. 16:20-16:40
ThCT3.4
Tao, Guoliang
Zhejiang Univ.
Reliability Optimization of Multi-State Hydraulic System
Wang, Qingfeng
Zhejiang Univ.
Based on T-S Fault Tree and Extended PSO Algorithm, pp.
An electro-pneumatic stabilized platform driven by pneumatic
463-468 Yao, Chengyu
Yanshan Univ.
devices for ship-borne application. An adaptive robust leveling
Wang, Bin
Yanshan Univ.
control strategy based on the MIMO terminal plant dynamics was
Chen, Dongning
Yanshan Univ.
muscles (ESPDPM) was proposed to realize leveling of important
proposed to remain level with the horizon at all times for the electro-pneumatic stabilized platform system subject to various
In order to overcome the difficulty of constructing the multi-state
vibration or environmental disturbances. The resulting controller
system's reliability optimization model, and the shortage of
can effectively compensate various parameter uncertainties due to
premature convergence of PSO (Particle Swarm Optimization)
unknown parameters in the terminal plat dynamics through
algorithm, a new reliability optimization method based on T-S fault
parameter adaptation, and simultaneously handle large amount of
tree and EPSO (Extended PSO) algorithm is proposed. According
uncertain
nonlinearities
nonlinearities
and
due
to
environmental
neglected
hard-to-model
disturbances
such
as
to the T-S fault tree and T-S rules of the events, the multi-state system reliability optimization model is constructed, at the same
time-varying friction forces of pneumatic muscles, modeling error
time, given constraint conditions on the system cost, weight and
from contraction force of pneumatic muscles, pressure differential
volume, and combined with the death penalty to construct the
and flow rate equations, and observation error of disturbance
fitness function. Furthermore, EPSO algorithm based on the
posture etc.. The simulation results demonstrated a maximum
attraction and repulsion forces in the artificial physics is applied to
leveling error of 0.45° for the electro-pneumatic stabilized platform
the
using the proposed leveling controller.
Comparing with PSO algorithm, the results of EPSO algorithm are
62
reliability
optimization
of
multi-state
hydraulic
system.
Book of Abstracts in a better performance in obtaining global optimal solution. 16:40-17:00
ThCT3.5
Study on the Influence of Flow Force on a Large Flowrate Directional Control Valve, pp. 469-477 Gao, Haiping
Huazhong Univ. of Science and Tech.
Li, Baoren
Huazhong Univ. of Science and Tech.
Yang, Gang
Huazhong Univ. of Science and Tech.
This paper focuses on analyzing the characteristic of the flow force acting on a large flowrate directional valve (1200L/min). The flow area of the notches on the spool is calculated and the mathematic model of the spool is presented. The change rule of total steady flow force is obtained through numerical simulation. The nonlinear response of the spool valve is explained reasonably and the input forces needed to make sure port T1 and port T2 shut down are given out respectively. The results show that the total flow force promotes the spool movement at the beginning but suppresses after the spool displacement reaches a certain value. Furthermore, the vibration is caused by the dynamic force balance acting on the spool, leading to the large input force to make sure the relative ports closed. It is proposed that each pair of ports of the large flowrate directional control valve should be designed to the same structure to restrain these problems.
63
Book of Abstracts 13:40-14:00
Technical Program for Friday April 12, 2013 FrBT1
Boardroom
Servo Control Technologies for Data Storage (Invited Session) Chair: Tomizuka, Masayoshi
Univ. of California, Berkeley
Co-Chair: Pantazi, Angeliki
FrBT1.3
Inverse-Based Local Loop Shaping and IIR-Filter Design for
IBM Res. - Zurich
Precision Motion Control (I), pp. 490-497 Chen, Xu
Univ. of California, Berkeley
Oshima, Atsushi
NSK Ltd
Tomizuka, Masayoshi
Univ. of California, Berkeley
In motion-control problems such as vibration rejection, periodical reference tracking, and harmonic disturbance cancellation, the
Organizer: Cherubini, Giovanni
IBM
Organizer: Yamaguchi, Takashi
Ricoh Company Ltd.
exhibiting concentrated energies at multiple bands of frequencies.
IBM Res. - Zurich
In this paper, we discuss a feedback loop-shaping approach to
Organizer: Pantazi, Angeliki 13:00-13:20
FrBT1.1
Adaptive Regulation of Time Varying Disturbances in a Tape Storage System (I), pp. 478-483
disturbances/references
share
a
common
characteristic
of
address such a class of control problem. An integration of (inverse) system models is proposed to bring enhanced high-gain control at the required local frequency regions. We show that such servo enhancement can be effectively achieved if good model
de Callafon, Raymond
Univ. of California, San Diego
information is available at the disturbance frequencies, and that a
Wang, Longhao
Univ. of California, San Diego
rich class of design tools can be integrated for the controller
Archival demands for digital tape storage systems require smaller spacing between data tracks on the magnetic tape to allow for more data storage on a single cartridge. Increasing track density
formulation. The proposed algorithm is verified in simulation and experiments on vibration rejection in hard disk drives and an electrical power steering system in automotive vehicles.
while maintaining track following provides a challenge for the servo
14:00-14:20
control of the tape drive. In particular, interchangeable tape
Contact-Induced Vibration in Dual-Stage HDD Servo
cartridges and time-varying tape reel diameters during operation cause variable disturbances during servo control. In this paper we show how a tape servo control algorithm can be regulated to handle changes in disturbance dynamics during servo operation of the tape drive. The approach is based on adaptive
FrBT1.4
Systems and Its Compensation Using PQ Method and Peak Filters (I), pp. 498-505 Venkatakrishnan,
Data Storage Inst. (DSI)
Venkataramanan
regulation by exploiting a Youla-Kucera parameterization of the
Xu, Jian-Xin
servo controller and an explicit minimization of the Position Error
Huang, Deqing
National Univ. of Singapore
Signal (PES) during servo operation in real-time. Theoretical
Huynh, The Cat Tuong
National Univ. of Singapore
results on the stability of the feedback system and real-time application results on an Linear Tape-Open (LTO) drive are included in the paper. The result show a significant reduction of the variance of the PES over different tape cartridges and a constant PES variance during a complete reel-in operation of the tape drive. 13:20-13:40
FrBT1.2
Skew Estimation and Feed-Forward Control in Flangeless Tape Drives (I), pp. 484-489 Pantazi, Angeliki Cherubini, Giovanni Jelitto, Jens
IBM Res. - Zurich IBM IBM Res. - Zurich
An enhanced skew follow control system is presented to more accurately and reliably control the tape-to-head skew in tape systems with flangeless rollers. It features a novel feed-forward skew control system, based on a new skew estimation technique that allows obtaining skew from the information provided by one servo channel only. A disturbance observer provides an estimate of the lateral tape motion, which is used to estimate the absolute tape skew. The feed-forward controller utilizes that skew estimate to enhance the performance of a traditional feedback skew-following system and to enable skew follow operation if only one servo channel is active. The performance of the enhanced skew following method is illustrated by experimental results, both in combined operation with the classical feedback system and the feed-forward system and in stand-alone feed-forward mode.
64
National Univ. of Singapore
Other than many well-known vibration sources in high density hard disk drive (HDD) servo systems, contact-induced vibration (CIV) is a new vibration source due to continuous contact of the read/write head with the media. This paper presents the experimental observation on the characteristics of CIV and its compensator design under dual-stage servo structure. By lowering the fly-height between the slider and the recording media artificially, the effects of CIV are investigated at different flyheights, different rotation speeds, and different tracks. We found that, unlike the airflow disturbance that affects all frequencies of HDD, the CIVs excite and amplify only the resonance modes of the system, namely, the modes at 441 Hz, 2110 Hz and 2800 Hz in our experimental setup. Moreover, consistent relationships between the center frequencies and magnitudes of the CIV modes and the tested fly-height, rotation speed and track position are clearly observed and analyzed. In what follows, to facilitate the compensator design for CIV in dual-stage HDD system that is actually a dual-input single-output system, the so-called PQ method is adopted to reduce the problem to two single-input single-output design problems. As such, the relative contributions to system output from the voice coil motor (VCM) and lead-zirconium-titanate (PZT) actuator subsystems can be well assigned in the frequency domain. Meanwhile, based on the prior CIV investigation, two well-designed peak filters are incorporated in parallel with the PZT loop to further shape the whole sensitivity loop. In the end, the remarkable performance of the proposed method in CIV compensation is demonstrated by simulation.
Book of Abstracts 14:20-14:40
FrBT1.5
Using Multiple Accelerometers (I), pp. 506-510
Chair: Book, Wayne J.
IBM Res. - Zurich
Lantz, Mark
Georgia Inst. of Tech.
Co-Chair: Maas, Jürgen
Ostwesfalen-Lippe Univ. of Applied Sciences
IBM
Reliable operation of tape storage devices requires
high
positioning accuracy of the servo control system under vibration conditions. The demand for increased storage density makes it increasingly
XIYUAN 3
Control of Mechatronic Systems I (Regular Session)
Vibration Compensation in Tape Drive Track Following Pantazi, Angeliki
FrBT2
more
challenging
to
meet
the
track-following
performance requirements especially in the presence of external vibration disturbances. In the recently introduced flangeless tape
13:00-13:20
FrBT2.1
Operator Error Based Design of Position Controllers for Dynamically Slow Systems, pp. 517-522 Elton, Mark
HUSCO International
Book, Wayne J.
Georgia Inst. of Tech.
drives, the head positioning system has translational and rotational
Previous work has found that performance with position control
capabilities to be able to compensate for both the lateral tape
exceeds that with rate control except for dynamically slow systems,
motion and the head-to-tape skew arising from large tape
such as hydraulic machines. In an effort to extend the intuitiveness
excursions. In this paper, vibration measurements from two
of position control to these systems, a novel human-machine
accelerometers are utilized to enhance the closed-loop track-follow
interface was applied to a dynamically slow system. This paper
accuracy
system.
analyzes the cost in time and in control effort of the errors
Specifically, the accelerometers are placed on the tape drive frame
operators made while controlling the position of a dynamically slow
and on the actuator system providing measurements of the
system. From this analysis, two “smoothing” position controllers
vibration of the drive frame and the track-follow actuator,
were designed and tested on the same system. The first controller,
respectively. Vibration coupling effects from the rotational
the best fit controller, showed significant improvement for tracking
degree-of-freedom are estimated by combining the measurements
tasks and maintained the near optimal performance of the full state
from the two accelerometers. A feedforward control scheme is
feedback position controller on point-to-point motion tasks. The
proposed that utilizes the acceleration measurement of the applied
second
vibration and the estimated acceleration due to coupling effects.
statistically similar performance on all of the tasks to the full state
Experimental results demonstrate that the combined feedforward
feedback position controller.
of
the
two-degree-of-freedom
actuator
scheme provides substantial improvement in the track-follow performance under vibration conditions. FrBT1.6
Integrated Servo-Mechanical Design of Distribution-Based Robust Mechatronics Using GKYP Lemma (I), pp. 511-516 National Univ. of Singapore
Tang, Muchen
National Univ. of Singapore
Pang, Chee Khiang
National Univ. of Singapore
controller,
13:20-13:40
showed
FrBT2.2
Military Vehicles, pp. 523-529 Kieneke, Rüdiger
Ostwesfalen-Lippe Univ. of
Graf, Christian
Ostwesfalen-Lippe Univ. of Applied Sciences
Maas, Jürgen
Ostwesfalen-Lippe Univ. of Applied Sciences
Data Storage Inst.
The following contribution describes the design and validation of an
National Univ. of Singapore
active seat suspension with two translational degrees of freedom.
Hong, Fan
and
elimination
NUS
Ng, Adam
specifications
time
Applied Sciences
Tan, Yan Zhi
Performance
the
Active Seat Suspension with Two Degrees of Freedom for
14:40-15:00
Lee, Tong Heng
controller,
robust
stabilization
of
This seat suspension system is designed to be integrated in various military vehicles to reduce the mechanical vibrations
mechatronics are generally difficult to achieve simultaneously with
caused by test runs on synthetic test tracks, which affect the
a
integrated
human health and condition confidence. The proposed active seat
servo-mechanical design algorithm is proposed for finite frequency
suspension is specially designed to support the drivers during the
redesign
test drives. In a first step the model of the seat and the driver are
low-order of
controller. a
In
mechanical
Kalman-Yakubovic-Popov
this plant
(GKYP)
paper, using Lemma.
an the The
Generalized plant
is
derived considering the motions in vertical and lateral direction. To
synthesized based on a pre-designed low-order controller, and
suppress the vibrations a control strategy is presented in a further
robust stability criterion of the overall control system in the
step. The vibration controller is designed for a 1 DOF model based
presence of Gaussian plant parametric perturbations is also
on a hybrid Skyhook- and Groundhook-Principle and in alternative
included. Our simulation results using the proposed algorithm
as a feedforward control using an ideal model for the seat and
achieve a high-bandwidth control system with disturbance
driver. Finally, the realized active seat suspension is integrated in a
attenuation capabilities at the phase-stabilized resonant modes of
military vehicle to prove the amount of vibration suppression in
the plant, and is robustly stable to uniform plant parametric
comparison to a common passive seat by road test on synthetic
perturbations with the low-order controller.
tracks emphasing an improvement of the drivers well-being.
65
Book of Abstracts 13:40-14:00
FrBT2.3
Switching Robust Control for Transparent and Stable Teleoperation, pp. 530-536 López Martínez, César
fuzzy
logic
system
is
utilized
to
compensate
parametric
uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied and the
Eindhoven Univ. of Tech.
Augusto
control system is proved to be semi-globally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an ELS and
Molengraft, René van de
Eindhoven Univ. of Tech.
the comparative experimental results indicate that AFTC controller
Steinbuch, Maarten
Eindhoven Univ. of Tech.
is effective for ELS to achieve a guaranteed transient as well as final tracking accuracy.
The
inherent
transparency-stability
trade-off
in
bilateral
teleoperation poses a challenge to design controllers that find a
14:40-15:00
FrBT2.6
proper balance between both requirements. Furthermore, when the
Improving Force Control Using Zero Coupling Impedance
environment of the teleoperation system varies within a wide
Criterion in Series Manipulator Systems, pp. 549-554
range, a single controller might no be sufficient to achieve both
Li, Renjun
stability and transparency. Therefore, we propose the synthesis of
Vuong, Ngoc Dung
Singapore Inst. of Manufacturing
Lim, Chee Wang
Singapore Inst. of Manufacturing
a switching robust controller that guarantees both stability and transparency for a predefined range of environment stiffness. Moreover, we take into account during the design process the fact
National Univ. of Singapore and Tech. and Tech.
that environment estimators will have limited accuracy due to noise and uncertainty. Subsequently, we show the potential of the approach by numerical simulation of a 1-DOF teleoperated system. 14:00-14:20
FrBT2.4
MEMS Resonator with Displacement Sensor Based on Electro-Thermal Principles, pp. 537-542 Moore, Steven
The Univ. of Newcastle
Moheimani, S.O. Reza
The Univ. of Newcastle
This paper examines the feasibility of using displacement sensors based on electro-thermal principles in the design of resonators using MEMS technology. The use of this type of displacement sensor provides a new technology for low frequency resonator design. The theory and design of the displacement sensors are based on an existing body of work and show the displacement sensors have excellent resolution, small die footprint and a low operating voltage but have a high power consumption and low bandwidth. Two resonator designs, with a natural frequency of approximately 10 kHz, have been modeled and fabricated for experimentation. One is based on a microcantilever with parallel plate electrostatic actuators, while the other is based on
Chew, Chee Meng
National Univ. of Singapore
Using industrial manipulators for force control normally suffers from large impedance due to their large inertia, friction and stiffness. Series macro-mini system has been proposed as a solution to lower
the
robot
impedance.
However,
the
force
control
performance of a series macro-mini manipulator system may be compromised due to the low frequency resonance modes of the macro manipulator. Although changing the dynamics of the macro manipulator has been proved to be useful to improve the force control performance, it cannot be easily done due to closed control architecture. In this paper, we propose a Zero Coupling Impedance criterion to address the aforementioned problem. Since modifying the dynamic of the macro is not feasible, the coupling between the macro and mini is changed instead. Experiments are used to validate the proposed criterion. The results suggest that by satisfying the Zero Coupling Impedance criterion, force control performance of the series manipulator system will not be limited by macro manipulator. This research provides a general guideline of designing and controlling an end effector that is carried by a manipulator for force control tasks.
fixed-guided micro-beams with comb electrostatic actuators. The electrical interface for the sensor output is a Wheatstone bridge. Both resonators are operated in air. The displacement sensors
FrBT3
were able to capture the resonant motion of both resonators. The
Biped, Network, and Multi-Agent Systems (Regular Session)
microcantilever based resonator had a quality factor of 195 and a resonance gain of -27 dB. The comb-drive based resonator had a quality factor of 440 and a resonance gain of -20 dB. 14:20-14:40
FrBT2.5
Controller Design of Electric Loading System Based on T-S Fuzzy Logic, pp. 543-548 Wang, Xingjian
Beihang Univ.
Wang, Shaoping
Beihang Univ.
Electric loading system (ELS) simulates aerodynamic load and exerts the load on actuation system. The key issue of ELS is how to eliminate the influence of extra torque caused by actuation system. In order to overcome these difficulties, we propose an adaptive fuzzy torque control (AFTC) algorithm. Takagi-Sugeno
66
Chair: Jayasuriya, Suhada Co-Chair: Chen, Xiang 13:00-13:20
XIYUAN 4
Univ. of Central Florida Univ. of Windsor FrBT3.1
Compensation of Time Delay in a Network-Based Gait Rehabilitation System with a Discrete-Time Communication Disturbance Observer, pp. 555-562 Zhang, Wenlong
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
In this paper, a network-based gait rehabilitation system is proposed for enhanced mobility and tele-rehabilitation. In the proposed rehabilitation system, a compact rotary elastic actuator (cRSEA) is employed to provide assistive torque to the patients
Book of Abstracts and it is controlled over a local wireless network. However, time
walking on rough or uneven terrain. An online moving ground
delay exists in both sensor-controller and controller-actuator
reference map based on both present and future information is
channels, which leads to performance degradation and even
proposed. It is obtained via minimizing the error of footstep, and the
destabilization. Moreover, the amount of time delay is time-varying
error of Center of Mass (CoM) position and velocity of the robot. By
and it is di±cult to measure accurately. In order to compensate the
applying this reference map, robust CoM trajectories can be
time delay and guarantee stability of the system, a communication
generated such that the resulted Zero Moment Point (ZMP) can
disturbance observer (CDOB) is designed in the discrete-time
follow the moving horizontal reference. This walking algorithm
domain. Parameters are tuned based on the linear quadratic
enhances the robots walking stability on uneven terrain based on
regulator (LQR) design technique and compared to other
preview control. The dynamic simulation results show that it can
parameter choices in the frequency domain in terms of closed-loop
signicantly improve walking stability and also minimize the error in
stability, tracking performance, disturbance attenuation, and noise
tracking the pre-dened trajectory. The technique is very general
cancellation. Simulation and experimental results are shown to
and can be applied to a wide variety of humanoid robots.
validate the performance of the proposed controller. 13:20-13:40
14:20-14:40 FrBT3.2
Re-Configuration Strategy for PTZ Camera Networks, pp. 563-568
A Novel Self-Adaptation Hybrid Artificial Fish-Swarm Algorithm, pp. 583-588 Hu, X. T.
Alarcon, Jose
Univ. of Windsor
Chen, Xiang
Univ. of Windsor
Ahmadi, Majid
Univ. of Windsor
A method for PTZ camera re-conguration oriented toward tracking applications and surveillance systems is presented. The visual constraints are transformed into geometric constraints by a coverage model, and the nal PTZ congurations are averaged by a consensus algorithm. The approach is to design a distributed algorithm that enables cooperation between the cameras. Experimental results show successful camera handoff. 13:40-14:00
FrBT3.3
Multi-Agent Deployment Based on Homogenous Maps and a Special Inter-Agent Communication Protocol, pp. 569-576 Rastgoftar, Hossein
Univ. of Central Florida
Jayasuriya, Suhada
Univ. of Central Florida
In this paper, presented is a methodology for formation control of an n-D multi agent system (MAS). The n-D motion of the MAS is treated as n one-D motions with the evolution of each coordinate of an agent representing the collective motion of a continuum of
FrBT3.5
Huang, Y. A.
No.38 Res. Inst. of CETC State Key Lab. of Digital Manufacturing Equipment and Tech.
In this paper, the social behaviors of fish swarm were classified in four ways: foraging behavior, stray behavior, reproductive behavior, and escaping behavior. Inspired by this, a novel artificial fish swarm algorithm (NAFSA) was proposed, which integrated the merits of the self-adaptation strategy, mutation strategy and hybrid strategy into the social behaviors of fish swarm. In the case of mutation strategy, the cloud theory was introduced into the flight behavior, and the basic cloud generator was used as the mutation operator because of the properties of randomness and stable tendency of a normal cloud model. For the hybrid strategy, the selection, crossover and mutation operator in evolutionary algorithm were applied to define the reproductive ability of an artificial fish. Furthermore, the parameters of Step and Visual were developed in forms of hyperbolic tangent function to adjust the optimize performance dynamically during iterations process. Finally, ten standard test functions are used as the benchmark to validate the effectiveness of the NAFSA. Experimental results confirmed the superiority of NAFSA in terms of both solution quality and convergence speed.
agents constrained to always stay on a straight line. The motion of
14:40-15:00
the continuum is controlled by the two vertex agents, left most and
The Study on the Learning of Walking Gaits for Biped
the right most, by preserving certain distance ratios among the
Robots, pp. 589-593
agents. First, it is shown how a specific homogenous map defining a desired agent topology may be achieved by local inter-agent communication. Second, a strategy for deploying agents to lie on a desired curve utilizing local inter-agent communication and starting from a randomly distributed initial topology is outlined. 14:00-14:20
FrBT3.4
Moving Horizontal Reference Map for Bipedal Robot Walking Over Uneven Terrain, pp. 577-582 Wu, Ning
National Univ. of Singapore
Chew, Chee Meng
National Univ. of Singapore
Poo, Aun Neow
National Univ. of Singapore
Li, Renjun
National Univ. of Singapore
In this paper, we propose a constructive and robust control design for online stabilization of biped robot dynamic motion, especially
FrBT3.6
Hwang, Kao-Shing
National Chung-Cheng Univ.
Yeh, Keng-Hao
National Chung-Cheng Univ.
Liu, Jia-Yan
National Sun Yat-sen Univ.
This paper presents a study on biped walking and balance control by reinforcement learning. The robot learns how to walk without prior knowledge of explicit dynamics model by a reinforcement learning approach. The Q-learning sharpens up the robot's walking gaits so as that improve the stability of each gait and reduce the number of the posture patterns in a gait cycle. In this paper, the learning agent employs an intuitive evaluation knowledge to help the biped robot with a basic walking skill learn to improve its behavior in terms of restricting ZMP to a certain region on each foot. FrCT1
Boardroom
67
Book of Abstracts Nanorobotic Manipulation and Assembly (Invited Session) Chair: Li, Yangmin
three parallel PUU legs, a moving platform and a fixed platform.
Univ. of Macau
Co-Chair: Liu, Lianqing
Shenyang Inst. of Automation
Organizer: Liu, Lianqing
Shenyang Inst. of Automation
15:20-15:40
FrCT1.1
The mobility characteristics of the stage is analyzed and proved via FEA method. The kinematics and dynamic modeling of the mechanical system of the stage are conducted by resorting to compliance
matrix
method,
and
analytical
models
structure and electromagnetic model are validated by finite element
Active Landmark Configuration for Accurate
analysis(FEA) performed with ANSYS. The mechanical structures
Nano-Positioning (I), pp. 594-599 Yuan, Shuai
SIA
Liu, Lianqing
Shenyang Inst. of Automation
The spatial uncertainties of AFM tip position hinders the AFM based nanomanipuation. Although the landmark based tip localization can be applied to improve the tip position accuracy in
is analyzed in a multi-physics environmental simulation and electromagnetic actuators are applied in ANSYS too. Both FEA and the analytical models well demonstrate that the movement of the stage is purely translational. Based on the designed parameters, this micro-parallel manipulator can have a large workspace, a very high resolution, and a heavy payload ability.
the task space, the PZT nonlinearity and system drift are still a
16:20-16:40
challenge to compensation performance when the tip is positioned
A Novel Analytical Model for Flexure-Based Compliant
far from the landmark. Therefore this paper proposes an active
Proportion Mechanisms, pp. 612-619
landmark configuration. This method first estimates the nearby area called as landmark domain around the target position, and then actively manipulates the landmark into the landmark domain by using virtual hand to improve the positioning accuracy. Simulation and experiment present the validity of the proposed method.
FrCT1.4
Meng, Qiaoling
Univ. of Macau
Li, Yangmin
Univ. of Macau
This paper proposes a novel analytical model for flexure-based proportion compliant mechanisms. The displacement and stiffness calculations of such flexure-based compliant mechanisms are
15:40-16:00
FrCT1.2
Frequency Based Combination Control Strategy for AFMs (I), pp. 600-605 Ren, Xiao
Nankai Univ.
Fang, Yongchun
Nankai Univ.
This paper analyzes the relationship between the resonant phenomenon of piezo-scanner and the control system bandwidth in an atomic force microscopy system (AFMs). Based on the results, a novel frequency based combination control strategy is proposed and
for
electromagnetic forces are also established, both mechanical
then
implemented
with
the
currently
utilized
proportional-integral (PI) controller in Z-axis for AFMs. That is, the regulation error is separated into two parts of high frequency content and low frequency content, for which two different controllers are designed to generate two auxiliary control signals, which are then synthesized to actuate the piezo-scanner to improve the performance of AFMs. The designed strategy is
formulated based on the principle of virtual work and pseudo rigid-body model (PRBM). According to the theory and method, a set of closed-form equations are deduced in this paper, which incorporate the stiffness characteristics of each flexure hinge, together with the other geometric and material properties of the compliant mechanism. Displacement proportion, input stiffness, and output stiffness calculations can simply be performed for any serial compliant mechanism. Corner-filleted and circular flexure hinges that are utilized as connectors in proportion compliant mechanisms in this paper. Two types of flexure-based compliant proportion mechanisms based on the novel analytical model are designed and optimized based on these proposed equations. Finite element analysis results show that these design equations are reliable and easier to be used in the design of such proportion compliant mechanisms. This proposed novel analytical model gives a new viewpoint on the design of flexure-based proportion compliant mechanisms.
analyzed in frequency domain to show that it provides much enhancement for control system bandwidth, and the conclusion is verified by both simulation and experimental results, demonstrating that superior imaging performance for high-speed scanning tasks
FrCT2 Control of Mechatronic Systems II (Regular Session)
can be obtained by the proposed combination control strategy.
Chair: Zhu, Jihong
16:00-16:20
Co-Chair: Fan, Dapeng
FrCT1.3
A Novel Flexure-Based 3-DOF Micro-Parallel Manipulator with a Gripper for Micro/nano Manipulation (I), pp. 606-611
XIYUAN 3
15:20-15:40
Tsinghua Univ. National Univ. of Defense Tech. FrCT2.1
Reducing Intersample Ripple of Actuator in Multirate
Xiao, Shunli
Univ. of Macau
Li, Yangmin
Univ. of Macau
Ji, Lan Yue
Yang, Qinmin
Zhejiang Univ.
Kirchner, Frank
Environment by a Joint Space Interpolator, pp. 620-627 DFKI RIC DFKI RIC, Univ. of Bremen
This paper presents the design and analysis of a novel compliant
Chattering is a very undesired phenomenon in technical systems.
flexure-based micro-parallel manipulator with gripper, which is with
There can be many causes for it. In this paper, at first simulation
translational 3-DOF and driven by electromagnetic actuators. The
results are shown that insufficient setpoint updating can also lead
stage is constructed with a symmetrical structure by employing
to chattering in form of intersample ripple. The difference between
68
Book of Abstracts setpoint updating rate and the control frequency can be traced
Remedial Operations of Permanent Magnet Fault Tolerant
back to the multi-layered software architecture of an overall
Motor for Short-Circuit Fault, pp. 643-649
system. As a solution, a joint space interpolator is suggested, which is a novel construction mainly combining a trajectory interpolator with a jitter buffer in joint space. On the one hand it provides supplementary setpoints to the controller and on the other hand it ensures very strict real-time performance of the closed-loop system. At last, experiment results are shown to support the proposed method. This scheme is implemented for, but not limited to, actuators utilizing geared brushless DC (BLDC) motors with FPGA-based controllers. The simulations and experiments have focus on robotic motion control in joint space.
Si, Binqiang
Tsinghua Univ.
Zhu, Jihong
Tsinghua Univ.
Ji, Jinghua
Jiangsu Univ.
Due to their concentrated windings and modular topology, permanent-magnet fault-tolerant (PMFT) motors inherently offer decoupling phases and fault-tolerant capability. Two fault-tolerant drive
topologies
for
these
motors,
namely
H-bridge
and
star-connection, are presented and compared for short-circuit fault. In order to keep torque performance invariant during the faulty
FrCT2.2
operation, the current amplitude of healthy phases should be
Energy-Saving Trajectory Planning for a Toggle Mechanism
increased, and only the phase angle of the adjacent phases should
15:40-16:00 Driven by a PMSM, pp. 628-635 Hsu, Yi-Lung
National Kaohsiung First Univ. of Science and Tech.
Fung, Rong Fong
National Kaohsiung First Univ. of Science and Tech.
be changed in the H-bridge mode, while both the current amplitude and the phase angle of healthy phases should be changed in the star-connection mode. Both strategies are derived, compared and analyzed. Finally, the simulated results are given, verifying the effectiveness of theoretical analysis. 16:40-17:00
FrCT2.5
This paper proposes a methodology to plan an energy-saving
A Linear Interpolation Fuzzy Controller for a Boiler Pressure
trajectory for a toggle mechanism by a permanent magnet
Control System, pp. 650-654
synchronous motor (PMSM). The system is first identified by the
Bai, Yanhong
Taiyuan Univ. of Science and Tech.
polynomial, which is a point-to-point (PTP) function and satisfies
Zhao, Zhijuan
Taiyuan Univ. of Science and Tech.
the end conditions of displacement, velocity, acceleration and jerk
Sun, Zhiyi
Taiyuan Univ. of Science and Tech.
at the initial and final times. The real-coded genetic algorithm
Quan, Long
Taiyuan Univ. of Science and Tech.
numerical methods. The trajectory is described by a high-degree
(RGA) is employed to determine the coefficients of the polynomial with the fitness function, which is the inverse of the absolute value
Considering nonlinear behaviors and environmental disturbance of
of the input electric energy. In this paper, some discussions for
the boiler pressure control system, a linear interpolation fuzzy
planning an energy-saving trajectory are made, and three cases of
controller is developed. First, according to the conventional
the fitness functions are used.
discrete fuzzy control principle, a discrete fuzzy controller for the
16:00-16:20
FrCT2.3
system is designed and a 2-D fuzzy control lookup table is deduced. Then, to overcome the conventional fuzzy controller's
LuGre-Model-Based Friction Compensation in Direct-Drive
disadvantage of lower precision caused by discretization, a bilinear
Inertially Stabilization Platforms, pp. 636-642
interpolation 2-D table lookup method is used to replace the exact
Li, Zhiqiang
National Univ. of Defense Tech.
Fan, Dapeng
National Univ. of Defense Tech.
Fan, Shixun
National Univ. of Defense Tech.
A Trajectory tracking problem for direct-drive inertially stabilized platforms suffered from nonlinear friction was considered in this paper. The dynamic characteristics of the system was study. A
lookup method, with which continuous output can be obtained from the discrete control table. Finally, based on the existed computer control
system
hard-in-loop
and
real-time
boiler
system
simulation
hardware
system
is
configuration, established
in
Matlab/RTWT. Lots of experiments are carried out. And the results prove that better control performance can be achieved with the proposed control scheme.
parameter identification method for LuGre model based on multilevel
coordinate
search
algorithm
was
presented.
Furthermore, nonlinear friction observer was designed to estimate
FrCT3
the unmeasurable internal state of LuGre model. The comparative
Design of Mechatronic Systems (Regular Session)
trajectory tracking experiments were conducted on a simulator of direct-drive systems between the single proportional–derivative (PD) control and the PD with LuGre model-based compensation. The experimental results revealed that the control scheme based on LuGre-model-based friction compensation reduced 3" tracking error to 0.2mrad which is improved almost 66.7% compared with
Chair: Wang, Xingsong
XIYUAN 4
Southeast Univ.
Co-Chair: Lei, Yong
Zhejiang Univ.
15:20-15:40
FrCT3.1
Holistic Design Optimization in Mechatronics, pp. 655-662
the PD control. At last, the ‘fake non-dissipativity phenomenon' of
Frede, Daniel
KTH Royal Inst. of Tech.
LuGre in simulation and the digital implementation of LuGre friction
Malmquist, Daniel
KTH Royal Inst. of Tech.
compensation were discussed.
Wikander, Jan
KTH Royal Inst. of Tech.
16:20-16:40
FrCT2.4
Design of modern mechatronic systems can be an intimidating
69
Book of Abstracts task. The underlying problem lies in that several different
Design of a Gravity Balanced Upper Limb Exoskeleton with
engineering domains merge into one product, creating integration
Bowden Cable Actuators, pp. 678-683
issues. Commonly used design methodologies are based on optimizing the different domains separately; hence creating a suboptimal final system. This paper contributes to the field by
Wu, Qingcong
Southeast Univ.
Wang, Xingsong
Southeast Univ.
describing and discussing a holistic approach to design and
This paper presents a design of gravity balanced upper limb
optimize mechatronic products, especially useful in an early design
exoskeleton used for the stroke patients to regain their motor
phase. Specifically, this paper extends previously published work
function. Bowden cable actuators have a high power-weight ratio
by taking control aspects into account, as well as enabling the use
and can significantly reduce the mass, inertial and power
of multiple optimization criteria. The design approach described is
consumption of the device. The gravity balance of the device is
based on using simplified, static models, to dimension and
achieved by a hybrid strategy, which uses zero free-length springs
describe
transducer
and auxiliary parallel links to locate the COM (center of mass) of
components, while transfer function models are used for control
the device and keeps the total potential energy of the system
design
time-efficient
invariant with all configurations. The balance torque caused by the
optimization, computationally inexpensive ways to evaluate
variation of weight and height is calculated. The device is proved to
structural and behavioral properties are sought. An evolutionary
be robust with the users of different weights and heights.
physical and
properties
behavioral
of
modeling.
structure To
and
enable
optimization algorithm is used to evaluate the component models and by doing that derive an optimal solution. 15:40-16:00
FrCT3.2
Mechatronic Design of a Four Wheel Steering Mobile Robot with Fault-Tolerant Odometry Feedback, pp. 663-669 Oftadeh, Reza
Tampere Univ. of Tech.
M. Aref, Mohammad
Tampere Univ. of Tech.
Ghabcheloo, Reza
Tampere Univ. of Tech.
Mattila, Jouni
Tampere Univ. of Tech.
16:40-17:00
FrCT3.5
Analysis of Dynamic Tissue Deformation During Needle Insertion into Soft Tissue, pp. 684-691 Gao, Dedong
Zhejiang Univ.
Lei, Yong
Zhejiang Univ.
Yao, Bin
Purdue Univ.
Tissue deformation is one of the most significant factors, which effects the needle placement inside the soft tissue. Based on the analysis, a tissue deformation model is presented to quantify the
In this paper, the mechatronics design of a four wheel steered
volume of tissue deformation. The geometry of tissue deformation
mobile robot is discussed in detail. Mechanical structure and
is analyzed, and the cone is used to approximate the shape of
electrical interfaces are presented. Low-level software architecture
tissue deformation. The methods for measuring the depth and
based on embedded pc-based control is designed that enables the
radius of tissue deformation are introduced to calculate the volume
robot to operate its eight independent actuators synchronously.
of tissue deformation. The dynamic needle-tissue interactions are
Kinematics models are elaborated, and it is shown that how
investigated, and the potential, kinetic, dissipated, viscous and
mechanical structure of the robot affects kinematics and the
strain energies are analyzed based on the energy conservation
feedback. Based on kinematics models, a fault tolerant wheel
law. The needle insertion experimental setup, consisting of a linear
odometry is proposed to make the feedback robust to practical
actuator, a force sensor, a needle, a tissue container and a light, is
wheel odometry faults during the solution of forward kinematics.
constructed to obtain the test data. The experiments are performed
Real-time implementation of presented to support the the efficacy
on the artificial tissue specimens, and the energy-based fitting
of proposed methods.
model for the tissue deformation is presented to estimate the the
16:00-16:20
FrCT3.3
Autonomous Stair Climbing of a Wheeled Double Inverted Pendulum, pp. 670-677 Strah, Bruno
Tech. Univ. Darmstadt
Rinderknecht, Stephan
Tech. Univ. Darmstadt
The described wheeled double inverted pendulum was built to serve as a stair-climbing device (SCD). It can negotiate steps autonomously. The overall SCD model is represented by a hybrid automaton.
It
consists
of
nonlinear
situation-changing
continuous-time properties. Depending on the situation, the SCD is either fully actuated or under-actuated. Furthermore, discontinuous phenomena exist due to wheel-to-ground unilateral constraints. Feedback linearization is used as a basis for the control design. Due to a different situation-changing relative degree a full-state linearization or a partial linearization is applied. The state transition “settling” is developed within the virtual constraints framework. 16:20-16:40
70
FrCT3.4
volume of deformation. The results show that the model could predict the volume of tissue deformation and determine the zone of tissue deformation.
Author Index Fang, Yongchun ....................................................... FrCT1.2
A
600
563
Feng, Ying ................................................................ ThBT3
563
.................................................................................. ThBT3.1
325
99
Feng, Zhongkui......................................................... ThCT3.3
457
153
Fleming, Andrew John .............................................. WeBT1.1
1
C
.................................................................................. WeBT1.2
7
.................................................................................. WeCT3.4
225
Fowler, Anthony........................................................ ThCT1.2
375
Arifin, Ahmad Suryo .................................................. WeCT3.4
225
.................................................................................. ThCT1.4
391
116
Fox, Andrew.............................................................. WeBT2.5
Ahmadi, Majid ........................................................... FrBT3.2 Alarcon, Jose ............................................................ FrBT3.2 Andersen, Torben Ole............................................... WeBT3.4 Andersson, Sean....................................................... WeCT1.5 Ang Jr, Marcelo H ..................................................... WeCT3
Aschemann, Harald................................................... WeBT3.6
Frede, Daniel ............................................................ FrCT3.1
B Bacher, Wolfgang...................................................... WeBT3.1 Bai, Kun..................................................................... WeCT2
CC
67 655
75
Freedson, Patty ........................................................ WeBT2.3
53
C
Fujimoto, Hiroshi....................................................... WeCT3.5
231
160
.................................................................................. ThCT2
Bai, Yanhong............................................................. FrCT2.5
650
.................................................................................. ThCT2.4
431
Bemfica Rodrigues, Jéferson .................................... ThBT2.4
307
.................................................................................. ThCT2.5
437
37
Fung, Rong Fong...................................................... FrCT2.2
628
.................................................................................. WeCT2.1
Bertram, Torsten ....................................................... WeBT2.1 Böhm, Michael .......................................................... ThBT1.2 Book, Wayne J. ......................................................... FrBT2 .................................................................................. FrBT2.1
249
C
G
C
Gao, Dedong ............................................................ FrCT3.5
684
517
Gao, Haiping............................................................. ThCT3.5
469
Gao, Robert .............................................................. WeBT2.3
C
53
Cao, Binggao ............................................................ ThBT3.5
355
Ghabcheloo, Reza .................................................... FrCT3.2
663
Cao, Jian ................................................................... ThCT3.1
445
Gibson, James Steven.............................................. ThCT1.3
383
Cao, Junyi ................................................................. ThBT3.2
332
Gong, Liang .............................................................. WeCT2.6
190
.................................................................................. ThBT3.5
355
Govindarajan, Madhu Soodhanan ............................ WeBT2.5
Chai, Tianyou ............................................................ ThBT3.1
325
Graf, Christian........................................................... FrBT2.2
Chang, Peter I. .......................................................... WeBT1.4
20
.................................................................................. WeCT1
CC
Gravdahl, Jan Tommy .............................................. WeBT1.5
67 523 28
H
.................................................................................. WeCT1.2
131
Haeberle, Walter....................................................... WeCT1.1
125
Chavan, Dhwajal ....................................................... WeCT1.2
131
Heertjes, Marcel........................................................ WeBT1.3
13
Chemori, Ahmed ....................................................... WeCT3.6
237
Henikl, Johannes ...................................................... WeBT3.3
91
Chen, Dongning ........................................................ ThCT3.3
457
Henke, Benjamin ...................................................... WeCT2.4
177 414
.................................................................................. ThCT3.4
463
Hirvonen, Juha Robert.............................................. ThCT2.2
Chen, Wen ................................................................ ThBT3.5
355
Hoffmann, Frank ....................................................... WeBT2.1
Chen, Wenjie............................................................. ThBT2.2
293
Hong, Fan ................................................................. FrBT1.6
511
.................................................................................. ThCT2.1
406
Hori, Yoichi ............................................................... ThCT2.4
431
CC
.................................................................................. ThCT2.5
437
.................................................................................. FrBT3.2
563
Horowitz, Roberto ..................................................... ThBT3.4
347
Chen, Xu ................................................................... FrBT1.3
490
Hsiao, Chin-Chi......................................................... ThBT2.3
301
Chen, Ying ................................................................ ThBT1.1
243
Hsu, Yi-Lung ............................................................. FrCT2.2
628
Chen, Zheng ............................................................. WeCT3
CC
Hu, Jwu-Sheng ......................................................... WeBT2
Chen, Xiang .............................................................. FrBT3
.................................................................................. WeCT3.2
207
.................................................................................. WeBT2.4
37
C 61
O
Hu, Lifa ..................................................................... ThBT1.5
271
.................................................................................. FrBT1.2
484
Hu, X. T..................................................................... FrBT3.5
583
Chew, Chee Meng .................................................... FrBT2.6
549
Huang, Deqing.......................................................... WeCT3.3
214
.................................................................................. FrBT3.4
577
.................................................................................. FrBT1.4
498
Choi, Hyunjin ............................................................. WeCT2.2
165
Huang, Haocai .......................................................... ThBT1.1
243
Clayton, Garrett ......................................................... WeCT1.4
145
Huang, Peng............................................................. WeCT1.5
153
Conway, Richard ....................................................... ThBT3.4
347
Huang, Y. A. ............................................................. FrBT3.5
583
Huynh, The Cat Tuong ............................................. WeCT3.3
214
.................................................................................. FrBT1.4
498
Hwang, Kao-Shing.................................................... FrBT3.6
589
Cherubini, Giovanni................................................... FrBT1
D de Callafon, Raymond............................................... FrBT1.1
478
E Eielsen, Arnfinn Aas.................................................. WeBT1.5 Elton, Mark ................................................................ FrBT2.1
28 517
F Fairbairn, Matthew .................................................... ThCT1.1 Fan, Dapeng ............................................................. FrCT2
368 CC
I Iannuzzi, Davide ....................................................... WeCT1.2
131
Ito, Shingo................................................................. WeBT1.4
20
J Janschek, Klaus........................................................ WeCT3.1
.................................................................................. FrCT2.3
636
Jayasuriya, Suhada .................................................. FrBT3
Fan, Shixun ............................................................... FrCT2.3
636
.................................................................................. FrBT3.3
71
197 C 569
Author Index Jelitto, Jens ............................................................... FrBT1.2
484
Lu, Chao ................................................................... ThBT3.6
362
Ji, Jinghua ................................................................. FrCT2.4
643
Lu, Junkai ................................................................. ThBT2.2
293
Ji, Lan Yue ................................................................ FrCT2.1
620
Lu, Lu........................................................................ WeBT3.2
84
Jung, TaeJin.............................................................. ThBT2.6
319
Lygeros, John ........................................................... WeCT1.1
125
.................................................................................. WeCT1.3
138
K Kallio, Pasi ................................................................ ThCT2.2
414
Kanjanapas, Kan....................................................... ThBT2.1
285
M. Aref, Mohammad ................................................. FrCT3.2
Karvinen, Kai............................................................. ThCT1.5
399
Ma, Chengbin ........................................................... ThBT3
Katalenic, Andelko .................................................... WeCT2.3
170
.................................................................................. ThBT3.2
Keikha, Ehsan ........................................................... ThBT3.4
347
Kemmetmueller, Wolfgang........................................ WeBT3.3 Kieneke, Rüdiger....................................................... FrBT2.2 Kim, Kyung-Soo ........................................................ ThBT2
91 523
M 663 C 332
.................................................................................. ThBT3.5
355
Ma, Jie ...................................................................... WeCT2.5
184
Maas, Jürgen ............................................................ FrBT2
CC
CC
.................................................................................. FrBT2.2
523 655
.................................................................................. ThBT2.5
313
Malmquist, Daniel ..................................................... FrCT3.1
Kim, Soohyun............................................................ ThBT2.5
313
Mattila, Jouni............................................................. ThCT3
Kirchner, Frank.......................................................... FrCT2.1
620
.................................................................................. FrCT3.2
663
CC
McManus, Brian........................................................ WeCT1.4
145
Kong, Kyoungchul ..................................................... WeCT2
C
.................................................................................. WeCT2.2
165
Kozek, Martin ............................................................ WeBT3.1
75
.................................................................................. ThBT2.4
307 612
Kugi, Andreas............................................................ WeBT3 .................................................................................. WeBT3.3 Kürster, Martin........................................................... ThBT1.2
Melchiorri, Claudio .................................................... ThBT2
C
C
Meng, Qiaoling.......................................................... FrCT1.4
91
Mo, Lingfei ................................................................ WeBT2.3
53
249
Mohammadi, Ali ........................................................ ThCT1.2
375
Moheimani, S.O. Reza.............................................. ThCT1
L
C
225
.................................................................................. ThCT1.1
368
Lan, Ruihong............................................................. ThBT1.1
243
.................................................................................. ThCT1.2
375
Lantz, Mark ............................................................... FrBT1.5
506
.................................................................................. ThCT1.4
391
Lee, Kok-Meng .......................................................... WeCT2.1
160
.................................................................................. ThCT1.5
399
Lee, Tong Heng ........................................................ FrBT1.6
511
.................................................................................. FrBT2.4
537
CC
Molengraft, René van de .......................................... FrBT2.3
530
.................................................................................. FrCT3.5
684
Moore, Steven .......................................................... FrBT2.4
537
Leng, Jianxing ........................................................... ThBT1.1
243
Moriello, Lorenzo ...................................................... ThBT2.4
307
Leng, Tongtong ......................................................... ThBT3.6
362
Munnig Schmidt, Robert, H....................................... ThBT1.3
256
Li, Baoren .................................................................. ThCT3.5
469
Li, Bing-chu ............................................................... WeCT2.6
190
Na, Byeonghun ......................................................... WeCT2.2
Li, Renjun .................................................................. FrBT2.6
549
Narayanan, Krishna Kumar ...................................... WeBT2.1
37
.................................................................................. FrBT3.4
577
Neumann, Ruediger.................................................. WeCT2.4
177
Li, Xinglong ............................................................... WeCT2.5
184
Ng, Adam.................................................................. FrBT1.6
511
Li, Xinyang ................................................................ ThBT1.6
276
Nguyen, Binh Minh ................................................... ThCT2.4
431
C
.................................................................................. ThCT2.5
437
Lai, Chow Yin ............................................................ WeCT3.4
Lei, Yong ................................................................... FrCT3
Li, Yangmin ............................................................... FrCT1
N 165
.................................................................................. FrCT1.3
606
.................................................................................. FrCT1.4
612
Oftadeh, Reza........................................................... FrCT3.2
CC
Oh, Jun Ho................................................................ ThBT2.6
319
.................................................................................. ThCT2.3
423
Oshima, Atsushi........................................................ FrBT1.3
490
Li, Zhi ........................................................................ ThBT3.1
325
Li, Zhiqiang................................................................ FrCT2.3
636
Palli, Gianluca........................................................... ThBT2.4
307
Lim, Chee Wang ....................................................... WeCT3.4
225
Pang, Chee Khiang................................................... FrBT1.6
511
.................................................................................. FrBT2.6
549
Pantazi, Angeliki ....................................................... WeCT1
Li, Yaoyu ................................................................... ThCT2
O 663
P
C
45
.................................................................................. WeCT1.1
125
Liu, Bofeng ................................................................ ThBT3.6
362
.................................................................................. WeCT1.3
138
Liu, Cheng-liang ........................................................ WeCT2.6
190
.................................................................................. FrBT1
Liu, Hongbo............................................................... ThBT1.1
243
.................................................................................. FrBT1
Liu, Jia-Yan ............................................................... FrBT3.6
589
.................................................................................. FrBT1.2
484
Lin, Chung-Yen ......................................................... WeBT2.2
Liu, Lianqing.............................................................. FrCT1
CC
.................................................................................. FrCT1
O
.................................................................................. FrCT1.1 Liu, Shaopeng ........................................................... WeBT2.3 Liu, Yuan ................................................................... ThBT1.1 Liu, Zhibin.................................................................. WeBT3.2 López Martínez, César Augusto................................ FrBT2.3
72
594
.................................................................................. FrBT1.5
506 131
.................................................................................. ThBT1.4
264
Pedersen, Henrik Clemmensen................................ WeBT3.4
243
Pettersen, Kristin Y. .................................................. WeBT1.5
530
O
Paris, Rene ............................................................... WeCT1.2
53 84
CC
Poo, Aun Neow......................................................... FrBT3.4
99 28 577
Author Index Posada, Luis Felipe................................................... WeBT2.1
37
Tao, Ruichao ............................................................ WeCT2.5
184
Post, Bill .................................................................... WeBT2.5
67
Teng, Ming-Chang .................................................... ThBT2.3
301
249
Thurner, Thomas ...................................................... ThBT1.4
264
Tian, Yanbing............................................................ ThCT3.2
453
Pott, Jörg-Uwe .......................................................... ThBT1.2 Q
45
332
Tomizuka, Masayoshi ............................................... WeBT2.2
Qu, Fengzhong ......................................................... ThBT1.1
243
.................................................................................. ThBT2.1
Quan, Long ............................................................... FrCT2.5
650
.................................................................................. ThBT2.2
293
.................................................................................. ThCT2.1
406
Qiao, Yue .................................................................. ThBT3.2
R
285
391
.................................................................................. FrBT1
Rastgoftar, Hossein................................................... FrBT3.3
569
.................................................................................. FrBT1.3
490
Ren, Xiao .................................................................. FrCT1.2
600
.................................................................................. FrBT3.1
555
670
Touati, Nahla ............................................................ WeCT3.6
237
197
Tsai, Yi-Jeng............................................................. ThBT2.3
301
125
Tsao, Tsu-Chin ......................................................... ThCT1
Rakotondrabe, Micky ................................................ ThCT1.4
Rinderknecht, Stephan.............................................. FrCT3.3 Roth, Matthias ........................................................... WeCT3.1 Rothuizen, Hugo ....................................................... WeCT1.1
C
CC
.................................................................................. ThCT1.3
383
256
Tsuchiya, Nolan Eizo ................................................ ThCT1.3
383
197
Tuma, Tomas............................................................ WeCT1.1
125
Sawodny, Oliver ........................................................ WeCT2.4
177
.................................................................................. WeCT1.3
138
.................................................................................. ThBT1.2
249
Scarcia, Umberto ...................................................... ThBT2.4
307
S Saathof, Rudolf ......................................................... ThBT1.3 Sandner, Thilo........................................................... WeCT3.1
Schirrer, Alexander ................................................... WeBT3.1
75
U Ursem, Luuk, J.......................................................... ThBT1.3
256
V
Schitter, Georg .......................................................... WeBT1
C
Vagia, Marialena....................................................... WeBT1.5
28
.................................................................................. WeBT1
O
van den Bosch, P. P. J. ............................................ WeCT2.3
170
20
Vardar, Yasemin ....................................................... WeBT1.3
O
Vassura, Gabriele ..................................................... ThBT2.4
307
.................................................................................. WeBT1.4 .................................................................................. WeCT1
13
Venkatakrishnan, Venkataramanan.......................... WeCT3.3
214
.................................................................................. ThBT1
C
.................................................................................. FrBT1.4
498
.................................................................................. ThBT1
O
Verhaegen, Michel.................................................... ThCT1.3
383
264
Vuong, Ngoc Dung ................................................... FrBT2.6
549
.................................................................................. WeCT1.2
.................................................................................. ThBT1.4 .................................................................................. ThCT1
131
O
W
Schmidt, Lasse.......................................................... WeBT3.4
99
Wang, Bin ................................................................. ThCT3.4
Schmidt, Steffen........................................................ WeCT2.4
177
Wang, Cong.............................................................. WeBT2.2
45
Schroedter, Richard .................................................. WeCT3.1
197
Wang, Junmin........................................................... WeBT2
CC 67
Sebastian, Abu.......................................................... WeBT1
CC
.................................................................................. WeBT1
O
.................................................................................. ThBT3.3
340
O
Wang, Longhao ........................................................ FrBT1.1
478
.................................................................................. WeCT1
.................................................................................. WeBT2.5
463
.................................................................................. WeCT1.1
125
Wang, Qingfeng........................................................ WeBT3.5
109
.................................................................................. WeCT1.3
138
.................................................................................. WeCT3.2
207 445
O
.................................................................................. ThCT3.1
Shahsavari, Behrooz................................................. ThBT3.4
.................................................................................. ThCT1
347
Wang, Rongrong....................................................... ThBT3.3
340
Shao, Da ................................................................... WeCT2.6
190
Wang, Shaoping ....................................................... FrBT2.5
543
Shin, Young June...................................................... ThBT2.5
313
Wang, Tao ................................................................ ThCT3.2
453
Si, Binqiang ............................................................... FrCT2.4
643
Wang, Xingjian.......................................................... FrBT2.5
543
Song, Hong ............................................................... ThBT1
CC
Wang, Xingsong ....................................................... FrCT3
.................................................................................. ThBT1
O
.................................................................................. FrCT3.4
678
C
.................................................................................. ThBT1.1
243
Wang, Yafei .............................................................. ThCT2.4
431
Spronck, Jo, W.......................................................... ThBT1.3
256
.................................................................................. ThCT2.5
437
Steinbuch, Maarten ................................................... FrBT2.3
530
Wang, Yizhou ........................................................... ThCT2.1
406
20
Wikander, Jan........................................................... FrCT3.1
655
670
Wu, Ning ................................................................... FrBT3.4
577
Su, Chun-Yi............................................................... ThBT3.1
325
Wu, Qingcong ........................................................... FrCT3.4
678
Sugie, Toshiharu ....................................................... WeCT3.5
231
Sun, Hao ................................................................... WeBT3.6
116
Xiao, Shunli............................................................... FrCT1.3
606
Sun, Zhiyi .................................................................. FrCT2.5
650
Xu, Jian-Xin .............................................................. WeCT3.3
214
.................................................................................. FrBT1.4
498
Steininger, Juergen ................................................... WeBT1.4 Strah, Bruno .............................................................. FrCT3.3
T
X
Tan, Yan Zhi.............................................................. FrBT1.6
511
Tang, Muchen ........................................................... FrBT1.6
511
Yamaguchi, Takashi ................................................. FrBT1
Tao, Guoliang............................................................ ThCT3.1
445
Yan, Peng ................................................................. ThBT3.6
Y
73
O 362
Author Index Yang, Gang ............................................................... ThCT3.5
469
Yang, Ping................................................................. ThBT1.1
243
Yang, Qinmin ............................................................ FrCT1.3
606
Yao, Bin..................................................................... WeBT3.2
84
.................................................................................. WeCT3.2
207
.................................................................................. ThCT3.1
445
.................................................................................. FrCT3.5
684
Yao, Chengyu ........................................................... ThCT3.3
457
.................................................................................. ThCT3.4
463
Yao, Hong ................................................................. WeBT3.5
109
Yeh, Keng-Hao.......................................................... FrBT3.6
589
Yong, Yuen Kuan ...................................................... ThCT1.2
375
Yuan, Shuai............................................................... FrCT1.1
594
Z Zhang, Hui................................................................. ThBT3.3
340
Zhang, Lei ................................................................. ThCT2.3
423
Zhang, Wenlong........................................................ FrBT3.1
555
Zhang, Zhen.............................................................. ThBT3.6
362
Zhao, Jinlei................................................................ ThBT3.5
355
Zhao, Zhijuan ............................................................ FrCT2.5
650
Zhu, Hongzhong........................................................ WeCT3.5
231
Zhu, Jihong ............................................................... FrCT2
C
.................................................................................. FrCT2.4
643
Zhu, Songsong.......................................................... ThBT1.1
243
Zhu, Xiaocong ........................................................... WeBT3
CC
.................................................................................. ThCT3 .................................................................................. ThCT3.1
74
CC 445
A Actuator and Sensor
FrBT2.2, FrBT2.4, FrBT2.5, FrBT3.2,
Systems
FrCT2.1, FrCT3.4, ThBT1.1,
Actuators Nonlinear Control
ThBT3.1, WeBT1.3, WeBT3.3
ThBT1.3, ThBT1.4, ThBT2.1,
Nonlinear Estimation and
ThCT2.1, WeBT2.2, WeBT2.4,
ThBT2.4, ThCT1.2, ThCT1.4,
Filtering
WeBT3.1
Optical Systems
ThBT1.1, ThBT1.2, ThBT1.3,
ThCT2.4, ThCT3.5, WeBT1.1, WeBT1.2, WeBT1.4, WeBT1.5,
O
WeBT2.3, WeCT1.1, WeCT1.2,
ThBT1.4, ThBT1.5, ThCT1.3
WeCT2.1, WeCT2.2, WeCT2.3, Adaptive Control
FrCT1.1, FrCT2.5, FrCT3.3,
R
WeCT2.6, WeCT3.1, WeCT3.3
Rapid Prototyping
FrCT2.5
FrBT1.1, FrBT2.3, FrBT2.5,
Robotics
FrBT2.1, FrBT2.6, FrBT3.1, FrBT3.4,
ThBT1.6, ThBT3.1, ThCT1.3,
FrBT3.6, FrCT1.1, FrCT1.3, FrCT2.1,
ThCT3.1, WeBT3.2, WeCT3.2
FrCT3.2, FrCT3.3, FrCT3.4,
Aerospace Systems
ThBT3.5
ThBT2.3, ThBT2.4, ThBT2.5,
Automotive Systems
ThCT2.3, ThCT2.4, ThCT2.5
ThBT2.6, ThCT2.1, ThCT2.2, WeBT2.1, WeBT2.2, WeBT2.4,
B Bio-Medical Systems
FrBT3.1, FrCT3.5, ThBT2.1,
WeBT2.5, WeCT2.2, WeCT3.4,
ThBT2.2 D Design
WeCT3.6 Robust Control
ThBT3.3, ThBT3.5, ThBT3.6,
ThBT2.2, ThBT2.3, ThBT2.5,
ThCT3.1, WeBT3.2, WeBT3.4,
ThBT2.6, ThBT3.6, ThCT3.3,
WeBT3.6, WeCT3.2, WeCT3.6
ThCT3.4, WeBT2.3, WeBT2.5, WeBT3.1, WeCT2.5 Diagnosis
FrBT2.3, ThBT3.1, ThBT3.2,
FrBT2.2, FrBT2.4, FrCT1.4, FrCT3.1,
S Signal Processing
FrCT2.4, ThCT3.3 F
ThBT1.4, ThCT2.2, ThCT2.5, WeBT2.4, WeCT3.5
Simulation
FrBT2.6, FrCT2.2, FrCT3.1,
Failure Tolerance
FrCT2.4, ThBT3.3, ThCT3.4
ThBT3.5, ThCT3.5, WeBT3.1,
Force Feedback
FrBT2.3, FrBT2.5, FrBT2.6
WeBT3.3, WeBT3.6, WeCT2.5, WeCT3.6
H Hybrid Control
FrBT2.2, FrCT3.3, ThBT2.2
Smart Structures
FrCT1.4
Test and Verification
ThBT1.2, ThBT1.3, ThBT2.3,
T
M Machines
FrBT2.1, ThCT3.3, ThCT3.4, WeCT2.3, WeCT2.5
Marine Systems
ThBT2.4
Micro-/Nanosystems
FrBT1.2, FrBT1.3, FrBT1.4, FrBT1.5, FrBT2.4, FrCT1.1, FrCT1.2, FrCT1.3, FrCT1.4, ThBT3.4, ThCT1.1, ThCT1.2, ThCT1.4, ThCT1.5, ThCT2.2, ThCT3.2, WeBT1.1, WeBT1.2, WeBT1.3, WeBT1.4, WeBT1.5, WeCT1.1, WeCT1.2, WeCT1.3, WeCT1.4, WeCT1.5, WeCT3.1, WeCT3.3, WeCT3.5
Motion Control
FrBT1.1, FrBT1.3, FrBT1.4, FrBT1.6, FrBT2.1, FrBT3.1, FrBT3.3, FrCT1.3, FrCT2.1, FrCT2.2, FrCT2.3, FrCT2.4, FrCT3.2, ThBT3.4, ThBT3.6, ThCT3.1, ThCT3.5, WeBT1.1, WeBT1.3, WeBT1.4, WeBT1.5, WeBT2.2, WeBT2.3, WeBT3.2, WeBT3.4, WeBT3.5, WeBT3.6, WeCT1.1, WeCT1.2, WeCT1.3, WeCT2.2, WeCT2.4, WeCT3.2, WeCT3.3, WeCT3.4, WeCT3.5
Multi-Disciplinary Modelling FrBT1.6, FrBT3.5, FrCT2.2, FrCT3.1, WeCT2.4
N Non-Conventional
ThCT1.4
ThBT3.4, WeCT2.3
Keyword Index
76
The 6th IFAC Symposium on Mechatronic Systems April 10-12, 2013, Hangzhou, China Sheraton Hangzhou Wetland Park Resort
Welcome Reception
Dinner
Tuesday April 9 18:30-21:00 XIXI 3
Wednesday, April 10 18:30-21:00 Feast Restaurant of Hotel West Wing
IFAC Banquet & Award
Farewell Reception
Thursday April 11 18:45-21:30 XIXI 1&2
Friday April 12 17:20-19:30 Feast Restaurant of Hotel West Wing
Conference website:
Industrial Sponsors
IFAC MECH2013 April 10-12, 2013 Zhejiang University, Hangzhou, China
Sponsored by IFAC Technical Committee on Mechatronic Systems
Co-sponsored by ASME DSCD Technical Committee on Mechatronics National Natural Science Foundation of China (NSFC) Chinese Mechanical Engineering Society Ministry of Education of the People's Republic of China Chinese Association of Automation Natural Science Foundation of Zhejiang Province of China
IFAC Mech’13 Final Program Copyright and Disclaimer The material submitted for presentation at an IFAC meeting (Congress, Symposium, Conference, Workshop) must be original, not published or being considered elsewhere. All papers accepted for presentation will appear in the Preprints of the meeting and will be distributed to the participants. Proceedings of the IFAC Congress, Symposia, Conferences and Workshops will be hosted on-line on the IFAC-PapersOnLine.net website. The presented papers will be further screened for possible publication in the IFAC Journals (Automatica, Mechatronics, Control Engineering Practice, Annual Reviews in Control, Journal of Process Control, and Engineering Applications of Artificial Intelligence), or in IFAC affiliated journals. All papers presented will be recorded as an IFAC Publication. All IFAC papers in IFAC-PapersOnLine are indexed by Scopus and EI. They also appear on Google Academics. Copyright of material presented at an IFAC meeting is held by IFAC. Authors will be required to transfer copyrights electronically. The IFAC Journals and, after these, IFAC affiliated journals have priority access to all contributions presented. However, if the author is not contacted by an editor of these journals within three months after the meeting, he/she is free to submit an expanded version of the presented material for journal publication elsewhere. In this case, the paper must carry a reference to the IFAC meeting where it was originally presented and, if the paper has appeared on the website www.IFAC-PapersOnLine.net, also a reference to this publication.
IV
Welcome Message On behalf of the Conference Organizing Committee, we are very pleased to welcome you to Hangzhou, China for the 2013 IFAC Symposium on Mechatronic Systems. This is the 6th edition of the triennial event organized by the IFAC Technical Committee on Mechatronic Systems, following the previous ones held in Darmstadt of Germany (2000), Berkeley of USA (2002), Sydney of Australia (2004), Heidelberg of Germany (2006), and Boston of USA (2010). The Symposium is technically sponsored by the IFAC Technical Committee on Mechatronic Systems with the support of the ASME DSCD Mechatronics Technical Committee, National Natural Science Foundation of China (NSFC), Chinese Mechanical Engineering Society, Ministry of Education of China, Chinese Association of Automation, and Natural Science Foundation of Zhejiang Province of China. There is a strong overlap between the focus of the IFAC Symposium and that of the International Conference on Fluid Power Transmission and Control Conference (ICFP), which sparked the idea of concurrently holding the two events at the same location. The organizing committees of the two events have worked out schemes to maximize the participants’ experience from technical, social, and financial points of view. Participants may freely select the sessions from the two events that they wish to attend, regardless of the event they registered for. The technical program includes three plenary and four semi-plenary lectures representing North America (Professors Brad E. Paden and Tsu-Chin Tsao), Europe (Professors Klaus JANSCHEK and Andreas Kugi), and Asia (Professors Makoto Kaneko, Han Ding, and Reza Moheimani), and a panel discussion on Future Education on Mechatronics. The program also includes 18 technical sessions comprising 98 papers selected out of 117 full paper submissions from 20 countries/regions, with 26 papers from the host country of China. Out of all nominations, five finalists have been selected for the Best Student Paper Award with the winner to be decided by the Award Committee based on the quality of the paper and the presentation during the conference. The Best Student Paper Award, along with three triennial Awards by IFAC Technical Committee on Mechatronic Systems, will be given in the conference banquet on Thursday. The conference social program includes a welcome reception on Tuesday, three lunches, a conference banquet on Thursday, and a farewell party on Friday. Hangzhou is the capital of Zhejiang province and its political, economic and cultural center. When Marco Polo came to Hangzhou in the 13th century he declared it " the most beautiful and elegant city in the world ". With the picturesque scenery of the West Lake located right in the heart of the city, which is also a UNESCO's World Heritage site, Hangzhou has always been the most attractive tourist city in China. Above is paradise, below is Suzhou and Hangzhou expresses peoples’ praise to Hangzhou. We believe you will not forget your time in Hangzhou. We wish to express our gratitude to all the individuals who have contributed to the organization II
Welcome Message of this conference. Special thanks are extended to our colleagues in the International Program Committee for advertising the conference and the Conference Associate Editors for obtaining thorough reviews of all the submissions, which is vital to the success of this conference. We must thank 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 participants for their support and participation in making this conference a great success. We wish you a great conference and an enjoyable visit in Hangzhou!
Prof. Yongxiang Lu Honorary Chair
Prof. Qingfeng Wang NOC Chair
Prof. Masayoshi Tomizuka Honorary Chair
Prof. Bin Yao IPC Co-Chair
Prof. Huayong Yang IPC Co-Chair
Table of Contents
International Program Committee
1
National Organizing Committee
3
Sponsorship
4
Plenary Lectures
5
Semi-Plenary Lectures
10
Panel Forum
18
Best Student Paper Awards
23
IFAC TC on Mechatronic Systems Awards
25
Local Information
26
Public Transportation
27
General Information
28
Transportation to the Conference Venue
29
Venue Floor Plan
32
Program at A Glance
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Detailed Program Listing
38
Book of Abstracts
47
Authors Index
70
Keywords Index
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Table of Contents
International Program Committee
Honorary Chairs Yongxiang Lu Masayoshi Tomizuka
Zhejiang University, China University of California at Berkeley, USA
Co-Chairs Bin Yao Huayong Yang
Purdue University, USA Zhejiang University, China
Vice-Chairs Andy Chang Klaus Janschek Kok-Meng Lee Huei Peng Abu Sebastian Takashi Yamaguchi
National Instruments, USA Dresden University of Technology, Germany Georgia Institute of Technology, USA University of Michigan, USA IBM Lab, Switzerland Ricoh, Japan
Members Gursel Alici; U of Wollongong, Australia Jordan M. Berg; Texas Tech U, USA George Chiu; Purdue U, USA Li-Chen Fu; Natl. Taiwan U Roger Goodall; Loughborough U, UK Yoichi Hori; U of Tokyo, Japan Katerina Hyniova; Czech TU, Czech Republic Doyoung Jeon; Sogang U, Korea Makoto Kaneko; Hiroshima U, Japan Won-jong Kim; Texas A&M U, USA Andreas Kugi; Vienna UT, Austria Gian Antionio Magnani; Poly. di Milano, Italy Claudio Melchiorri; U of Bologna, Italy Jun Ho Oh; KAIST, Korea Brad Paden; UC Santa Barbara, USA Bruno Siciliano; U of Naples, Italy Tsu-Chin Tsao; UC Los Angeles, USA
Marcelo Ang, Natl; U of Singapore, Singapore Carlos Canudas-de-Wit; CNRS, France Roger Dixon; Loughborough U, UK Hiroshi Fujimoto; U of Tokyo, Japan Mitsuo Hirata; Utsunomiya U, Japan Roberto Horowitz; UC Berkeley, USA Rolf Isermann; TU Darmstadt, Germany Karel Jezernik; U of Maribor, Slovenia Okyay Kaynak; Bogazici U, Turkey Ralf Koeppe; KUKA Roboter GmbH, Germany Tong Heng Lee; Natl. U of Singapore, Singapore Jianqin Mao; Beihang U, China Reza Moheimani; U of Newcastle, Australia Kohei Ohnishi; Keio U, Japan Klaus Schilling; U of Wuerzburg, Germany Maarten Steinbuch; Eindhoven UT, Netherlands Jia-Yush Yen; Natl. Taiwan U
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International Program Committee
Associate Editors Marcelo H Ang Jr Jordan M. Berg Andy Chang Roger Dixon Hiroshi Fujimoto Li-Chen Fu Mitsuo Hirata Yoichi Hori Chuxiong Hu Katerina Hyniova Klaus Janschek Doyoung Jeon Won-jong Kim GianAntonio Magnani Claudio Melchiorri Amit Mohanty S.O. Reza Moheimani Huei Peng Klaus Schilling Abu Sebastian Bruno Siciliano Chun-Yi Su Tsu-Chin Tsao Takashi Yamaguchi Huayong Yang Bin Yao Xiaocong Zhu
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University of Singapore, Singapore Texas Tech University, USA National Instruments, USA Loughborough University, UK University of Tokyo, Japan Natl. Taiwan University Utsunomiya University, Japan University of Tokyo, Japan Tsinghua University, China Czech TU, Czech Republic Dresden University of Technology, Germany Sogang University, Korea Texas A&M University, USA Politecnico di Milano, Italy University of Bologna, Italy Idaho National Laboratory, USA University of Newcastle, Australia University of Michigan, USA University of Wuerzburg, Germany IBM Lab, Switzerland University of Naples, Italy Concordia University, Canada University of California at Los Angeles, USA Ricoh, Japan Zhejiang University, China Purdue University, USA Zhejiang University, China
National Organizing Committee
Chair:
Qingfeng Wang
Zhejiang University
Vice-Chair, Industry:
Lau Fowai
Bosch Rexroth China
Publicity:
Ying Chen
Zhejiang University
Finance:
Wei Li
Zhejiang University
Local Arrangements:
Xin Fu Bing Xu
Zhejiang University Zhejiang University
Editor:
Bingfeng Ju
Zhejiang University
General Secretary:
Bingfeng Ju
Zhejiang University
Deputy Secretary:
Xiaoping Ouyang
Zhejiang University
Kaimin Guan
Zhejiang University
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Sponsorship
Co-Sponsors ASME DSCD Technical Committee on Mechatronics
National Natural Science Foundation of China (NSFC)
Chinese Mechanical Engineering Society
Ministry of Education of the People's Republic of China
Chinese Association of Automation
Natural Science Foundation of Zhejiang Province of China
Industrial Sponsors Bosch Rexroth China
Festo (China) Ltd. SMC (China) Co., Ltd. National Instruments
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Plenary Lectures Plenary Lecture I: Time: 09:00-10:00, Wednesday, April 10, 2013 Venue: XIXI 1&2 Chair: Yang, Huayong Prof. Brad E. Paden University of California, Santa Barbara LaunchPoint Technologies, Inc, USA
Adventures in Mechatronics Abstract : This talk aims to illustrate the creativity, challenge, technical depth and professional enjoyment associated with the invention and design of mechatronic devices. Example systems include a maglev transportation system, a guided-catheter system, an oxygen concentrator, maglev artificial hearts, high-speed switching mechanisms including an electronic engine valve, an energy storage system, a MEMS device, and a high-energy battery system. While modeling, control and optimization are essential ingredients in mechatronic systems, the large design and application spaces of mechatronic systems compel us to place a high value on innovation at the level of system architectures – this point is illustrated throughout the talk.
Brief Biography : Brad E. Paden is a Professor of Mechanical Engineering at the University of California, Santa Barbara, with a joint appointment in the Department of Electrical and Computer Engineering. Dr. Paden is a Fellow of the IEEE and a Fellow of the American Institute of Medical and Biological Engineering (AIMBE). He was the recipient of the 2010 ASME DSCD Draper Award for innovative practice, the 2001 IEEE Control Systems Society Technology Award, and the 1993 Kalman Best Paper Award from the ASME Journal of Dynamic Systems, Measurement, and Control. Dr. Paden has co-authored over 80 publications and holds 17 patents in the field of engineering systems. He is also Chairman of the Board and Co-Founder of LaunchPoint Technologies, Inc. As former CEO, Dr. Paden led the magnetic bearing and control system consulting business, expanded the business to contract engineering in the mid-1990’s, and in 2001, engaged the company in early-stage venture engineering activities. By involving the company with start-ups, intellectual property development, entity formation, and team building, Dr. Paden has focused LaunchPoint on value creation. He currently serves on the Board for LaunchPoint start-up partner, LaunchPoint Energy and Power, LLC (LEAP), and serves as an observer on the Boards of Magnetecs Corporation and Gravity Power, LLC. 5
Plenary Lectures Plenary Lecture II: Time: 09:00-10:00, Thursday April 11, 2013 Venue: XIXI 1&2 Chair: Yao, Bin Prof. Dr.techn. Klaus Janschek Chair of Automation Engineering Faculty of Electrical and Computer Engineering Technische Universität Dresden, Germany
Trapping and Guiding the Light – A Systems View on Optomechatronics Abstract : Light is ubiquitous in our daily life and yet it has many intrinsic hidden properties that one normally is not aware of at all. Optical engineering has helped to reveal some of those secrets in century old collaboration with mechanical engineering by building optical instruments with highest precision and stability - optomechanical engineering. A big step forward has been done through optoelectronics engineering that allowed suddenly the generation of artificial light sources with predetermined optical properties as well as using electro-optical phenomena for changing optical properties of materials or getting technical access to certain intrinsic light properties. Combining optomechanical and optoelectronic engineering under the umbrella of the systems oriented mechatronics engineering paradigm is offering much more added value beside the pure sum of heterogeneous technologies synthesized in one technical product or just integrating optical technology into the mechatronic loop, e.g. contactless optical motion sensors. It is the optomechatronics engineering paradigm that allows using light in a smart “trap and guide” way for creating new system functions, outstanding system performances and innovative problem solving products for industrial automation, scientific instrumentation and consumer market. This plenary talk will discuss optomechatronics from a systems perspective. Starting with a functional view on a generic optomechatronic system, the physical foundation of light and its principal properties that can be used for technical access will be further revisited (wave characteristics, Gaussian optics, interference, diffraction, polarization, etc.). Understanding of these properties allows (i) deriving and allocating requirements at optomechatronic system and component level for a given system task and (ii) defining the optomechatronic design space (design degrees of freedom) at functional and technological level taking into account specific technologies. How this optomechatronic design space is actually usable will be outlined by typical state-of-the-art optomechatronic design solutions (autofocus imaging, active vs. adaptive optics, optical communication, etc.) as well as by innovative concepts at research level. Special emphasis is further laid on the discussion of modeling and simulation issues for supporting a 6
Plenary Lectures model-based optomechatronics engineering process and recent advances on the synthesis of optical and mechatronic modeling and simulation approaches will be presented.
Brief Biography : Klaus Janschek received his Dipl.-Ing. degree in Electrical Engineering (1979) and PhD (Dr.techn.) in Control Systems Engineering (1982) from Technische Universität Graz, Austria. He had industrial experiences in control systems development (fatigue and vehicle test systems, aerospace guidance, navigation and control) from 1982 to 1995. Since 1995, he has been a Full Professor of Automation Engineering and Managing Director of Institute of Automation at the Faculty of Electrical and Computer Engineering and affiliated faculty member of the Faculty of Mechanical Engineering, Technische Universität Dresden, Germany. He was Dean of Studies in Mechatronics Engineering from 2001-2006 and Dean of Faculty Electrical and Computer Engineering, TU Dresden from 2009 to 2012. Visiting positions (scholar/professor): Stanford University, USA, Aeronautics & Astronautics Department (2005); Universidade Tecnológica Federal do Paraná, Campus Curitiba, Brasil (2007); Universidade Federal de Santa Catarina (UFSC), Florianópolis, Brasil (2009, 2012); Guest Professorship (2012-2015) at East China University for Science and Technology (ECUST), Shanghai, China. Scientific activities (selection): IFAC – International Federation of Automatic Control: Vice-Chair Technical Committee on Mechatronics (2009-2011, 2012-2014); Chair of Application Paper Prize Selection Committee (2012-2014); 4th IFAC Symposium on Mechatronic Systems 2006, Heidelberg, Germany: Chair of the International Program Committee. DFG – Deutsche Forschungsgemeinschaft (German Research Foundation): Elected Review Board Member (2008-2011, 2012-2015) for Automation, Control Systems, Robotics and Mechatronics; Head of Review Board on Systems Engineering (2012-2015). VDI – Verein Deutscher Ingenieure, Measurement and Automation Engineering Society (GMA): Elected Board Member, Branch Chair of Mechatronics, Robotics and Actuators; Chairman of the Technical Committee on Mechatronics (1999-2010) German Mechatronics Conferences: Program-Co-Chair (biannual, since 2005). Research interests: guidance-navigation-control, data fusion, mobile robotics, optical data processing and optomechatronics, systems design.
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Plenary Lectures
Plenary Lecture III: Time: 09:00-10:00, Friday, April 12, 2013 Venue: XIXI 1&2 Chair: Tomizuka, Masayoshi Prof. Makoto Kaneko Department of Mechanical Engineering Osaka University, Japan
Hyper Human Vision Opens Door of Breakthrough Abstract : The recognition speed of human eye is at most 15frames/sec. Due to this, we often miss what is happening when we observe a high speed phenomenon. A high speed vision is a kernel technology to make clear such a high speed phenomenon. There are two different ways of utilization of high speed vision system; one is in offline where we can precisely analyze the phenomenon while the recording time is limited in a few seconds, and the other is in online where we can obtain sensing data continuously processed in real time. In this talk, focusing on online vision system, we discuss the basic working principle how to increase the handling time of vision and show a couple of application examples. As for robot, we introduce the 100G capturing robot where it can capture a dropping object with the maximum acceleration of 100G (G:gravutational acceleration). As for bio, we introduce the deformability measurement system of red blood cell (RBC). When a cell passes through a micro channel whose width is less than the cell, it receives a viscous force depending upon how much deformation of cell. The passing time is therefore the function of cell stiffness and cell viscosity under uniform size. By excluding the time-dependent-phase, we succeeded in evaluating the pure cell stiffness with 400cells/sec in maximum speed. High deformability of RBC is a key for keeping our life. The loss of deformability of RBC eventually results in the increase of resistance force in blood pipe and as a result brings about the increase of blood pressure, which may lead to various issues on circulation system. We also apply the online high speed vision system to cell stress test where we observe the recovery behavior of cell after imparting extremely high stress which never appears in our body. All examples will be explained with video demonstration.
Brief Biography : Makoto Kaneko received BS in Mechanical Engineering from Kyushu Institute of Technology in 1976, and MS and Ph.D in Mechanical Engineering from Tokyo University in 1978 and 1981, respectively. He was a researcher at Mechanical Engineering Laboratory, 1981-1990, Associate 8
Plenary Lectures Professor at Kyushu Institute of Technology, 1990-1993, Professor at Hiroshima University, 1993-2006, and Professor at Osaka University since 2006. His research interests include dynamic-based active sensing, grasping strategy, hyper human technology and its application to medical diagnosis. He was a vice president of IEEE Robotics and Automation Society from 2004 to 2005. He has been an IEEE Fellow (2006) and received 25 awards, such as the Humboldt Research Award from Humboldt Foundation (1997), IEEE ICRA the Best Manipulation Paper Award (2000), IEEE ISATP the Outstanding Paper Award (2001), IEEE RAS 2003 King-Sun Fu Memorial Best Transactions Paper Award (2004), EEE ICIA the Best Conference Paper Award (2005), IEEE MHS the Best Paper Award (2011), and IEEE ICMA the Best Paper Award in Automation.
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Semi-Plenary Lectures Semi-plenary Lecture I-1 Time: 10:30-11:30, Wednesday, April 10, 2013 Venue: XIXI 1 Chair: Schitter, Georg Prof. Reza Moheimani School of Electrical Engineering & Computer Science University of Newcastle, Australia
Control of Atomic Force Microscope Microcantilever Dynamics: Mechatronics at the Nanoscale Abstract : The atomic force microscope (AFM) has emerged as a key enabling tool for nanoscience and nanotechnology. It has provided scientists and engineers with one of the most versatile methods of imaging structures at nanometer-scale. The ability to operate in air and in fluid environments gives the AFM a significant advantage over competing microscopy methods such as the Transmission Electron Microscope and the Scanning Electron Microscope that must operate in vacuum. The AFM has brought about significant progress in numerous scientific fields ranging from nanotechnology through to life sciences and medicine. Being a “mechanical microscope", it has also been used to manipulate matter at the nanometer-scale. Thus, it has emerged as the driving technology in nanomanipulation and nanoassembly, and as the key tool in nanorobotics research. A widely used AFM mode of operation is the tapping mode, in which the micro-cantilever is oscillated at its resonance frequency and comes into contact with the sample for a brief moment in each cycle. The quality (Q) factor of the AFM micro-cantilever influences both the maximum scan speed and the image quality when operating in tapping mode. In this talk, we present two new approaches to Q-factor control in AFM micro-cantilevers and explain how the Q factor can be changed as needed. The first method is based on the idea of piezoelectric shunt control, whereby the mechanical damping of a piezoelectric self-actuating micro-cantilever is controlled by applying an electrical impedance to the piezoelectric transducer. The second method is based on using a feedback controller with strictly negative imaginary transfer function, which is known to result in a remarkably robust feedback loop due to the collocated nature of the micro-cantilever transfer function.
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Semi-Plenary Lectures Brief Biography : Reza Moheimani joined The University of Newcastle, Australia in 1997, where he founded and directs the Laboratory for Dynamics and Control of Nanosystems, a multi-million-dollar state-of-the-art research facility dedicated to the advancement of nanotechnology through innovations in mechatronics and control engineering. He is a Professor and an Australian Research Council (ARC) Future Fellow with the School of Electrical Engineering and Computer Science at The University of Newcastle. His current research interests are mainly in the area of dynamics and control at the nanometer scale, and include applications of control and estimation in nanopositioning systems for high-speed scanning probe microscopy, modeling and control of micro-cantilever based devices, control of microactuators in microelectromechanical systems (MEMS) and control issues related to ultrahigh-density probe-based data storage systems. Professor Moheimani is a Fellow of IEEE, a Fellow of IFAC and a Fellow of the Institute of Physics (UK). He is a co-recipient of the 2007 IEEE Transactions on Control Systems Technology Outstanding Paper Award, and the 2009 IEEE Control Systems Technology Award; the latter with a group of researchers from IBM Zurich Research Labs, where he held several visiting appointments. He has served on the editorial board of a number of journals including the IEEE Transactions on Control Systems Technology, the IEEE/ASME Transactions on Mechatronics and Control Engineering Practice, and has chaired several international conferences and workshops. He is currently chairing the IFAC Technical Committee on Mechatronic Systems.
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Semi-Plenary Lectures
Semi-plenary Lecture I-2 Time: 10:30-11:30, Wednesday, April 10, 2013 Venue: XIXI 2 Chair: Yang, Huayong Prof. Han Ding Professor, School of Mechanical Science and Engineering Director, State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology, Wuhan, China
New Development of the Dynamics and Control for Five-axis NC Machining of Complex Surfaces Abstract : Motivated by the high-speed machining technology, five-axis NC machining of high-quality complex surfaces with high efficiency is urgently demanded by various industries, such as aerospace industry, automotive industry, and shipping industry etc. Along with the fast-developing machine tool industry, the manufacturing scientists and engineers have devoted considerable efforts to investigating the basic physics of material-removing processes, designing tools, planning tool paths, and selecting the optimal machining parameters in the decades. To go a step further to exploit the potential of five-axis NC machining, it is necessary to more deeply understand the tool dynamics and control involved in five-axis NC machining. This talk is intended to review the fundamental dynamics and control for five-axis NC machining of complex surfaces from the viewpoint of robotics, and to present the new development results achieved by our team. As for the dynamics, we propose a full-discretization method for prediction of milling stability. It is a general and efficient stability prediction method suitable for the cases of milling with low or high radial depths of cut, milling with low or high axial depths of cut, milling with variable pitch cutters, and milling of thin-walled workpieces etc. Moreover, this method can serve as a useful tool for simultaneous prediction of surface location errors. This presentation provides an opportunity for people working in the fields of multi-axis machining and robotics to share their perspectives and exchange information on new developments of the dynamics and control for five-axis NC machining of complex surfaces. Per the control method for five-axis NC machining, previous scholars focus on passive control to mitigate the chatter instability by reducing the working spindle speeds or depths of cut or both. But they have inherent disadvantages in gaining highly efficient machining. On the contrary, the research of our work is along the line of active control. It adopts an active structural control system to alter system dynamics by installing intelligent actuators (like piezo-electric and 12
Semi-Plenary Lectures electro-strictive actuators) and vibrations sensors (like strain gages) onto spindle and rotation tools, respectively. The sensors and intelligent actuators form an additional closed-loop to facilitate the controller design. By properly altering system dynamics with output regulation method, an active controller is developed to improve the chatter stability region in terms of stability lobes diagram for the closed-loop system and hence achieve a higher maximal metal removal rate. In this way, the tool pieces surface quality is preserved with higher machining efficiency.
Brief Biography : received his Ph.D. degree from Huazhong University of Science and Technology (HUST), Wuhan, China, in 1989. Supported by the Alexander von Humboldt Foundation, he was with the University of Stuttgart, Germany from 1993 to 1994. He worked at the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore from 1994 to 1996. He has been a Professor at HUST ever since 1997 and is now Director of the State Key Lab of Digital Manufacturing Equipment and Technology there. Dr. Ding was a "Cheung Kong" Chair Professor of Shanghai Jiao Tong University from 2001 to 2006. He chaired two 973 Projects (Basic Research Programs of China ) sponsored by Ministry of Science and Technology. Dr. Ding acted as an Associate Editor of IEEE Trans. on Automation Science and Engineering (TASE) from 2004 to 2007. Currently, he is an Editor of IEEE TASE and a Technical Editor of IEEE/ASME Trans. on Mechatronics. His research interests include multi-axis machining, robotics and control engineering.
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Semi-Plenary Lectures
Semi-plenary Lecture II-1 Time: 10:30-11:30, Thursday, April 11, 2013 Venue: XIXI 1 Chair: Paden, Brad Prof. Andreas Kugi Editor-in-Chief, Control Engineering Practice University Professor, Automation and Control Institute Vienna University of Technology, Austria
Model-based Nonlinear Control of Mechatronic Systems Abstract : The ever increasing availability of cheap and powerful integrated real-time hardware makes it possible to apply computationally intensive advanced nonlinear control and optimization methods to mechatronic systems. In view of the advances in nonlinear control theory in the last decades, it seems reasonable to pose the question how these achievements can be exploited in the overall mechatronic design process. This is not only concerned with the optimum selection of system parameters, the sensor and actuator placement problem, the controller and observer design itself but also with the principal question, which properties must be guaranteed by the constructional design and which properties can be adjusted by means of an embedded controller. By means of selected examples we will show that in order to make full use of the existing powerful nonlinear control concepts it is necessary to derive tailored (physics-based) mathematical models. In this talk, various applications ranging from electrical drives, pneumatic fast-switching valves, a MEMS angular rate sensor to hydraulic systems with smart fluids will be presented.
Brief Biography : Andreas Kugi received the Dipl.-Ing. degree in electrical engineering from Graz University of Technology, Austria, and the Ph.D. (Dr.techn.) degree in control engineering from Johannes Kepler University (JKU), Linz, Austria, in 1992 and 1995, respectively. From 1995 to 2000 he worked as an assistant professor and from 2000 to 2002 as an associate professor at JKU. He received his ”Habilitation” degree in the field of automatic control and control theory from JKU in 2000. In 2002, he was appointed full professor at Saarland University, Saarbrücken, Germany, where he held the Chair of System Theory and Automatic Control until May 2007. Since June 2007 he has been the Head of the Automation and Control Institute (ACIN) at Vienna University of Technology, Austria. His research interests include the physics-based modeling and control of (nonlinear) mechatronic systems, differential geometric and algebraic methods for nonlinear 14
Semi-Plenary Lectures control, and control design for infinite-dimensional systems. He is involved in several industrial research projects in the field of automotive applications, hydraulic, pneumatic and electrical drives, smart structures and rolling mill applications. Dr. Kugi is the Editor-in Chief of Control Engineering Practice. Since 2010, he is corresponding member of the Austrian Academy of Sciences.
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Semi-Plenary Lectures
Semi-plenary Lecture II-2 Time: 10:30-11:30, April 11, 2013 Venue: XIXI 2 Chair: Horowitz, Roberto Prof. Tsu-Chin Tsao Professor and Chair, Mechanical & Aerospace Engineering Department Henry Samueli School of Engineering and Applied Science University of California at Los Angeles, USA
Rejecting Deterministic and Random Disturbances in Mechatronic Systems Abstract : Mechatronics systems are often subject to mixed deterministic and random external signals for tracking or disturbance rejection. For example, a computer disk drive read-write head is subject to repeatable disturbances synchronized with the spindle rotation and other random disturbances from vibration and air flow turbulence. Numerous control algorithms in the literature have addressed these two types of disturbances separately. Recent control algorithms that are designed to address both will be discussed, which involve the utilization of internal model control, internal model principle, repetitive control, Youla parameterization of stabilizing controllers, adaptive estimation and control, and robust stability analysis. Also, the implementation on several mechatronic systems with parenthetical remarks on digital signal processing for real-time realization will be presented.
Brief Biography : Tsu-Chin Tsao, Professor and Chair of the Department of Mechanical and Aerospace Engineering, received his B.S. in Mechanical Engineering from National Taiwan University, and both his M.S. and Ph.D. also in Mechanical Engineering from the University of California, Berkeley. From 1988 to 1999, Dr. Tsao was Assistant then Associate Professor of Mechanical and Industrial Engineering at the University of Illinois at Urbana-Champaign. Dr. Tsao came to UCLA Engineering in 1999. Tsao’s research interests include modeling and control of dynamic systems and mechatronics. His work in precision motion control has created a number of control algorithms, including optimal feedforward tracking, repetitive and iterative learning control, and adaptive control, realized on a broad range of high technology applications. Particularly, his technology of Non-Circular Turning Process has been realized in the production of automotive engine pistons 16
Semi-Plenary Lectures and other bearing surfaces with tight tolerance, which has contributed to the technological advances and improvement in engine fuel economy and emission reduction. Tsao’s recent research addresses challenges and innovations in nano-precision positioning, laser beam target tracking, surgical robotic manipulators, and compressed air hybrid vehicles. Tsao’s research has been recognized by the International Symposium of Flexible Automation Best Paper Award, the American Automatic Control Council’s O. Hugo Schuck Best Paper Award, the ASME Journal of Dynamic Systems Measurement And Control Best Paper Award, and the ASME Dynamic Systems and Control Division Outstanding Young Investigator Award, just to name a few. Providing numerous service and leadership to technical communities, he has been the Chair of the Executive Committee of the ASME Dynamic Systems and Control Division, Program Chair of the 2010 ASME Annual Dynamic Systems and Control Conference, Technical Editor of IEEE/ASME Transactions of Mechatronics, and Associate Editor of Transactions of ASME Journal of Dynamic Systems Measurement and Control. He is a Fellow of American Society of Mechanical Engineers (ASME), Senior Member of Institute of Electrical and Electronic Engineers (IEEE), and Sustaining Member of American Society of Precision Engineers (ASPE).
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Panel Forum Theme of Panel Forum: Future Education on Mechatronics Time: 10:30-11:40, Friday, April 12, 2013 Venue: XIXI 1&2 Organizers: Professors G. T. Chiu and Bin Yao Chair: Prof. Bin Yao, School of Mechanical Engineering, Purdue University, USA Panelists: Profs. G. T. Chiu, Klaus Janschek, Okyay Kaynak, Andreas Kugi, Kok-Meng Lee, Reza Moheimani, Masayoshi Tomizuka
Prof. Bin Yao Professor, School of Mechanical Engineering, Purdue University Chang Jiang Chair Professor, State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University
Brief Biography: Dr. Yao received his PhD degree in Mechanical Engineering from the University of California at Berkeley in 1996 after obtaining B.Eng. in Applied Mechanics from Beijing University of Aeronautics and Astronautics of China in 1987 and M.Eng. degree in Electrical Engineering from Nanyang Technological University of Singapore in 1992. He has been with the School of Mechanical Engineering at Purdue University since 1996 where he was promoted to the rank of Professor in 2007. He was also honored as a Kuang-piu Professor in 2005 and a Chang Jiang Chair Professor at Zhejiang University by the Ministry of Education of China in 2010. He is currently on leave from Purdue and is with the State Key Laboratory of Fluid Power Transmission and Control at Zhejiang University under the National Recruitment Program of Global Experts. Dr. Yao was awarded a Faculty Early Career Development (CAREER) Award from the National Science Foundation (NSF) in 1998. His research interests include the design and control of intelligent high performance coordinated control of electro-mechanical/hydraulic systems, optimal adaptive and robust control, nonlinear observer design and neural networks for virtual sensing, modeling, fault detection, diagnostics, and adaptive fault-tolerant control. He is the recipient of the O. Hugo Schuck Best Paper (Theory) Award from the American Automatic Control Council in 2004, the Outstanding Young Investigator Award of ASME Dynamic Systems and Control Division (DSCD) in 2007, and the Best Conference Paper Award in Mechatronics from ASME DSCD in 2012. He is a Fellow of ASME and member of IEEE and has chaired numerous sessions and served in a number of International Program Committee of various IEEE, ASME, and IFAC conferences including the General Chair of the 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Details can be found at https://engineering.purdue.edu/~byao. 18
Panel Forum
Prof. G. T. Chiu Professor, School of Mechanical Engineering, Purdue University Professor, School of Electrical and Computer Engineering, Purdue University
Brief Biography: Dr. Chiu is a Professor in the School of Mechanical Engineering with courtesy appointments in the School of Electrical and Computer Engineering and the Department of Psychological Sciences at Purdue University. He is currently on leave from Purdue and is serving as the Program Director for the Control Systems Program in the Civil, Mechanical and Manufacturing Innovation Division of the Engineering Directorate at the National Science Foundation. He received the B.S. degree in Mechanical Engineering from the National Taiwan University in 1985 and the M.S. and Ph.D. degrees in Mechanical Engineering from the University of California at Berkeley, in 1990 and 1994, respectively. Dr. Chiu's current research interests are mechatronics and dynamic systems and control with applications to digital printing and imaging systems, digital fabrications, human motor control, motion and vibration perception and control. He is the Editor of the Journal of Imaging Science and Technology and the Vice-Chair for the ASME Dynamic Systems and Control Division (DSCD). Dr. Chiu received the 2010 IEEE Journal of Control Systems Technology Outstanding Paper Award and the Purdue University College of Engineering Team Excellence Award in 2006 and Faculty Engagement/Service Excellence Award in 2010. Dr. Chiu is a Fellow of the Society for Imaging Science and Technology and a member of ASME and IEEE.
Prof. Dr.techn. Klaus Janschek Chair of Automation Engineering Faculty of Electrical and Computer Engineering Technische Universität Dresden
Brief Biography: See Plenary Lecture II.
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Panel Forum
Prof. Okyay Kaynak UNESCO Chair on Mechatronics Bogazici University, Istanbul, Turkey Co-Editor-in-Chief, IEEE Transactions on Industrial Electronics Editor-in-Chief-Elect, IEEE/ASME Transactions on Mechatronics
Brief Biography: Dr. Okyay Kaynak is a graduate of University of Birmingham, UK (B.Sc. 1969, Ph.D. 1972). He holds UNESCO Chair on Mechatronics at Bogazici University, Istanbul, Turkey. He has held long-term (near to or more than a year) Visiting Professor/Scholar positions at various institutions in Japan, Germany, U.S. and Singapore. His current research interests are in the fields of intelligent control and mechatronics. He has authored three books and edited five and authored or coauthored more than 350 papers that have appeared in various journals and conference proceedings. Dr. Kaynak is a fellow of IEEE. He has served as the founding Editor-in-Chief of the IEEE Trans. on Industrial Informatics. Currently he is the Co-Editor-in-Chief of the IEEE Trans. on Industrial Electronics and the incoming Editor-in-Chief of IEEE/ASME Trans. on Mechatronics. Additionally he is on the Editorial or Advisory Boards of a number of scholarly journals. Dr. Kaynak is active in internationally organizations, has served on many committees of IEEE and was the president of IEEE Industrial Electronics Society during 2002-2003.
Prof. Andreas Kugi Editor-in-Chief, Control Engineering Practice University Professor, Automation and Control Institute Vienna University of Technology, Austria
Brief Biography: See Semi-Plenary Lecture II-1.
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Panel Forum Prof. Kok-Meng Lee Professor,George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology Distinguished Professor, School of Mechanical Science and Engineering, Huazhong University of Science and Technology. Editor-in-Chief, IEEE/ASME Transactions on Mechatronics
Brief Biography: Dr. Kok-Meng Lee received his B. S. degree in mechanical engineering from the State University of New York at Buffalo in 1980, and earned his S. M. and Ph. D. degrees in mechanical engineering from the Massachusetts Institute of Technology in 1982 and 1985 respectively. Since 1985, Dr. Lee has been a faculty with the George W. Woodruff School of Mechanical Engineering at Georgia Institute of Technology. Currently, he is Professor of Mechanical Engineering at Georgia Tech. He was also honored as Pao Yu-Kong Chair Professor at Zhejiang University. He is currently on leave from Georgia Tech and is a Distinguished Professor with the State Key Laboratory of Digital Manufacturing Equipment and Technology at Huazhong University of Science and Technology under the National Recruitment Program of Global Experts. His research interests include system dynamics/control, robotics, automation, machine vision, and mechatronics. Dr. Lee is a fellow of IEEE and ASME. Recognitions of his research contributions include the NSF Presidential Young Investigator (PYI) Award, Sigma Xi Junior Faculty Award, International Hall of Fame New Technology Award, Woodruff Faculty Fellow, three best paper awards and ten U. S., Canada and European patents. He is also recognized as advisor for nine Best Student Paper and Thesis Awards. Dr. Lee is Editor-in-Chief for the IEEE/ASME Transactions on Mechatronics (TMech) since 2008. Prior to this appointment, he served as Technical Editor for TMech (1995-1999) and as Associate Editor for IEEE Robotics and Automation Society Magazine (1994-1996), IEEE Transactions on Robotics and Automation (1994-1998) and IEEE Transactions on Automation Science and Engineering (2003-2005). He was ICRA Local Chair (1993), IEEE/ASME AIM General Co-Chair (1997), General Chair (1999) and as ASME Liaison for IEEE/ASME AIM since its inception. Details can be found at http://www.me.gatech.edu/aimrl/
Prof. Reza Moheimani School of Electrical Engineering & Computer Science University of Newcastle, Australia
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Panel Forum Brief Biography: See Semi-Plenary Lecture I-1.
Prof. Masayoshi Tomizuka Cheryl and John Neerhout, Jr., Distinguished Professorship Chair Department of Mechanical Engineering University of California at Berkeley
Brief Biography: Masayoshi Tomizuka received his B.S. and M.S. degrees in Mechanical Engineering from Keio University, Tokyo, Japan and his Ph. D. degree in Mechanical Engineering from the Massachusetts Institute of Technology in February 1974. In 1974, he joined the faculty of the Department of Mechanical Engineering at the University of California at Berkeley, where he currently holds the Cheryl and John Neerhout, Jr., Distinguished Professorship Chair and serves as Associate Dean of Engineering. He teaches courses in dynamic systems and controls. His current research interests are optimal and adaptive control, digital control, signal processing, motion control, and control problems related to robotics and rehabilitation, vehicles and mechatronic systems. He served as Program Director of the Dynamic Systems and Control Program of the National Science Foundation (2002-2004). He has supervised about 100 PhD students to completion. He has published over 600 articles in professional journals and conference proceedings. He served as Technical Editor of the ASME Journal of Dynamic Systems, Measurement and Control, J-DSMC (1988-93), Editor-in-Chief of the IEEE/ASME Transactions on Mechatronics (1997-99), and Associate Editor of the Journal of the International Federation of Automatic Control (IFAC), Automatica. He served as President of the American Automatic Control Council (AACC) (1998-99), and he chaired the IFAC Technical Committee on Mechatronic Systems. He is a Fellow of the ASME, the Institute of Electric and Electronics Engineers (IEEE), IFAC and the Society of Manufacturing Engineers. He is the recipient of the J-DSMC Best Paper Award (1995, 2010), the DSCD Outstanding Investigator Award (1996), the Charles Russ Richards Memorial Award (ASME, 1997), the Rufus Oldenburger Medal (ASME, 2002) and the John R. Ragazzini Award (AACC, 2006).
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Best Student Paper Award Procedure The procedure for selecting the winners of the IFAC Mechatronics’13 Best Student Paper Award is a two-step process; the two steps are independent. In Step one, finalists are selected from the nominations by the Program Committee based on reviews of the written submissions. The final selection of the Best Student Paper winners will be made by the IFAC Mechatronics’13 Best Student Paper Award Committee considering on a number of factors including originality, scientific/technical contributions, and clarity in both written paper and oral presentation. Best student paper finalists must be the first author of the paper and must present the paper. Papers not presented will be excluded. After careful review by the Program Committee and the Award Committee Chair, the following five finalists have been selected from the nominations for the Best Student Paper Award: 13:20-13:40, Paper WeBT02.2 Visual Servoing Considering Sensing Dynamics and Robot Dynamics Wang, Cong
Univ. of California, Berkeley
Lin, Chung-Yen
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
14:00-14:20, Paper WeBT1.4 High-Precision Positioning System Using a Low-Stiffness Dual Stage Actuator (I) Ito, Shingo
Vienna Univ. of Tech.
Steininger, Juergen
Vienna Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
16:00-16:20, Paper WeCT1.3 Analysis and Design of Multiresolution Scan Trajectories for High-Speed Scanning Probe Microscopy (I) Tuma, Tomas
IBM Res.
Lygeros, John
ETH Zurich
Sebastian, Abu
IBM Res. - Zurich
Pantazi, Angeliki
IBM Res. - Zurich
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Best Student Paper Award
13:20-13:40, Paper ThBT2.2 Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study Lu, Junkai
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
15:20-15:40, Paper ThCT1.1 A New Approach to Active Q Control of an Atomic Force Microscope Micro-Cantilever Operating in Tapping Mode (I) Fairbairn, Matthew
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
Winner of the Best Student Paper Award will be selected by the following Award Committee:
Award Committee Chair:
Brad Paden, Professor, University of California at Santa Barbara, USA
Members:
Doyoung Jeon, Professor, Sogang University, Korea Makoto Kaneko, Professor, Osaka University, Japan Andreas Kugi, Professor, Vienna University of Technology, Austria Claudio Melchiorri, Professor, University of Bologna, Italy
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IFAC Technical Committee on Mechatronic Systems Awards The three inaugural Awards of IFAC Technical Committee on Mechatronic Systems will be given in the conference banquet as well.
LIFETIME ACHIEVEMENT AWARD This award is presented triennially by IFAC TC4.2 to a researcher who has an exceptional history of participation in and contributions to IFAC mechatronic systems activities, and who has made enduring research contributions in mechatronics, either of a fundamental or applied nature. The recipient of the award is
Masayoshi Tomizuka for seminal and pioneering contributions in the field of mechatronics and the control of mechanical systems.
MECHATRONIC SYSTEMS AWARD This award is presented triennially by IFAC TC4.2 to a researcher who has demonstrated sustained outstanding research contributions in mechatronic systems, either of a fundamental or applied nature, and who has a significant history of participation in and contributions to IFAC mechatronic systems activities. The recipient of the award is
Reza Moheimani for outstanding contributions to design, fabrication, modeling and control of mechatronic systems for investigation and engineering of matter at the nanometer scale.
YOUNG RESEARCHER AWARD This award is presented triennially by IFAC TC4.2 to a researcher who is 40 years or younger (on first of March of the year of the award), who has an established history of participation in and contributions to IFAC mechatronic systems activities, and who has demonstrated outstanding research contributions in mechatronics, either of a fundamental or applied nature. The recipients of the award are
Abu Sebastian for significant contributions to the field of micro-/nanoscale mechatronic systems spanning areas such as scanning-probe technology, nanopositioning, nanoscale sensing, data storage and emerging memory technologies.
Georg Schitter for substantial contribution to the mechatronic design and control of nano-positioning systems for nano-metrology and high-speed scanning probe microscopy.
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Local Information Geography ! Hangzhou locates close to China east coast between 118°21!-120°30! east longitude and 29°11!-30°33! north latitude.
Trivia ! Hangzhou covers an area of 16596 km2 with a population of 6.60 million ! Hangzhou is one of the seven ancient capitals and the key scenic tourism and historical culture cities in China. So Hangzhou once was “the most splendid and luxurious city in the world” by Marco Polo. ! Hangzhou is the second provincial capital in economic strength and one of the top ten big-middle cites in economic general strength. ! Hangzhou attracts more than 20 million domestic and foreign tourists every year as a famous scenic city in China. ! Hangzhou is only 50 minutes away from Shanghai by High-speed Rail ! Scenic attractions: museums, cultural centers, West Lake, Xixi Wetland, shopping center etc.
Climate ! April is the spring season in China with average temperature around 15-25° C.
Electricity and water ! Electrical Outlet: TYPE A/TYPE B, 220volts, 50 Hz AC. ! Drinking water served at hotels and restaurants is distilled or boiled. Tap water should be boiled before drinking.
Time Zone ! China is 8 hours ahead Greenwich Mean Time (UTC/GMT +8 hours). No daylight saving time.
Currency and Bank ! The Country’s currency is the China Yuan (CNY). The exchange rate in current months is around CNY6.21=US$1. [Check the exchange rates] ! Foreign currencies can be exchanged at government-designated banks.(Most banks require no more than 5000US$/each time) ! Credit Cards are widely accepted throughout the country; Traveler’s checks may be accepted by tourist-oriented shops, most of international tourist hotels and banks. ! Most of the banks are open whole day from 9:00-17:00, Monday to Friday and 9:00-16:00 on weekends.
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Public Transportation Airports Information 1. Shanghai Pudong International Airport Add: No.900, Qihang Road, Pudong New District, Shanghai, China Tel: +86- 21- 68347575 Web: http://en.shairport.com/pudongair.html 2. Shanghai Hongqiao International Airport Add: No.2550, Hongqiao Road, Changning District, Shanghai, China Tel: +86- 21- 62688899 Website: http://en.shairport.com/hongqiaoair.html 3. Hangzhou International Airport (Xiaoshan International Airport) Add: Shaoshan, Hangzhou, China Tel: +86- 571- 86661234 or 86661182. Web: http://www.hzairport.com/en/index_flash_en.aspx
Railway Stations Information 1. Shanghai Hongqiao Railway Station Add: Shenlan Road, Minhang District, Shanghai (to the west of Hongqiao International Airport) Tel: +86- 21- 51245555 http://www.travelchinaguide.com/cityguides/shanghai/transportation/hongqiao-railway-station.htm 2. Hangzhou Railway Station Add: Chengzhan Road, Shangcheng District, Hangzhou Tele: +86- 571- 56720222 http://www.travelchinaguide.com/china-trains/hangzhou-schedule.htm
Coach Stations Information 1. Hangzhou Passenger Transport Centre Station (Jiubao Coach Station) Add: No.3339, Desheng East Road, Jiubao Town, Chiangkan District TEL: +86- 571- 87650679 2. Hangzhou South Coach Station Add: No.407, Qiutao Road(close to Dongbao Road), Chiangkan District TEL:+86- 571- 86075352 3. Hangzhou West Coach Station Address: No. 357, Tianmushan Road, West Lake District TEL: +86-571- 85222237 4. Hangzhou North Coach Station Address: No.766, Moganshan Road, Gongshu District TEL: +86-571- 88097761 For more Travel Information, please visit: http://www.travelchinaguide.com/cityguides/hangzhou.htm
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General Information Conference Venue The conference will take place at Sheraton Hangzhou Wetland Park Resort
Address 1 Westbrook Resort, Zijingang Road, Hangzhou city, Zhejiang Province Telephone: +86-0571-85002222 Fax: +86-0571-85002666 Official Website: http://www.starwoodhotels.com/
Registration Desk Location: Lobby of Sheraton Hangzhou Wetland Park Resort Time: 13:00-21:00, Tuesday(April 9); 8:00-17:00, Wednesday & Thuesdaty; 8:00-12:00, Friday
Secretariat of IFAC2013 Room: 1026 TEL: +86-15967108016 (Mr. Ouyang), +86-18758260369 (Ms. Guan) E-mail:,[email protected], [email protected]
Official Language The official language of the conference is English.
Conference Auxiliary Facilities At each presentation room, one set of LCD Projector will be provided. The presenters could prepare and use their own computers or use the computer we provided.
Internet Access Wireless Internet access in Sheraton Hangzhou Wetland Park Resort will be provided.
Social Event Schedule The Social Events organized by IFAC2013 included Welcome Reception, Dinner, Banquet, Farewell Reception and three lunches. All the Social Events will be held in Sheraton Hangzhou Wetland Park Resort. Tuesday, April 9, 2013 Welcome Reception 18: 30 – 21: 00 XIXI 3 Wednesday, April 10, 2013 Lunch 11: 40 – 12: 50 Front Hall of XIXI Ballroom Dinner 18: 30 – 21: 00 Feast Restaurant of Hotel West Wing Thursday, April 11, 2013 Lunch 11: 40 – 12: 50 Front Hall of XIXI Ballroom Banquet & Award 18: 45 – 21: 30 XIXI 1&2 Friday, April 12, 2013 Lunch 11: 40 – 12: 50 Front Hall of XIXI Ballroom Farewell Reception 17: 20 – 19: 30 Feast Restaurant of Hotel West Wing 28
Transportation to the Conference Venue From Hangzhou International Airport (Xiaoshan International Airport) Way1: Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 45Km, 50min, RMB 160) Way2: A. Take an airport shuttle bus to Civil Aviation Ticket Office (WuLinMen): Departing Time
Distance
Time
Fare
30 Km
2 Hour
RMB 20
Every 30 minutes from 7: 30 – 9: 30 Every 15 minutes from 9: 30 – 17: 30 Every 20 minutes from 17: 30 – 21: 00 Every 30 minutes after 21: 00~ B. Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 11Km, 20min, RMB 30) PS: Buses depart after 21:00 terminate at WuLin Square (near Civil Aviation Ticket Office)
From Shanghai Pudong International Airport A. Take the coach to Hangzhou at Coach station in Pudong airport: Departing Time (Pudong airport—Hangzhou) 8:40, every 60 minutes from 10:00 - 21:00
Fare
Time
RMB 100
3 Hour
B. Get off at Civil Aviation Ticket Office (WuLinMen, available all day) or Hanglong Sport Center (only available in the afternoon ): C. Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 11Km, 20min, RMB 30).
From Shanghai Hongqiao International Airport A. Take subway line 10 (from Hongqiao Airport Terminal 1) or line 10/2 (from Hongqiao Airport Terminal 2) to Hongqiao Railway Station (two or one stations) B. Get a high-speed rail(HSR) ticket to Hangzhou Railway Station (NOT Hangzhou South Railway Station): Departing Time (Hongqiao Railway Station-Hangzhou) About every 30 minutes from 6:38 to 21:52
Fare
Time
About RMB 124 (first class) About RMB 78 (second class)
1 Hour
C. Take a taxi to Sheraton Hangzhou Wetland Park Resort (about 14Km, 30min , RMB 45)
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Transportation to the Conference Venue
30
Transportation to the Conference Venue
31
Venue Floor Plan
32
Venue Floor Plan
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Program at A Glance Mechatronics '13 Technical Program Tuesday, April 9, 2013 13:00 -21:00 Lobby of Sheraton Hangzhou Wetland Park Resort Registration 18:30-21:00 XIXI 3 Welcome Reception (included in Registration) Note: Other Registration Time 8:00-17:00, Wednesday 8:00-17:00, Thuesdaty 8:00-12:00, Friday
Mechatronics '13 Technical Program Saturday, April 13, 2013 09:30-Noon Tour to Xixi National Wetland Park or West Lake
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Program at A Glance
Mechatronics '13 Technical Program Wednesday April 10, 2013 Track T1
Track T2
Track T3
08:30-09:00 XIXI 1&2 Welcome Remarks by Honorary Chairs, Profs. Yongxiang Lu and Masayoshi Tomizuka, and IFAC and Zhejiang University Representatives 09:00-10:00 Plenary Lecture I XIXI 1&2 "Adventures in Mechatronics" by Prof. Brad E. Paden 10:00-10:30 Front Hall of XIXI Ballroom Tea Break 10:30-11:30 Semi-plenary Lecture I-1 10:30-11:30 Semi-plenary Lecture I-2 XIXI 1 XIXI 2 "Control of Atomic Force Microscope "New Development of the Dynamics and Micro-Cantilever Dynamics: Mechatronics at Control for Five-Axis NC Machining of the Nanoscale" by Prof. Reza Moheimani Complex Surfaces" by Prof. Han Ding 11:40-12:50 Front Hall of XIXI Ballroom Lunch (included in Registration) 13:00-15:00 13:00-15:00 13:00-15:00 Invited Session WeBT1 Regular Session WeBT2 Regular Session WeBT3 Boardroom XIYUAN 3 XIYUAN 4 Nanoscale Positioning and Sensing, Localization, and Control of Electro-Hydraulic Scanning Probe Technology I Visual Servoing Systems
5:20-17:20 Invited Session WeCT1 Boardroom Nanoscale Positioning and Scanning Probe Technology II
15:00-15:20 Front Hall of XIXI Ballroom Tea Break 15:20-17:20 Regular Session WeCT2 XIYUAN 3 Sensing and Actuation
15:20-17:20 Regular Session WeCT3 XIYUAN 4 Precision Motion Control
18:30-21:00 Feast Restaurant of Hotel West Wing Dinner (included in Registration) Tips: Shuttle buses will be arranged by the organizer to pick up the participants from conference venue to the 35
Program at A Glance State Key Lab of Fluid Power Transmission and Control every one hour in the afternoon.
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Program at A Glance
Mechatronics '13 Technical Program Thursday April 11, 2013 Track T1
Track T2
Track T3
09:00-10:00 Plenary Lecture II XIXI 1&2 "Trapping and Guiding the Light – A Systems View on Optomechatronics" by Prof. Dr.techn. Klaus JANSCHEK 10:00-10:30 Front Hall of XIXI Ballroom Tea Break 10:30-11:30 Semi-plenary Lecture II-1 10:30-11:30 Semi-plenary Lecture II-2 XIXI 1 XIXI 2 "Model-Based Nonlinear Control of "Rejecting Deterministic and Random Mechatronic Systems" by Prof. Andreas Kugi Disturbances in Mechatronic Systems" by Prof. Tsu-Chin Tsao 11:40-12:50 Front Hall of XIXI Ballroom Lunch (included in Registration) 13:00-15:00 13:00-15:00 13:00-15:00 Invited Session ThBT1 Regular Session ThBT2 Regular Session ThBT3 Boardroom XIYUAN 3 XIYUAN 4 Mechatronics for Adaptive Noval Exoskeleton and Control Methodologies Optics and Optical Metrology Robotic Devices 15:00-15:20 Front Hall of XIXI Ballroom Tea Break 5:20-17:20 15:20-17:20 Invited Session ThCT1 Regular Session ThCT2 Boardroom XIYUAN 3 Nanoscale Positioning and State Estimation and Scanning Probe Technology III Electrical Vehicle
15:20-17:20 Regular Session ThCT3 XIYUAN 4 Modeling and Control of Pneumatic/Hydraulic Systems
18:45-21:30 XIXI 1& 2 Banquet & Award (included in Registration) Tips: Shuttle buses will be arranged by the organizer to pick up the participants from conference venue to the State Key Lab of Fluid Power Transmission and Control every one hour in the afternoon.
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Program at A Glance
Mechatronics '13 Technical Program Friday April 12, 2013 Track T1
Track T2
Track T3
09:00-10:00 Plenary Lecture III XIXI 1&2 "Hyper Human Vision Opens Door of Breakthrough" by Prof. Makoto Kaneko 10:00-10:30 Front Hall of XIXI Ballroom Tea Break 10:30-11:40 Panel Forum XIXI 1&2 "Future Education on Mechatronics" organized by Professors G. T. Chiu and Bin Yao 11:40-12:50 Front Hall of XIXI Ballroom Lunch (included in Registration) 13:00-15:00 Invited Session FrBT1 Boardroom Servo Control Technologies for Data Storage
13:00-15:00 Regular Session FrBT2 XIYUAN 3 Control of Mechatronic Systems I
13:00-15:00 Regular Session FrBT3 XIYUAN 4 Biped, Network, and Multi-Agent Systems
15:00-15:20 Front Hall of XIXI Ballroom Tea Break 5:20-17:20 Invited Session FrCT1 Boardroom Nanorobotic Manipulation and Assembly
15:20-17:20 Regular Session FrCT2 XIYUAN 3 Control of Mechatronic Systems II
15:20-17:20 Regular Session FrCT3 XIYUAN 4 Design of Mechatronic Systems
17:20-19:30 Feast Restaurant of Hotel West Wing Farewell Reception (included in Registration) Tips: Shuttle buses will be arranged by the organizer to pick up the participants from conference venue to the State Key Lab of Fluid Power Transmission and Control every one hour in the afternoon.
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Detailed Program Listing Technical Program for Wednesday April 10, 2013 WeBT1
Posada, Luis Felipe
Boardroom
Nanoscale Positioning and Scanning Probe Technology I (Invited Session) Chair: Schitter, Georg
Vienna Univ. of Tech.
Co-Chair: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
Organizer: Sebastian, Abu
IBM Res. - Zurich
13:00-13:20
WeBT1.1
Position Sensor Performance in Nanometer Resolution Feedback Systems (I), pp. 1-6. Fleming, Andrew John
Univ. of Newcastle
13:20-13:40
WeBT1.2
Time Domain Resolution of Nanopositioning Systems (I), pp. 7-12. Fleming, Andrew John
Univ. of Newcastle
13:40-14:00
WeBT1.3
Self-Tuning in Sliding Mode Control of High-Precision Motion Systems (I), pp. 13-19. Heertjes, Marcel
Eindhoven Univ. of Tech.
Vardar, Yasemin
Eindhoven Univ. of Tech.
14:00-14:20
WeBT1.4
High-Precision Positioning System Using a Low-Stiffness Dual Stage Actuator (I), pp. 20-27. Ito, Shingo
Vienna Univ. of Tech.
Steininger, Juergen
Vienna Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
14:20-14:40
WeBT1.5
Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning (I), pp. 28-36. Norwegian Univ. of Science & Tech.
Vagia, Marialena
Norwegian Univ. of Science & Tech.
Gravdahl, Jan Tommy
Norwegian Univ. of Science & Tech.
Pettersen, Kristin Y.
Norwegian Univ. of Science & Tech.
WeBT2
XIYUAN 3
Sensing, Localization, and Visual Servoing (Regular Session)
Co-Chair: Wang, Junmin
National Chiao Tung Univ. Ohio State Univ.
13:00-13:20
WeBT2.1
Acquisition of Behavioral Dynamics for Vision Based Mobile Robot Navigation from Demonstrations, pp. 37-44. Narayanan, Krishna Kumar
Hoffmann, Frank
Univ. of Dortmund
Bertram, Torsten
Tech. Univ. Dortmund
13:20-13:40
WeBT2.2
Visual Servoing Considering Sensing Dynamics and Robot Dynamics, pp. 45-52. Wang, Cong
Univ. of California, Berkeley
Lin, Chung-Yen
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
13:40-14:00
WeBT2.3
Wearable Sensing for Physical Activity Measurement: Design and Performance Evaluation, pp. 53-60. Liu, Shaopeng
GE Global Res.
Gao, Robert
Univ. of Connecticut
Mo, Lingfei Freedson, Patty
Southeast Univ. Univ. of Massachusetts Amherst
14:00-14:20
Tech. Univ. Dortmund
WeBT2.4
Bearings-Only Localization Using Nonlinear Second-Order Extended H! Filter, pp. 61-66. Hu, Jwu-Sheng
National Chiao Tung Univ.
14:20-14:40
WeBT2.5
Target Design and Recognition for 2-D Localization of Indoor Mobile Robots Using a Laser Sensor, pp. 67-74. Govindarajan, Madhu Soodhanan
Ohio State Univ.
Wang, Junmin
Ohio State Univ.
Post, Bill
Honda R & D Americas Inc
Fox, Andrew
Honda R & D Americas Inc
WeBT3
XIYUAN 4
Control of Electro-Hydraulic Systems (Regular Session) Chair: Kugi, Andreas
Eielsen, Arnfinn Aas
Chair: Hu, Jwu-Sheng
Tech. Univ. Dortmund
Vienna Univ. of Tech.
Co-Chair: Zhu, Xiaocong
Zhejiang Univ.
13:00-13:20
WeBT3.1
An Industrial Tool for Identification and Control of Nonlinear Valve Characteristics, pp. 75-83. Schirrer, Alexander
Vienna Univ. of Tech.
Kozek, Martin
Vienna Univ. of Tech.
Bacher, Wolfgang
Vienna Univ. of Tech.
13:20-13:40
WeBT3.2
Energy Saving Control of a Hydraulic Manipulator Using five Cartridge Valves and One Accumulator, pp. 84-90. Lu, Lu
Purdue Univ. West Lafayette
Yao, Bin
Purdue Univ.
Liu, Zhibin
Zhejiang Univ.
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Detailed Program Listing 13:40-14:00
WeBT3.3
Modeling and Control of a Mobile Concrete Pump, pp. 91-98.
Iannuzzi, Davide
VU Univ. Amsterdam
Schitter, Georg
Vienna Univ. of Tech.
Henikl, Johannes
Vienna Univ. of Tech.
16:00-16:20
Kemmetmueller, Wolfgang
Vienna Univ. of Tech.
Analysis and Design of Multiresolution Scan Trajectories for
Kugi, Andreas
Vienna Univ. of Tech.
High-Speed Scanning Probe Microscopy (I), pp. 138-144.
14:00-14:20
WeBT3.4
Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives, pp. 99-108. Schmidt, Lasse
Bosch Rexroth A/S
WeCT1.3
Tuma, Tomas
IBM Res.
Lygeros, John
ETH Zurich
Sebastian, Abu
IBM Res. - Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Andersen, Torben Ole
Aalborg Univ.
16:20-16:40
Pedersen, Henrik Clemmensen
Aalborg Univ.
Image-Based Modeling of the Lateral Axes of a Scanning
14:20-14:40
WeBT3.5
Control Strategy for Hybrid Excavator Swing System Driven by Electric Motor, pp. 109-115.
WeCT1.4
Probe Microscope (I), pp. 145-152. Clayton, Garrett
Villanova Univ.
McManus, Brian
Villanova Univ.
Yao, Hong
Zhejiang Univ.
16:40-17:00
Wang, Qingfeng
Zhejiang Univ.
On Detection and Estimation in Atomic Force Microscopy at
14:40-15:00
WeBT3.6
Robust Inverse Dynamics Control for a Hydrostatic Transmission with Actuator Uncertainties, pp. 116-124. Sun, Hao
Univ. of Rostock
Aschemann, Harald
Univ. of Rostock
WeCT1.5
Different Scan Speeds (I), pp. 153-159. Huang, Peng
Boston Univ.
Andersson, Sean
Boston Univ.
WeCT2
XIYUAN 3
Sensing and Actuation (Regular Session) WeCT1
Boardroom
Nanoscale Positioning and Scanning Probe Technology II (Invited Session) Chair: Pantazi, Angeliki Co-Chair: Chang, Peter I.
IBM Res. - Zurich Vienna Univ. of Tech.
Organizer: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
15:20-15:40
WeCT1.1
A High-Speed Electromagnetically-Actuated Scanner for Tuma, Tomas
IBM Res.
Haeberle, Walter
IBM Res.
Rothuizen, Hugo
IBM Res. ETH Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Sebastian, Abu
IBM Res. - Zurich
15:40-16:00
Huazhong Univ. of Science and Tech.
Co-Chair: Kong, Kyoungchul
Sogang Univ.
15:20-15:40
WeCT2.1
A Sensor-Less Motion Sensing Method of a 3-DOF Permanent Magnet Spherical Motor, pp. 160-164. Bai, Kun
Huazhong Univ. of Science and Tech.
Lee, Kok-Meng
Georgia Inst. of Tech.
15:40-16:00
Dual-Stage Nanopositioning (I), pp. 125-130.
Lygeros, John
Chair: Bai, Kun
WeCT1.2
Towards High Speed Ferrule-Top Atomic Force Microscopy (I), pp. 131-137.
WeCT2.2
Design of an Actuation System for a High-Speed Quadruped Robot, Cheetaroid-I, pp. 165-169. Na, Byeonghun
Sogang Univ.
Choi, Hyunjin
Sogang Univ.
Kong, Kyoungchul
Sogang Univ.
16:00-16:20
WeCT2.3
Voltage Based Linearization of a Reluctance Actuator for High-Precision Applications, pp. 170-176. Katalenic, Andelko
Eindhoven Univ. of Tech.
van den Bosch, P. P. J.
Eindhoven Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Chavan, Dhwajal
VU Univ. Amsterdam
16:20-16:40
Paris, Rene
Vienna Univ. of Tech.
Modeling of Hybrid Stepper Motors for Closed Loop
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WeCT2.4
Detailed Program Listing Operation, pp. 177-183.
High Performance Tracking of Piezoelectric Positioning
Henke, Benjamin
Univ. of Stuttgart
Sawodny, Oliver
Univ. of Stuttgart
Schmidt, Steffen
Festo AG & Co. KG
Neumann, Ruediger
Festo AG & Co. KG
16:40-17:00
WeCT2.5
Analytical Calculation of No-Load Magnetic Field Distribution in the Slotted Airgap of a Permanent Magnet
Gain Scheduling, pp. 214-224. Xu, Jian-Xin
National Univ. of Singapore
Huang, Deqing
National Univ. of Singapore
Venkatakrishnan,
Data Storage Inst. (DSI)
Venkataramanan Huynh, The Cat Tuong
National Univ. of Singapore
16:20-16:40
Synchronous Motor, pp. 184-189. Ma, Jie
Harbin Inst. of Tech.
Tao, Ruichao
Harbin Inst. of Tech.
Li, Xinglong
Harbin Inst. of Tech.
17:00-17:20
WeCT2.6
Inductance Measurement of the Switched Reluctance Motor with the Current Traversal Response for Exciting Voltage Pulse, pp. 190-196. Shao, Da
Stage Using Current-Cycle Iterative Learning Control with
School of Mechanical Engineering Shanghai Jiao Tong Univ.
WeCT3.4
Improving Positioning Accuracy Using a General Framework for Macro Mini Manipulation, pp. 225-230. Arifin, Ahmad Suryo
National Univ. of Singapore
Ang Jr, Marcelo H
National Univ. of Singapore
Lim, Chee Wang
Singapore Inst. of Manufacturing and Tech.
Lai, Chow Yin
National Univ. of Singapore
16:40-17:00
WeCT3.5
Proposal of Position Reconstruction with Polynomial Fitting Approach for Precise Motion Control, pp. 231-236.
Gong, Liang
School of Mechanical Engineering Shanghai Jiao Tong Univ.
Zhu, Hongzhong
The Univ. of Tokyo
Li, Bing-chu
School of Mechanical Engineering
Fujimoto, Hiroshi
The Univ. of Tokyo
Shanghai Jiao Tong Univ.
Sugie, Toshiharu
Kyoto Univ.
Liu, Cheng-liang
School of Mechanical Engineering Shanghai Jiao Tong Univ.
17:00-17:20
WeCT3.6
Predictive Control for the Stabilization of a Fast Mechatronic System : From Simulation to Real-Time Experiments, pp.
WeCT3
XIYUAN 4
Precision Motion Control (Regular Session) Chair: Ang Jr, Marcelo H Co-Chair: Chen, Zheng
237-242. Touati, Nahla
National Engineering School of Tunis (ENIT)
National Univ. of Singapore
Chemori, Ahmed
UM2
Zhejiang Univ.
15:20-15:40
WeCT3.1
Adaptive Prefilter Design for Control of Quasistatic Microscanners, pp. 197-206. Janschek, Klaus Sandner, Thilo
Tech. Univ. Dresden Fraunhofer Inst. for Photonic Microsystems, Dresden
Schroedter, Richard
Tech. Univ. Dresden
Roth, Matthias
Tech. Univ. Dresden
15:40-16:00
WeCT3.2
$mu$-Synthesis Based Adaptive Robust Control of Linear-Motor-Driven Stages with High-Frequency Flexible Modes, pp. 207-213. Chen, Zheng Yao, Bin Wang, Qingfeng 16:00-16:20
Zhejiang Univ. Purdue Univ. Zhejiang Univ. WeCT3.3
41
Detailed Program Listing The Openloop Liquid Crystal Adaptive Optics for Technical Program for Thursday April 11, 2013
Astronomical Application (I), pp. 271-275. Hu, Lifa
ThBT1
Boardroom
Mechatronics for Adaptive Optics and Optical Metrology (Invited Session) Chair: Schitter, Georg
Vienna Univ. of Tech.
Co-Chair: Song, Hong
Zhejiang Univ.
Organizer: Schitter, Georg
14:40-15:00
ThBT1.6
Prediction Control Algorithm for Close-Loop Adaptive Optical System (I), pp. 276-284. Li, Xinyang
Inst. of Optics and Electronics, CAS
Vienna Univ. of Tech.
Organizer: Song, Hong
Zhejiang Univ.
13:00-13:20
ThBT1.1
ThBT2
Chair: Melchiorri, Claudio
Laser Beam Propagating Over Saline Water and Sands (I),
Co-Chair: Kim, Kyung-Soo
pp. 243-248. Zhu, Songsong
Zhejiang Univ.
Song, Hong
Zhejiang Univ. Hangzhou Dianzi Univ.
XIYUAN 3
Noval Exoskeleton and Robotic Devices (Regular Session)
Wavefront Aberration Characterization and Correction for
Yang, Ping
CIOMP
Univ. of Bologna KAIST
13:00-13:20
ThBT2.1
7 Degrees of Freedom Passive Exoskeleton for Human Gait Analysis: Human Joint Motion Sensing and Torque Estimation During Walking, pp. 285-292.
Liu, Hongbo
Zhejiang Univ.
Kanjanapas, Kan
Univ. of California, Berkeley
Lan, Ruihong
Zhejiang Univ.
Tomizuka, Masayoshi
Univ. of California, Berkeley
Liu, Yuan
Zhejiang Univ.
Huang, Haocai
Zhejiang Univ.
Qu, Fengzhong
Zhejiang Univ.
Leng, Jianxing
Zhejiang Univ.
Chen, Ying
Zhejiang Univ.
13:20-13:40
ThBT1.2
Modeling and Identification of the Optical Path at ELTs - a Case Study at the LBT (I), pp. 249-255.
13:20-13:40
ThBT2.2
Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study, pp. 293-300. Lu, Junkai
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
13:40-14:00
Böhm, Michael
Univ. of Stuttgart
Pott, Jörg-Uwe
Max-Planck-Inst. for Astronomy, Heidelberg
Kürster, Martin
Max-Planck-Inst. for Astronomy, Heidelberg
Sawodny, Oliver
ThBT2.3
Mechanical Design and Kinematic Analysis of a 10 D.O.F. Robot Manipulator, pp. 301-306. Teng, Ming-Chang
Mechanical and System Res. Lab. Industrial Tech.
Univ. of Stuttgart
13:40-14:00
ThBT1.3
Sub-Nanometre Validation of a Deformable Mirror Concept (I), pp. 256-263.
Tsai, Yi-Jeng
Mechanical and System Res. Lab. Industrial Tech.
Hsiao, Chin-Chi
Industrial Tech. Res. Inst.
Saathof, Rudolf
Delft Univ. of Tech.
14:00-14:20
Ursem, Luuk, J.
Delft Univ. of Tech.
Mechatronic Design of a Three-Fingered Gripper for
Spronck, Jo, W.
Delft Univ. of Tech.
Munnig Schmidt, Robert, H.
Delft Univ. of Tech.
14:00-14:20
ThBT1.4
Compensation Based Displacement Measurement Using Objective Laser Speckles (I), pp. 264-270. Paris, Rene Thurner, Thomas Schitter, Georg 14:20-14:40
42
Vienna Univ. of Tech. Graz Univ. of Tech. Vienna Univ. of Tech. ThBT1.5
ThBT2.4
Underwater Applications, pp. 307-312. Bemfica Rodrigues, Jéferson
Univ. of Bologna
Melchiorri, Claudio
Univ. of Bologna
Moriello, Lorenzo
Univ. of Bologna
Palli, Gianluca
Univ. of Bologna
Scarcia, Umberto
Univ. of Bologna
Vassura, Gabriele
Univ. of Bologna
14:20-14:40
ThBT2.5
Design of Prosthetic Robot Hand with High Performances Based on Novel Actuation Principles, pp. 313-318.
Detailed Program Listing Coefficient Diagram Methods, pp. 355-361.
Shin, Young June
KAIST
Kim, Soohyun
KAIST
Zhao, Jinlei
Xi'an Jiaotong Univ.
Kim, Kyung-Soo
KAIST
Cao, Junyi
Xi'an Jiaotong Univ.
ThBT2.6
Chen, Wen
Wayne State Univ.
14:40-15:00
Design of a Robot Gripper for a Rapid Service Robot, pp.
Ma, Chengbin
Tong Univ. Joint Inst.
319-324. Jung, TaeJin
Korea Advanced Inst. of Science and Tech.
Oh, Jun Ho
KAIST
Univ. of Michigan-Shanghai Jiao
Cao, Binggao
Xi'an jiaotong Univ.
14:40-15:00
ThBT3.6
Robust Stabilizer Design for High-Precision Tracking of a Linear Gantry, pp. 362-367. ThBT3
XIYUAN 4
Control Methodologies (Regular Session) Chair: Ma, Chengbin
Liu, Bofeng
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Co-Chair: Feng, Ying
Leng, Tongtong
South China Univ. of Tech.
13:00-13:20
Shandong Univ. Shanghai Jiaotong Univ.
Lu, Chao
Tsinghua Univ.
Zhang, Zhen
Tsinghua Univ.
Yan, Peng
Beihang Univ.
ThBT3.1
Prescribed Adaptive Control of a Class of Nonlinear System with Asymmetric Hysteresis, pp. 325-331.
ThCT1
Boardroom
Li, Zhi
Concordia Univ.
Nanoscale Positioning and Scanning Probe Technology III
Su, Chun-Yi
Concordia Univ.
(Invited Session)
Chai, Tianyou
Northeastern Univ.
Feng, Ying
South China Univ. of Tech.
13:20-13:40
ThBT3.2
Control of Transient Response Via Polynomial Method, pp. Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst. Qiao, Yue
Co-Chair: Tsao, Tsu-Chin
Univ. of Newcastle Univ. of California, Los Angeles
Organizer: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
15:20-15:40
332-339. Ma, Chengbin
Chair: Moheimani, S.O. Reza
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Cao, Junyi
Xi'an Jiaotong Univ.
13:40-14:00
ThBT3.3
ThCT1.1
A New Approach to Active Q Control of an Atomic Force Microscope Micro-Cantilever Operating in Tapping Mode (I), pp. 368-374. Fairbairn, Matthew
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
15:40-16:00
ThCT1.2
Robust Finite Frequency H! Passive Fault Tolerant Static
Control of a MEMS Nanopositioner for Atomic Force
Output Feedback Control with Application to Active
Microscopy (I), pp. 375-382.
Vibration Attenuation, pp. 340-346.
Yong, Yuen Kuan
The Univ. of Newcastle
Zhang, Hui
Ohio State Univ.
Fowler, Anthony
The Univ. of Newcastle
Wang, Rongrong
Ohio State Univ.
Mohammadi, Ali
The Univ. of Newcastle
Wang, Junmin
Ohio State Univ.
Moheimani, S.O. Reza
The Univ. of Newcastle
14:00-14:20
ThBT3.4
16:00-16:20
ThCT1.3
Limits of Performance in Systems with Periodic Irregular
Control of Jitter in a Laser Beam Experiment by Receding
Sampling and Actuation Rates, pp. 347-354.
Horizon Adaptive Control (I), pp. 383-390.
Shahsavari, Behrooz
Univ. of California, Berkeley
Gibson, James Steven
Univ. of California, Los Angeles
Conway, Richard
Univ. of California, Berkeley
Tsao, Tsu-Chin
Univ. of California, Los Angeles
Keikha, Ehsan
National Univ. of Singapore
Tsuchiya, Nolan Eizo
Univ. of California, Los Angeles
Horowitz, Roberto
Univ. of California, Berkeley
Verhaegen, Michel
14:20-14:40
ThBT3.5
Delft Univ. of Tech.
16:20-16:40
ThCT1.4
Polynomial Control for Air-To-Air Missiles Based on
43
Detailed Program Listing Closed-Loop Control of a Novel 2-DOF MEMS
Nguyen, Binh Minh
The Univ. of Tokyo
Nanopositioner with Electrothermal Actuation (I), pp.
Wang, Yafei
The Univ. of Tokyo
Fujimoto, Hiroshi
The Univ. of Tokyo
Hori, Yoichi
The Univ. of Tokyo
391-398. Fowler, Anthony Rakotondrabe, Micky Moheimani, S.O. Reza
The Univ. of Newcastle Univ. de Franche Comté The Univ. of Newcastle
16:40-17:00
ThCT1.5
ThCT3
XIYUAN 4
Modulated-Demodulated Q Control of an Atomic Force
Modeling and Control of Pneumatic/Hydraulic Systems
Microscope Microcantilever, pp. 399-405.
(Regular Session)
Karvinen, Kai
The Univ. of Newcastle
Chair: Mattila, Jouni
Moheimani, S.O. Reza
The Univ. of Newcastle
Co-Chair: Zhu, Xiaocong
Tampere Univ. of Tech. Zhejiang Univ.
15:20-15:40
ThCT3.1
Levelling Control of an Electro-Pneumatic Stabilized ThCT2
XIYUAN 3
State Estimation and Electrical Vehicle (Regular Session) Chair: Fujimoto, Hiroshi Co-Chair: Li, Yaoyu
The Univ. of Tokyo Univ. of Texas at Dallas
15:20-15:40
ThCT2.1
Extended Kalman Filtering for Robot Joint Angle Estimation Using MEMS Inertial Sensors, pp. 406-413.
Platform Driven by Pneumatic Muscles, pp. 445-452. Cao, Jian
Hefei Univ. of Tech.
Zhu, Xiaocong
Zhejiang Univ.
Yao, Bin
Purdue Univ.
Tao, Guoliang
Zhejiang Univ.
Wang, Qingfeng
Zhejiang Univ.
15:40-16:00
Wang, Yizhou
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
15:40-16:00
ThCT2.2
Scale and Rotation Invariant Two View Microgripper Detection That Uses a Planar Pattern, pp. 414-422.
ThCT3.2
Modeling of Ultra-Precision Pneumatic Servo Control Stage, pp. 453-456. Tian, Yanbing
Qingdao Tech. Univ.
Wang, Tao
beijing Inst. of Tech.
16:00-16:20
ThCT3.3
Reliability Prediction Method of Hydraulic System by Fuzzy
Hirvonen, Juha Robert
Tampere Univ. of Tech.
Theory, pp. 457-462.
Kallio, Pasi
Tampere Univ. of Tech.
Chen, Dongning
Yanshan Univ.
Yao, Chengyu
Yanshan Univ.
Feng, Zhongkui
Yanshan Univ.
16:00-16:20
ThCT2.3
Optimal Charging Strategy for EV Charging Stations by Two-Stage Approximate Dynamic Programming, pp. 423-430. Zhang, Lei
Univ. of Texas at Dallas
Li, Yaoyu
Univ. of Texas at Dallas
16:20-16:40
ThCT2.4
16:20-16:40
ThCT3.4
Reliability Optimization of Multi-State Hydraulic System Based on T-S Fault Tree and Extended PSO Algorithm, pp. 463-468. Yao, Chengyu
Yanshan Univ.
Multi-Rate Kalman Filter Design for Electric Vehicles Control
Wang, Bin
Yanshan Univ.
Based on Onboard Vision System with Uneven Time Delay,
Chen, Dongning
Yanshan Univ.
pp. 431-436. Wang, Yafei
The Univ. of Tokyo
Nguyen, Binh Minh
The Univ. of Tokyo
Fujimoto, Hiroshi
The Univ. of Tokyo
Hori, Yoichi
The Univ. of Tokyo
16:40-17:00
ThCT2.5
Advanced Multi-Rate Kalman Filter for Double Layer State Estimator of Electric Vehicle Based on Single Antenna GPS and Dynamic Sensors, pp. 437-444.
44
16:40-17:00
ThCT3.5
Study on the Influence of Flow Force on a Large Flowrate Directional Control Valve, pp. 469-477. Gao, Haiping
Huazhong Univ. of Science and Tech.
Li, Baoren
Huazhong Univ. of Science and Tech.
Yang, Gang
Huazhong Univ. of Science and Tech.
Detailed Program Listing Pang, Chee Khiang Technical Program for Friday April 12, 2013 FrBT1
Boardroom
Servo Control Technologies for Data Storage (Invited Session) Chair: Tomizuka, Masayoshi
National Univ. of Singapore
Ng, Adam
NUS
Hong, Fan
Data Storage Inst.
Lee, Tong Heng
National Univ. of Singapore
Univ. of California, Berkeley
Co-Chair: Pantazi, Angeliki
IBM Res. - Zurich
Organizer: Cherubini, Giovanni
IBM
Organizer: Yamaguchi, Takashi
Ricoh Company Ltd.
Organizer: Pantazi, Angeliki
IBM Res. - Zurich
13:00-13:20
FrBT2
XIYUAN 3
Control of Mechatronic Systems I (Regular Session) Chair: Book, Wayne J. Co-Chair: Maas, Jürgen
Georgia Inst. of Tech. Ostwesfalen-Lippe Univ. of Applied Sciences
FrBT1.1
Adaptive Regulation of Time Varying Disturbances in a Tape
13:00-13:20
Storage System (I), pp. 478-483.
Operator Error Based Design of Position Controllers for
de Callafon, Raymond
Univ. of California, San Diego
Wang, Longhao
Univ. of California, San Diego
13:20-13:40
FrBT1.2
FrBT2.1
Dynamically Slow Systems, pp. 517-522. Elton, Mark
HUSCO International
Book, Wayne J.
Georgia Inst. of Tech.
Skew Estimation and Feed-Forward Control in Flangeless
13:20-13:40
Tape Drives (I), pp. 484-489.
Active Seat Suspension with Two Degrees of Freedom for
Pantazi, Angeliki
IBM Res. - Zurich
Cherubini, Giovanni
IBM
Jelitto, Jens
IBM Res. - Zurich
13:40-14:00
FrBT1.3
FrBT2.2
Military Vehicles, pp. 523-529. Kieneke, Rüdiger Ostwesfalen-Lippe Univ. of Applied Sciences Graf, Christian
Ostwesfalen-Lippe Univ. of Applied Sciences
Maas, Jürgen
Ostwesfalen-Lippe Univ. of Applied Sciences
Inverse-Based Local Loop Shaping and IIR-Filter Design for
13:40-14:00
Precision Motion Control (I), pp. 490-497.
Switching Robust Control for Transparent and Stable
Chen, Xu
Univ. of California, Berkeley
Oshima, Atsushi Tomizuka, Masayoshi
NSK Ltd Univ. of California, Berkeley
14:00-14:20
FrBT1.4
FrBT2.3
Teleoperation, pp. 530-536. López Martínez, César Augusto
Eindhoven Univ. of Tech.
Molengraft, René van de
Eindhoven Univ. of Tech.
Steinbuch, Maarten
Eindhoven Univ. of Tech.
Contact-Induced Vibration in Dual-Stage HDD Servo
14:00-14:20
Systems and Its Compensation Using PQ Method and Peak
MEMS Resonator with Displacement Sensor Based on
Filters (I), pp. 498-505. Venkatakrishnan,
Electro-Thermal Principles, pp. 537-542. Data Storage Inst. (DSI)
Venkataramanan National Univ. of Singapore
Huang, Deqing
National Univ. of Singapore
Huynh, The Cat Tuong
National Univ. of Singapore
14:20-14:40
FrBT1.5
Vibration Compensation in Tape Drive Track Following Using Multiple Accelerometers (I), pp. 506-510.
Lantz, Mark 14:40-15:00
Moore, Steven
The Univ. of Newcastle
Moheimani, S.O. Reza
Xu, Jian-Xin
Pantazi, Angeliki
FrBT2.4
IBM Res. - Zurich IBM FrBT1.6
Integrated Servo-Mechanical Design of Distribution-Based Robust Mechatronics Using GKYP Lemma (I), pp. 511-516. Tan, Yan Zhi
National Univ. of Singapore
Tang, Muchen
National Univ. of Singapore
Univ. of Newcastle
14:20-14:40
FrBT2.5
Controller Design of Electric Loading System Based on T-S Fuzzy Logic, pp. 543-548. Wang, Xingjian
Beihang Univ.
Wang, Shaoping
BeiHang Univ.
14:40-15:00
FrBT2.6
Improving Force Control Using Zero Coupling Impedance Criterion in Series Manipulator Systems, pp. 549-554. Li, Renjun
National Univ. of Singapore
Vuong, Ngoc Dung Singapore Inst. of Manufacturing and Tech. Lim, Chee Wang Chew, Chee Meng
Singapore Inst. of Manufacturing and Tech. National Univ. of Singapore
45
Detailed Program Listing FrBT3
XIYUAN 4
Biped, Network, and Multi-Agent Systems (Regular Session) Chair: Jayasuriya, Suhada
Univ. of Central Florida
Co-Chair: Chen, Xiang
Univ. of Windsor
13:00-13:20
FrBT3.1
Co-Chair: Liu, Lianqing
Shenyang Inst. of Automation
Organizer: Liu, Lianqing
Shenyang Inst. of Automation
15:20-15:40
FrCT1.1
Active Landmark Configuration for Accurate Nano-Positioning (I), pp. 594-599.
Compensation of Time Delay in a Network-Based Gait
Yuan, Shuai
SIA
Rehabilitation System with a Discrete-Time Communication
Liu, Lianqing
Shenyang Inst. of Automation
Disturbance Observer, pp. 555-562. Zhang, Wenlong
15:40-16:00
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
13:20-13:40
FrBT3.2
Re-Configuration Strategy for PTZ Camera Networks, pp. 563-568.
FrCT1.2
Frequency Based Combination Control Strategy for AFMs (I), pp. 600-605. Ren, Xiao
Nankai Univ.
Fang, Yongchun
Nankai Univ.
16:00-16:20
FrCT1.3
Alarcon, Jose
Univ. of Windsor
Chen, Xiang
Univ. of Windsor
Ahmadi, Majid
Univ. of Windsor
Xiao, Shunli
Univ. of Macau
FrBT3.3
Li, Yangmin
Univ. of Macau
Yang, Qinmin
Zhejiang Univ.
13:40-14:00
Multi-Agent Deployment Based on Homogenous Maps and a Special Inter-Agent Communication Protocol, pp. 569-576. Rastgoftar, Hossein
Univ. of Central Florida
Jayasuriya, Suhada
Univ. of Central Florida
14:00-14:20
FrBT3.4
Moving Horizontal Reference Map for Bipedal Robot Walking
A Novel Flexure-Based 3-DOF Micro-Parallel Manipulator with a Gripper for Micro/nano Manipulation (I), pp. 606-611.
16:20-16:40
FrCT1.4
A Novel Analytical Model for Flexure-Based Compliant Proportion Mechanisms, pp. 612-619. Meng, Qiaoling
Univ. of Macau
Li, Yangmin
Univ. of Macau
Over Uneven Terrain, pp. 577-582. Wu, Ning
National Univ. of Singapore
Chew, Chee Meng
National Univ. of Singapore
FrCT2
Poo, Aun Neow
National Univ. of Singapore
Control of Mechatronic Systems II (Regular Session)
Li, Renjun
National Univ. of Singapore
14:20-14:40
FrBT3.5
XIYUAN 3
Chair: Zhu, Jihong
Tsinghua Univ.
Co-Chair: Fan, Dapeng
National Univ. of Defense Tech.
A Novel Self-Adaptation Hybrid Artificial Fish-Swarm
15:20-15:40
Algorithm, pp. 583-588.
Reducing Intersample Ripple of Actuator in Multirate
Hu, X. T. Huang, Y. A.
No.38 Res. Inst. of CETC State Key Lab. of Digital Manufacturing Equipment and Tech.
14:40-15:00
FrBT3.6
The Study on the Learning of Walking Gaits for Biped Robots, pp. 589-593. National Chung-Cheng Univ.
Yeh, Keng-Hao
National Chung-Cheng Univ.
Liu, Jia-Yan
Environment by a Joint Space Interpolator, pp. 620-627. Ji, Lan Yue
DFKI RIC
Kirchner, Frank
DFKI RIC, Univ. of Bremen
15:40-16:00
FrCT2.2
Energy-Saving Trajectory Planning for a Toggle Mechanism Driven by a PMSM, pp. 628-635. Hsu, Yi-Lung
Hwang, Kao-Shing
FrCT2.1
National Kaohsiung First Univ. of Science and Tech.
Fung, Rong Fong
National Kaohsiung First Univ. of Science and Tech.
National Sun Yat-sen Univ. 16:00-16:20
FrCT2.3
LuGre-Model-Based Friction Compensation in Direct-Drive FrCT1
Boardroom
Nanorobotic Manipulation and Assembly (Invited Session) Chair: Li, Yangmin
46
Univ. of Macau
Inertially Stabilization Platforms, pp. 636-642. Li, Zhiqiang
National Univ. of Defense Tech.
Detailed Program Listing Fan, Dapeng
National Univ. of Defense Tech.
Fan, Shixun
National Univ. of Defense Tech.
16:20-16:40
FrCT2.4
Remedial Operations of Permanent Magnet Fault Tolerant
Insertion into Soft Tissue, pp. 684-691. Gao, Dedong
Zhejiang Univ.
Lei, Yong
Zhejiang Univ.
Yao, Bin
Purdue Univ.
Motor for Short-Circuit Fault, pp. 643-649. Si, Binqiang
Tsinghua Univ.
Zhu, Jihong
Tsinghua Univ.
Ji, Jinghua
Jiangsu Univ.
16:40-17:00
FrCT2.5
A Linear Interpolation Fuzzy Controller for a Boiler Pressure Control System, pp. 650-654. Bai, Yanhong
Taiyuan Univ. of Science and Tech.
Zhao, Zhijuan
Taiyuan Univ. of Science and Tech.
Sun, Zhiyi
Taiyuan Univ. of Science and Tech.
Quan, Long
Taiyuan Univ. of Science and Tech.
FrCT3
XIYUAN 4
Design of Mechatronic Systems (Regular Session) Chair: Wang, Xingsong Co-Chair: Lei, Yong 15:20-15:40
Southeast Univ. Zhejiang Univ. FrCT3.1
Holistic Design Optimization in Mechatronics, pp. 655-662. Frede, Daniel
KTH Royal Inst. of Tech.
Malmquist, Daniel
KTH Royal Inst. of Tech.
Wikander, Jan
KTH Royal Inst. of Tech.
15:40-16:00
FrCT3.2
Mechatronic Design of a Four Wheel Steering Mobile Robot with Fault-Tolerant Odometry Feedback, pp. 663-669. Oftadeh, Reza
Tampere Univ. of Tech.
M. Aref, Mohammad
Tampere Univ. of Tech.
Ghabcheloo, Reza
Tampere Univ. of Tech.
Mattila, Jouni
Tampere Univ. of Tech.
16:00-16:20
FrCT3.3
Autonomous Stair Climbing of a Wheeled Double Inverted Pendulum, pp. 670-677. Strah, Bruno
Tech. Univ. Darmstadt
Rinderknecht, Stephan
Tech. Univ. Darmstadt
16:20-16:40
FrCT3.4
Design of a Gravity Balanced Upper Limb Exoskeleton with Bowden Cable Actuators, pp. 678-683. Wu, Qingcong
Southeast Univ.
Wang, Xingsong
Southeast Univ.
16:40-17:00
FrCT3.5
Analysis of Dynamic Tissue Deformation During Needle
47
Book of Abstracts Technical Program for Wednesday April 10, 2013
done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision
WeBT1
Boardroom
Nanoscale Positioning and Scanning Probe Technology I (Invited Session) Chair: Schitter, Georg Co-Chair: Sebastian, Abu
IBM Res. - Zurich Vienna Univ. of Tech.
Organizer: Sebastian, Abu
IBM Res. - Zurich WeBT1.1
Position Sensor Performance in Nanometer Resolution Feedback Systems (I), pp. 1-6 Fleming, Andrew John
14:00-14:20
WeBT1.4
High-Precision Positioning System Using a Low-Stiffness Vienna Univ. of Tech.
Organizer: Schitter, Georg
13:00-13:20
motion system.
Dual Stage Actuator (I), pp. 20-27 Ito, Shingo
Vienna Univ. of Tech.
Steininger, Juergen
Vienna Univ. of Tech.
Chang, Peter I.
Vienna Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
In this paper, a dual stage actuator (DSA) system that is able to achieve both large stroke and high precision positioning is
Univ. of Newcastle
The performance of precision mechatronic systems is restrained by the linearity, bandwidth and resolution of position sensors. Unfortunately, these parameters may not be available in a form that allows direct comparison between sensors or the prediction of closed-loop performance. This article presents concise definitions for the linearity, drift, bandwidth and resolution of position sensors. These definitions allow position sensors to be readily compared and the performance of feedback systems to be accurately predicted.
proposed. The DSA system is composed of an industrial linear motor and a commercial CD/DVD laser pickup head used as coarse and fine actuators, respectively. Since the pickup head is constructed as a low-stiffness fine actuator, by implementing a high control bandwidth for the fine actuation, the system is able to reject disturbances stemming from the low mechanical coupling of the DSA design. By estimating the relative distance of the two actuators without a position sensor, a phase lag compensator and a feedforward controller are implemented for the coarse actuation. Experimental results demonstrate that the DSA system is able to position over a long range of 500mm at ±15 nanometer static
13:20-13:40
WeBT1.2
Time Domain Resolution of Nanopositioning Systems (I), pp. 7-12
precision with a settling time of only 1.72 seconds. 14:20-14:40
WeBT1.5
Fixed-Structure, Low-Order Damping and Tracking Control
Fleming, Andrew John
Univ. of Newcastle
Schemes for Nanopositioning (I), pp. 28-36
In this article, the resolution of a nanopositioning system is defined
Eielsen, Arnfinn Aas
as the smallest distance between two non-overlapping points.
Vagia, Marialena
Norwegian Univ. of Science & Tech.
Techniques are then described for estimating the closed-loop
Gravdahl, Jan Tommy
Norwegian Univ. of Science & Tech.
Pettersen, Kristin Y.
Norwegian Univ. of Science & Tech.
resolution from time-domain recordings of the contributing noise sources. Practical guidelines are also discussed to ensure
Norwegian Univ. of Science & Tech.
statistically valid estimates. Experimental results show that the
Fast and accurate tracking of periodic reference trajectories is
resolution of a piezoelectric tube nanopositioner is 2.1~nm with a
highly desirable in many nanopositioning applications, including
closed-loop bandwidth of 100~Hz. This figure is identical to
scanning probe microscopy. Performance in common positioning
previous resolution estimates obtained using more involved
stage designs is limited by the presence of lightly damped
frequency-domain measurements.
resonances, and actuator nonlinearities such as hysteresis and
13:40-14:00
WeBT1.3
Self-Tuning in Sliding Mode Control of High-Precision Motion Systems (I), pp. 13-19
creep. To improve the tracking performance in such systems, several damping and tracking control schemes have been presented in the literature. In this paper, five different control schemes are presented and applied to a nanopositioning system
Heertjes, Marcel
Eindhoven Univ. of Tech.
for experimental comparison. They include schemes applying
Vardar, Yasemin
Eindhoven Univ. of Tech.
damping control in the form of positive position feedback, integral
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be
48
resonant
control,
shunt-damping.
integral
Also,
a
force
control
feedback, scheme
and
requiring
passive only
a
combination of a low-pass filter and an integrator is presented. The control schemes are fixed-structure, low-order control laws, for which few results exist in the literature with regards to optimal tuning. A practical tuning procedure for obtaining good tracking performance for all of the presented control schemes is therefore presented. The schemes provide similar performance, and the main differences are due to the specific implementation of each scheme.
Book of Abstracts WeBT2
XIYUAN 3
Sensing, Localization, and Visual Servoing (Regular Session) Chair: Hu, Jwu-Sheng
National Chiao Tung Univ.
Co-Chair: Wang, Junmin
Ohio State Univ.
13:00-13:20
WeBT2.1
Acquisition of Behavioral Dynamics for Vision Based Mobile Robot Navigation from Demonstrations, pp. 37-44 Narayanan, Krishna Kumar
Tech. Univ. Dortmund
Posada, Luis Felipe
Tech. Univ. Dortmund
Hoffmann, Frank
Univ. of Dortmund
Bertram, Torsten
Tech. Univ. Dortmund
dealt with by the two layers of the control law respectively. The proposed method is validated through experiments on a SCARA robot. 13:40-14:00
WeBT2.3
Wearable Sensing for Physical Activity Measurement: Design and Performance Evaluation, pp. 53-60 Liu, Shaopeng
GE Global Res.
Gao, Robert
Univ. of Connecticut
Mo, Lingfei Freedson, Patty
Southeast Univ. Univ. of Massachusetts Amherst
In-situ monitoring of human physical activity under free-living conditions is key to establishing correlation between activity and
The design of robust vision based robot navigation behaviors
health. This paper presents the design and performance evaluation
remains a challenge in mobile robotics as it requires a coherent
of a multi-sensor integrated measurement system (IMS) for
mapping between a complex visual perception and its associated
quantifying human physical activity. The IMS consists of two
robot motion. This contribution proposes a framework to learn this
accelerometers, one UV sensor, and one respiration sensor to
general
representative
track and record body movement and the level of exertion of
demonstrations in which an expert manually navigates the robot
human body, to enable an objective assessment of the activities
through its environment. Behaviors are represented by a dynamic
that human test subjects engage in during daily lives. Detailed
system that ties the perceptions to actions. The state of the
analysis and simulations were performed leading up to a
behavioral dynamics is characterized by a small set of visual
parametric design of the IMS unit. Experiments performed on
features extracted from an omnidirectional image of the local
human subjects in a clinical study have demonstrated that the
environment. Recording, learning and generalization takes place in
multi-sensing system working in conjunction with a supervised
the product space of visual features and robot controls. Training
learning algorithm is effective in recognizing activities types of
instances are recorded for three distinctive behaviors namely
varying intensity.
relationship
from
a
small
set
of
corridor following, obstacle avoidance and homing. Behavioral dynamics
are
parameters
represented
of
which
are
as
Gaussian
identied
mixture
from
the
models, recorded
demonstrations. The learned behaviors are able to accomplish the task across a diverse set of initial poses and situations. In order to
14:00-14:20
WeBT2.4
Bearings-Only Localization Using Nonlinear Second-Order Extended H! Filter, pp. 61-66 Hu, Jwu-Sheng
National Chiao Tung Univ.
realize global navigation the behaviors are coordinated via hand The
Simultaneous localization and mapping (SLAM) is an important
experimental validation of the proposed approach confirms that the
issue in intelligent robotic research. The existing works perform
acquired visual navigation behaviors in cooperation accomplish
robot localization using several nonlinear Bayesian filter such as
robust navigation in indoor environments.
extended Kalman filter (EKF), unscented Kalman filter (UKF),
designed
arbitration
or
13:20-13:40
command
fusion
schemes.
WeBT2.2
Visual Servoing Considering Sensing Dynamics and Robot Dynamics, pp. 45-52
particle filter, etc. To cope with different types of disturbances other than Gaussian noise, this work proposes a nonlinear filter mechanism based on the H! control theory. First, a nonlinear system is introduced to be expanded by using Taylor's theorem.
Wang, Cong
Univ. of California, Berkeley
The 3rd and higher order term are ignored. The second order
Lin, Chung-Yen
Univ. of California, Berkeley
extended (SOE) Kalman filter is applied to show it performance
Tomizuka, Masayoshi
Univ. of California, Berkeley
comparing with the second order extended (SOE) H! filter. When the noise component is not perfect Gaussian distribution, which
For many desirable applications of vision guided industrial robots,
would usually happen in practical situation, the SOE H! filter
real-time visual servoing is necessary but also challenging.
outperform SOE Kalman filter. Also, the SOE H! filter requires less
Difficulty comes from the limited sampling rate and response time
computation than particle filter which is more adequate to. A
of typical machine vision systems equipped on industrial robots.
simulation result is shown and an experiment is design to test its
These factors are addressed as the dynamics of visual sensing. In
real-time function.
addition, robot dynamics should also be fully considered when
14:20-14:40
designing the control law. Considering these aspects, this paper presents a control scheme of visual servoing. A dual-rate adaptive tracking filter is presented to compensate the visual sensing
WeBT2.5
Target Design and Recognition for 2-D Localization of Indoor Mobile Robots Using a Laser Sensor, pp. 67-74
dynamics. Based on the compensated vision feedback, the
Govindarajan, Madhu Soodhanan
techniques of multi-surface sliding control and dynamic surface
Wang, Junmin
control are used to formulate a two-layer control law for target
Post, Bill
Honda R & D Americas Inc
Fox, Andrew
Honda R & D Americas Inc
tracking. System kinematics and dynamics are decoupled and
Ohio State Univ. Ohio State Univ.
49
Book of Abstracts Indoor mobile robots (IMR) can work autonomously if they have the capability to perform localization. This paper presents a design of a target that is used for laser sensor based IMR localization and an algorithm for recognizing the target in a noisy environment from the laser sensor measurements. An onboard laser sensor mounted on top of a rotary actuator is used to scan the entire front area of the IMR. The distance measurements obtained from the laser sensor are then be used to detect the uniquely designed target based on edge
detection
and
pattern
recognition
techniques.
This
recognized target can then be used as a fiducial marker (whose global positions are known) to localize the IMR, i.e., to obtain estimates of the vehicle pose and location in a 2-D indoor environment. The target recognition method and hence the designed target is validated with experimental results.
for the accurate motion tracking of a hydraulic manipulator. To achieve independent pressure regulation for each chamber of the cylinder as well as energy recovery during the back-and-forth movement of the cylinder, a hardware configuration with five low-cost programmable cartridge valves and an accumulator is developed to control the motion of the cylinder. Based on the hardware configuration, a novel control algorithm consisting of three levels is proposed. In level I, an adaptive robust controller is synthesized to generate the desired flow rates for the two chambers of the cylinders Q1m and Q2m so that the joint angle of the manipulator tracks the desired trajectory as accurately as possible, and the offside pressure of the cylinder also follows the desired pressure profile to be generated in level III accurately. In level II, an energy-optimum flow distribution law is designed and implemented to generate the desired flow rates passing through the five programmable valves. In level III, the desired offside pressure of the cylinder is generated so that the total energy
WeBT3
XIYUAN 4
Control of Electro-Hydraulic Systems (Regular Session) Chair: Kugi, Andreas Co-Chair: Zhu, Xiaocong
Vienna Univ. of Tech. Zhejiang Univ.
13:00-13:20
consumption during the whole movement cycle is minimized. Experimental study validates that the proposed strategy can indeed achieve both accurate motion tracking and minimum energy consumption simultaneously. Compared to the previous 4-valve scheme and 5-valve flow regeneration scheme without the use of
WeBT3.1
accumulator in Liu and Yao (2008), the proposed strategy has
An Industrial Tool for Identification and Control of Nonlinear
much less total energy consumption and equally good tracking
Valve Characteristics, pp. 75-83
performance.
Schirrer, Alexander
Vienna Univ. of Tech.
13:40-14:00
Kozek, Martin
Vienna Univ. of Tech.
Modeling and Control of a Mobile Concrete Pump, pp. 91-98
Bacher, Wolfgang
Vienna Univ. of Tech.
This work presents an industrial system identification and control design tool in the context of nonlinear valve control as a typical problem in the refinery industry. A parametric SISO Hammerstein model structure is assumed. Two Hammerstein model identification approaches are implemented and integrated into an efficient tool: Prediction Error Minimization (PEM) as well as a closed-form method involving a Least-Squares and a Singular Value Decomposition part. Parameter uncertainty analysis methods are developed and presented. The second focus of the tool is to give comprehensive support in nonlinear control design and validation. For invertible static nonlinear maps, the Hammerstein structure can be transformed to a globally linear control design problem. This is exploited to design scheduled PID control laws. A series of tools for validation, closed-loop analysis, and tuning is developed and shown. The tool implementation is outlined and the functionality is demonstrated by a series of simulation results highlighting each
Henikl, Johannes
WeBT3.3
Vienna Univ. of Tech.
Kemmetmueller, Wolfgang
Vienna Univ. of Tech.
Kugi, Andreas
Vienna Univ. of Tech.
A decentralized control concept for the active damping of elastic boom vibrations of a mobile concrete pump is presented. The weaknesses of the existing hydraulic actuation concept in view of the control task are identified and an alternative concept is proposed. Furthermore, a systematic approach for the derivation of a tailored simulation model is illustrated. Based
on
controler for the cylinder piston velocity is designed. The proposed passivity-based feedback control law is motivated by the analysis of a single rotating flexible beam with the angular velocity as a virtual control input. The methods are tested by means of simulation results on a validated mathematical model of a mobile concrete pump.
major feature, based on artificially generated test data. The user is
14:00-14:20
thus equipped with an efficient, state-of-the-art numerical tool to
Robust Non-Chattering Observer Based Sliding Control
support control engineering for this class of nonlinear control problems. WeBT3.2
Andersen, Torben Ole
Energy Saving Control of a Hydraulic Manipulator Using five Cartridge Valves and One Accumulator, pp. 84-90 Lu, Lu
Purdue Univ. West Lafayette
Yao, Bin Liu, Zhibin
Purdue Univ. Zhejiang Univ.
In this paper, a novel energy-saving control strategy is proposed
50
WeBT3.4
Concept for Electro-Hydraulic Drives, pp. 99-108 Schmidt, Lasse
13:20-13:40
the
mathematical description of the hydraulic system a feedforward
Bosch Rexroth A/S Department of Energy Tech. Aalborg Univ.
Pedersen, Henrik Clemmensen
Department of Energy Tech. Aalborg Univ.
This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's).
Book of Abstracts The proposed control concept requires only common data sheet
system parameters -- actuator time constants -- and unknown
information and no knowledge on load characteristics. Furthermore
disturbances -- a leakage volume flow and a disturbance torque
the proposed scheme only employ piston- and valve spool
acting on the hydraulic motor. The proposed approach involves
positions- and pressure feedback, commonly available in industry.
three different control actions: 1) an inverse dynamics control that
The main target is to overcome problems with linear controllers
allows for tracking desired trajectories for the difference pressure
deteriorating performance due to the inherent nonlinear nature of
and the motor angular velocity, 2) a robust control that stabilizes
such systems, without requiring extensive knowledge on system
the error dynamics despite uncertain actuator time constants, and
parameters nor advanced control theory. In order to accomplish
3) a reduced-order disturbance observer that estimates the
this task, an integral sliding mode controller designed for the
leakage volume flow as well as the unknown load torque and
control derivative employing state observation is proposed, based
allows for a disturbance compensation. Simulation results show
on a generalized reduced order model structure of a VCD with
that with the proposed approach an accurate trajectory tracking is
unmatched valve flow- and cylinder asymmetries. It is shown that
achieved despite the uncertain time constants and the given
limited attention can be given to bounds on parameter estimates,
disturbances in the system dynamics.
that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed
WeCT1
Boardroom
Nanoscale Positioning and Scanning Probe Technology II (Invited Session)
controller tolerates signicant noise levels, while still remaining
Chair: Pantazi, Angeliki
stable and accurate.
Co-Chair: Chang, Peter I.
14:20-14:40
WeBT3.5
Organizer: Sebastian, Abu
IBM Res. - Zurich
Control Strategy for Hybrid Excavator Swing System Driven
Organizer: Schitter, Georg
Vienna Univ. of Tech.
by Electric Motor, pp. 109-115
IBM Res. - Zurich Vienna Univ. of Tech.
15:20-15:40
WeCT1.1
Yao, Hong
Zhejiang Univ.
A High-Speed Electromagnetically-Actuated Scanner for
Wang, Qingfeng
Zhejiang Univ.
Dual-Stage Nanopositioning (I), pp. 125-130 Tuma, Tomas
IBM Res.
lower the emission of construction machinery. The efficiency can
Haeberle, Walter
IBM Res.
be improved better if the swing system is driven by electric motor in
Rothuizen, Hugo
IBM Res.
hybrid construction machinery due to its better efficiency than the
Lygeros, John
Hybrid power technology is adopted to raise the efficiency and
hydraulic motors used in conventional hydraulic excavators and the regeneration of kinetic energy of upper structure. The purpose of this paper is to investigate the control strategy for hybrid excavator swing system driven by electric motor. At first, the configuration and working principle are introduced of swing system driven by electric motor and the working condition is also analyzed; then the model of the swing system is built and analyzed and the range of swing inertia of the upper structure is tested for controller design by site experiments. Based on the working requirement, the control flow chart of the swing system is given and a dual-mode (torque and speed) control strategy is presented. In speed control mode and torque control mode, a robust speed controller based on simplified mixed sensitivity algorithm and a P torque controller are designed respectively. Simulations and actual tests that compare the proposed control strategy with a conventional PI control verify the feasibility and effectiveness of the proposed control method. 14:40-15:00
WeBT3.6
Robust Inverse Dynamics Control for a Hydrostatic Transmission with Actuator Uncertainties, pp. 116-124 Sun, Hao
Univ. of Rostock
Aschemann, Harald
Univ. of Rostock
ETH Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Sebastian, Abu
IBM Res. - Zurich
This paper presents the mechanical design, finite element simulations and experimental verification of an electromagnetically -actuated uniaxial high-speed nanopositioner. The nanopositioner is designed specifically as a fast, short-range scanner for a dual-stage nanopositioning system. To that end, the scanner has high
linearity
owing
to
its
electromagnetic
actuation
and
well-defined dynamic behavior over a large bandwidth. There was significant emphasis on reducing the mechanical and thermal coupling from the actuation block. Using model-based feedback controllers with direct shaping of the closed-loop noise transfer function, experimental results are presented in which the scanner is integrated in a dual-stage nanopositioning system and used for high-speed imaging in a custom-built atomic force microscope. 15:40-16:00
WeCT1.2
Towards High Speed Ferrule-Top Atomic Force Microscopy (I), pp. 131-137 Chang, Peter I.
Vienna Univ. of Tech.
Chavan, Dhwajal
VU Univ. Amsterdam
This paper presents a robust inverse dynamics control strategy in
Paris, Rene
Vienna Univ. of Tech.
combination with a reduced-order disturbance observer for a
Iannuzzi, Davide
VU Univ. Amsterdam
Schitter, Georg
Vienna Univ. of Tech.
hydrostatic transmission. The corresponding nonlinear system model, however, is characterized by only imperfectly known
51
Book of Abstracts This paper introduces a high speed ferrule-top Atomic Force
Different Scan Speeds (I), pp. 153-159
Microscope (AFM) system by integrating an all optic miniaturized
Huang, Peng
Boston Univ.
ferrule-top cantilever probe with a high speed AFM scanner. The
Andersson, Sean
Boston Univ.
ferrule-top cantilevers are a new generation of AFM probes that are manufactured directly at the end of a ferruled optical fiber. With a laser coupled into the optical fiber from its opposite end, the cantilever detection readout is directly available via interferometry. This paper is focused on integrating the ferrule-top probes into a high speed AFM system for simplification of the AFM adjustment towards automation and as a pre-step for a fast scanning tip AFM system. Recorded AFM images that are acquired by the ferrule-top AFM system demonstrates successful imaging at the speed of two frames per second, with 256 by 256 pixel resolution. 16:00-16:20
A typical user of an atomic force microscope (AFM) judges the quality of information in the scan of a sample by the images generated from either the height signal (in contact mode) or the height, amplitude, and phase signals (in intermittent contact mode). As the speed of the tip across the sample is increased, these signals become corrupted by the dynamics in the actuators and other elements in the system. The amplitude and phase signals are derived from the motion of the cantilever during the scan and there have been alternative schemes proposed, such as transient mode AFM, that derive several other signals from the cantilever motion.
WeCT1.3
In this work we study the utility of the height, amplitude, and other
Analysis and Design of Multiresolution Scan Trajectories for
derived signals at different tip speeds for both imaging and for
High-Speed Scanning Probe Microscopy (I), pp. 138-144
detection. The results are demonstrated through experiments using
Tuma, Tomas
IBM Res.
Lygeros, John
ETH Zurich
Sebastian, Abu
IBM Res. - Zurich
Pantazi, Angeliki
IBM Res. - Zurich
Recently, a new family of multi-resolution scan trajectories for
a grating sample scanned on an Agilent 5500 AFM.
WeCT2
XIYUAN 3
Sensing and Actuation (Regular Session) Chair: Bai, Kun
Huazhong Univ. of
high-speed scanning probe microscopy has been introduced based on Lissajous patterns. In this mode of imaging, the cantilever tip traverses the sample by following a pattern which is created by two
Science and Tech. Co-Chair: Kong, Kyoungchul
Sogang Univ.
single-tone harmonic waveforms interfering in a two dimensional
15:20-15:40
plane. This paper provides a rigorous analysis of some of the
A Sensor-Less Motion Sensing Method of a 3-DOF
fundamental properties of Lissajous scan trajectories, such as the
Permanent Magnet Spherical Motor, pp. 160-164
imaging time and spatial resolution, and presents a step-by-step procedure which allows for the design of such trajectories. We also explore the multiresolution character of Lissajous scan trajectories
WeCT2.1
Bai, Kun
Huazhong Univ. of Science and Tech.
Lee, Kok-Meng
Georgia Inst. of Tech.
which enables for a real-time preview of the sample in fractions of
This paper presents a sensor-less method for measuring in
the overall imaging time. Experimental results are presented to
real-time the 3-DOF orientation as well as the angular velocity of a
substantiate the analytical results.
permanent
16:20-16:40
back-electromagnetic force. By utilizing the relationship between
WeCT1.4
Image-Based Modeling of the Lateral Axes of a Scanning Probe Microscope (I), pp. 145-152
magnet
spherical
motor
(PMSM)
using
the induced voltages of the coil windings and the moving magnetic fields of rotor permanent magnets, this method can incrementally compute the 3-DOF orientation and angular velocity by measuring
Clayton, Garrett
Villanova Univ.
the induced voltages in the static electro-magnets of a PMSM
McManus, Brian
Villanova Univ.
without installing any sensors. This method is experimentally
In order to enable high-speed operation of scanning probe microscopes (SPMs), a dynamic model of the SPM's lateral
investigated on a prototype PMSM and the results are compared with a commercialized gyroscope sensor.
nanopositioner is typically required (e.g for model inverse
15:40-16:00
feedforward control). One of the primary difficulties associated with
Design of an Actuation System for a High-Speed Quadruped
developing such models is the availability of nanoposition sensors,
Robot, Cheetaroid-I, pp. 165-169
especially in very high resolution systems. In order to overcome this problem, a method capable of finding models of the individual SPM nanopositioner axes using only the SPM's imaging capabilities is presented. Specifically, images of a calibration sample acquired using a spiral scan trajectory are analyzed to determine frequency response information for the SPM's lateral positioning axes. The method is presented, followed by simulation results that show the feasibility of the approach.
WeCT2.2
Na, Byeonghun
Sogang Univ.
Choi, Hyunjin
Sogang Univ.
Kong, Kyoungchul
Sogang Univ.
Quadruped robots are regarded as a new trend in robotics due to their superior gait stability and robustness to disturbances. In recent years, many robotics researchers are making their best efforts to improve the locomotion speed, as well as the stability and
WeCT1.5
robustness, of quadruped robots. The high-speed locomotion
On Detection and Estimation in Atomic Force Microscopy at
creates various challenges in the development of actuators,
16:40-17:00
52
Book of Abstracts mechanical design, and control algorithms of the robot. In this
Tao, Ruichao
Harbin Inst. of Tech.
paper, a linear actuation system for the high-speed locomotion of a
Li, Xinglong
Harbin Inst. of Tech.
quadruped robot is introduced. The proposed actuator is designed based on the principle of brushed direct-current electric motor
An analytical method for calculation of no-load magnetic field
systems. The mechanical and electrical properties of the actuation
distribution in the slotted airgap of a surface permanent magnet
system, such as back-drivability, controllability, and response time,
synchronous motor has been presented. The method involves the
are verified by experimental results. A robotic leg, which is the rear
solution of the governing field equations in polar coordinates in the
leg of a cheetah-like robot, is designed with the proposed actuator,
annular airgap region of a slotless motor in which the magnets are
and is introduced briefly in this paper also.
assumed to have uniform radial magnetization and constant
16:00-16:20
WeCT2.3
Voltage Based Linearization of a Reluctance Actuator for
relative recoil permeability. Then it introduces the notion of complex relative airgap permeance calculated from the conformal transformation to account the effect of slotting. As a result, an
High-Precision Applications, pp. 170-176
accurate solution of both radial and tangential components of the
Katalenic, Andelko
Eindhoven Univ. of Tech.
flux density can be obtained.
van den Bosch, P. P. J.
Eindhoven Univ. of Tech.
17:00-17:20
A single-phase C-core reluctance actuator is linearized using a combined
analog
and
digital
control,
and
magnetic
field
measurements. The analog stage contains a high-bandwidth sensing coil voltage tracking controller which rejects the electric
Inductance Measurement of the Switched Reluctance Motor with the Current Traversal Response for Exciting Voltage Pulse, pp. 190-196 Shao, Da
School of Mechanical Engineering
Gong, Liang
School of Mechanical Engineering
and magnetic circuit disturbances and makes the plant behave as an idealized transformer between the driving coil and the sensing
Shanghai Jiao Tong Univ.
coil on a wide frequency range. Since this is the natural high frequent behavior of the actuator, very low sensing coil voltage tracking errors are achieved. Furthermore, in combination with flux feedforward and drift stabilizing low bandwidth Hall probe feedback, this circuitry achieves very low reluctance force tracking
Shanghai Jiao Tong Univ. Li, Bing-chu
voltage-based
control
schemes.
The
performance
is
experimentally verified on a 1DoF measurement rig with 1 nm position and less than 50 mN force resolution, where linearization errors smaller than 0.05 N for challenging 200 N second order force profiles are measured.
School of Mechanical Engineering Shanghai Jiao Tong Univ.
Liu, Cheng-liang
School of Mechanical Engineering Shanghai Jiao Tong Univ.
errors, i.e. very small linearization errors and low stiffness inherent to
WeCT2.6
The stator inductance of the Switched Reluctance Motor (SRM) is the essential factor for the motor motion control, torque control and energy-efficient driving. However, the inductance possesses strongly nonlinear characteristics against the rotor position and phase current, which poses challenges for accurate measurement
16:20-16:40
WeCT2.4
of the inductance under varying current and ever-changing rotor position. A inductance measurement method, namely the current
Modeling of Hybrid Stepper Motors for Closed Loop
traversal response for exciting voltage pulse, is proposed on the
Operation, pp. 177-183
basis of an SRM model. The novel approach exerts a pulse voltage
Henke, Benjamin
Univ. of Stuttgart
Sawodny, Oliver
Univ. of Stuttgart
current response, and calculates the inductance under the varying
Schmidt, Steffen
Festo AG & Co. KG
current. The proposed method has the advantage of simple
Neumann, Ruediger
Festo AG & Co. KG
measuring facilities, full-range data-acquiring under semi-real
In automation and handling, many motion tasks are accomplished
helps to obtain an accurate full-range inductance under different
using servo motors. For simple motion tasks, hybrid stepper motors
rotor position and phase current, which renders a parameterized
can be used in closed loop operation as a cheaper replacement of
3-D mesh for the SRM stator inductance. Further a novel
expensive
the
cross-validation experimentation according to the magnetizing and
electromechanical behaviour is necessary for controller design. A
demagnetizing status measurement verifies the feasibilities and
detailed model of the hybrid stepper motor is derived, taking the
accuracy of the proposed inductance measuring method.
servo
motors.
Therefore
a
model
of
on a given stator winding, measures the dynamic process of a
driving scenario, and it is free of modeling errors. These merits
saliencies of the rotor and the stator into account. Least-squares optimal parameter values are identified for important model parameters. Validation experiments show the high accuracy of the model.
XIYUAN 4
Precision Motion Control (Regular Session)
16:40-17:00
WeCT2.5
Analytical Calculation of No-Load Magnetic Field Distribution in the Slotted Airgap of a Permanent Magnet
Chair: Ang Jr, Marcelo H
National Univ. of Singapore
Co-Chair: Chen, Zheng
Zhejiang Univ.
15:20-15:40
Synchronous Motor, pp. 184-189 Ma, Jie
WeCT3
Harbin Inst. of Tech.
WeCT3.1
Adaptive Prefilter Design for Control of Quasistatic
53
Book of Abstracts Microscanners, pp. 197-206 Janschek, Klaus
Tech. Univ. Dresden
Sandner, Thilo
Xu, Jian-Xin
National Univ. of Singapore
Huang, Deqing
National Univ. of Singapore
Fraunhofer Inst. for Photonic
Venkatakrishnan,
Microsystems, Dresden
Venkataramanan
Schroedter, Richard
Tech. Univ. Dresden
Roth, Matthias
Tech. Univ. Dresden
Data Storage Inst. (DSI)
Huynh, The Cat Tuong
National Univ. of Singapore
In this paper, two types of sampled-data current-cycle iterative
This paper describes an open loop control approach with analog
learning control (CILC) schemes are exploited to perform high
impedance
MEMS
performance tracking control for piezoelectric positioning stage
microscanners based on electrostatic comb transducers. The
systems. The proposed CILC schemes consist of a direct feedback
control task is determined by high dynamic input trajectory
control (FC) loop and an add-on iterative learning control (ILC)
following in the presence of an extremely lightly damped
loop,
mechanical mass-spring system with nonlinear electromechanical
non-repeatable components in tracking error. Based on the
characteristics. The approach presented in this paper makes use of
modeling result of control system, gain scheduling technique is
a model-based design approach resulting in a nonlinear adaptive
further incorporated in the learning filter design of ILC loop to
prefilter for optimally preshaping of customized trajectory inputs.
speed up the learning convergence. In consequence, low tracking
The open loop control is augmented by an easy to implement
error in the time domain and fast convergence speed in the
resistive analog impedance feedback scheme that introduces
iteration domain are achieved concurrently. In the end, to illustrate
electromechanical damping and increases robustness against
the respective characteristics of CILC schemes and verify their
physical parameter uncertainties of the MEMS microscanner
superiorities to pure FC or pure ILC, a set of experiments including
assembly. The paper outlines the underlying MEMS microscanner
low-frequency (2 Hz) tracking and high-frequency (100~Hz)
technology, it describes the mathematical model based on ANSYS
tracking are conducted with detailed comparisons among P/PI
computation, and it discusses in detail the proposed control
control, pure ILC with robust design, pure ILC with gain scheduling,
concepts. Simulations and experimental results prove the
two types of CILC, and CILC with gain scheduling.
applicability of the control approach.
16:20-16:40
feedback
damping
for
quasistatic
15:40-16:00
WeCT3.2
thus
can
simultaneously
repeatable
WeCT3.4
Linear-Motor-Driven Stages with High-Frequency Flexible
Arifin, Ahmad Suryo Ang Jr, Marcelo H
Zhejiang Univ.
National Univ. of Singapore National Univ. of Singapore
Lim, Chee Wang
Singapore Inst. of Manufacturing
Purdue Univ.
Wang, Qingfeng
and
Improving Positioning Accuracy Using a General Framework
Modes, pp. 207-213
Yao, Bin
with
for Macro Mini Manipulation, pp. 225-230
$mu$-Synthesis Based Adaptive Robust Control of
Chen, Zheng
deal
Zhejiang Univ.
and Tech. Lai, Chow Yin
National Univ. of Singapore
Linear motors have good potential to achieve high speed and high
This paper introduces a general framework for macro mini
accuracy by eliminating gear related mechanical problems. By
manipulator to improve the positioning accuracy of an industrial
using the effective model compensation of nonlinear rigid-body
manipulator. RMRC (Resolved Motion Rate Control) is used as the
dynamics, the close-loop bandwidth limitation due to the
controller for the industrial (macro) manipulator while PID with
appearance of neglected high-frequency flexible modes has to be
gravity compensation is used as the controller of the mini
the main issue to maximize the achievable performance. In this
manipulator. Gain scheduling is introduced to reduce the coupling
paper, the modeling and identifications are carried out to verify the
error that arises from the motions of the macro and mini
existing
The
manipulator. This paper also presents a trajectory planning which
is
ensures the macro and mini manipulator will always be inside of
developed. The adaptive feedforward loop is used to keep good
their respective workspaces. The experiment utilizes 7-DOF
online parameter estimation and nonlinear model compensation,
Mitsubishi PA-10 as the macro manipulator and 1-DOF voice coil
and also transfers the trajectory tracking problem into the
as the mini manipulator. The experiments show that the framework
traditional regulation problem which $mu$-synthesis control can
improves the position accuracy.
rigid-body
$mu$-synthesis
and
based
high-frequency
adaptive
robust
dynamics.
control
strategy
more easily deal with. Since considering the fundamental flexible mode as a part of the nominal plant model, the $mu$-synthesis feedback loop can achieve higher close-loop bandwidth with the appearance
of
various
model
uncertainties.
Comparative
16:40-17:00
WeCT3.5
Proposal of Position Reconstruction with Polynomial Fitting Approach for Precise Motion Control, pp. 231-236
experiments have been done and the results show the excellent
Zhu, Hongzhong
The Univ. of Tokyo
tracking performance of the propose algorithm.
Fujimoto, Hiroshi
The Univ. of Tokyo
Sugie, Toshiharu
Kyoto Univ.
16:00-16:20
WeCT3.3
High Performance Tracking of Piezoelectric Positioning Stage Using Current-Cycle Iterative Learning Control with Gain Scheduling, pp. 214-224
54
Optical encoders are extensively used for position measurements in motion control systems. The inherent quantization feature of the optical
encoders
limits
the
control
performance
in
many
Book of Abstracts applications. In this paper, a novel approach based on $ell_1-$norm regularization method is presented to reconstruct the real position signal from the quantized measurements. By fitting the quantized measurements with polynomials in a moving horizon manner, the reconstruction signal is obtained via solving a convex optimization problem in real time. Some constraint conditions are also utilized in order to achieve an accurate smooth reconstruction. The effectiveness of the proposed approach is verified by experiments using a high-precision linear stage. 17:00-17:20
WeCT3.6
Predictive Control for the Stabilization of a Fast Mechatronic System : From Simulation to Real-Time Experiments, pp. 237-242 Touati, Nahla
National Engineering School of Tunis (ENIT)
Chemori, Ahmed
UM2
In this paper a Generalized Predictive Control (GPC) scheme is proposed for the stabilization of a fast mechatronic system. Namely the inertia wheel inverted pendulum, which has two degrees of freedom and one actuator. The proposed control approach should be able to stabilize this system around its unstable equilibrium point and maintain it in this state. The efficiency and performance of the proposed control scheme are firstly illustrated through simulation results, then its robustness is shown through real-time experiments on the prototype of the system in question.
55
Book of Abstracts data taken at the Large Binocular Telescope in order to validate the Technical Program for Thursday April 11, 2013
lab setup's ability to reproduce the relevant dynamics of the telescope. Some early results of the lab setup are given as well.
ThBT1
Boardroom
Mechatronics for Adaptive Optics and Optical Metrology
13:40-14:00
ThBT1.3
Sub-Nanometre Validation of a Deformable Mirror Concept
(Invited Session)
(I), pp. 256-263
Chair: Schitter, Georg
Vienna Univ. of Tech.
Co-Chair: Song, Hong
Zhejiang Univ.
Organizer: Schitter, Georg
Vienna Univ. of Tech.
Organizer: Song, Hong
Zhejiang Univ.
13:00-13:20
ThBT1.1
Wavefront Aberration Characterization and Correction for Laser Beam Propagating Over Saline Water and Sands (I), pp. 243-248
Saathof, Rudolf
Delft Univ. of Tech.
Ursem, Luuk, J.
Delft Univ. of Tech.
Spronck, Jo, W.
Delft Univ. of Tech.
Munnig Schmidt, Robert, H.
Delft Univ. of Tech.
Highly accurate optical systems may suffer from heat induced optical aberrations, causing blurred images, or degraded sensing properties. Correcting these aberrations with nanometre precision requires a dedicated design of a deformable mirror and a
Zhu, Songsong
Zhejiang Univ.
measurement set-up that can validate the design. In this paper we
Song, Hong
Zhejiang Univ.
focus on the quantitative validation of the measurement set-up and
Hangzhou Dianzi Univ.
the deformable mirror. To obtain nanometre precise measurements
Yang, Ping
vibration isolation, turbulence isolation, beam enhancement and
Liu, Hongbo
zhejiang Univ.
Lan, Ruihong
Zhejiang Univ.
0.35 [nm] and reproducibility of 2.0 [nm]. With these known
Liu, Yuan
Zhejiang Univ.
characteristics, an uncertainty analyses is carried out on an
Huang, Haocai
Zhejiang Univ.
actuated shape of the deformable mirror, which is 50x50x4 [mm].
Qu, Fengzhong
Zhejiang Univ.
Leng, Jianxing
Zhejiang Univ.
Chen, Ying
Zhejiang Univ.
static noise reduction are applied. This resulted in a repeatability of
The stability of a deformed shape is 0.46 [nm] RMS and the difference with the modelled deformation is 2.0[nm] RMS on an amplitude of 30 [nm]. These low numbers quantify the validity of the actuation concept.
Wireless laser communication is a promising method for
14:00-14:20
communication in marine environment. However, as laser beam
Compensation Based Displacement Measurement Using
propagates through atmosphere, both wavefront and intensity of
Objective Laser Speckles (I), pp. 264-270
the laser beam can be influenced by the atmospheric turbulence. In this paper, wavefront aberration in the laser beam is characterized and corrected by an adaptive optics system while the laser propagates over saline water in a lab environment. Experiments have also been carried out when the laser beam propagates over sands for a comparison. With the correction by the closed-loop adaptive optics system, the variance of spots displacement in the Shack-Hartmann wavefront sensor has been reduced by 28% for saline water and 10% for sands.
ThBT1.4
Paris, Rene
Vienna Univ. of Tech.
Thurner, Thomas
Graz Univ. of Tech.
Schitter, Georg
Vienna Univ. of Tech.
Objective laser speckles can be observed as intensity pattern from free space propagation of coherent light that is diffracted from a technically rough surface. Utilizing this pattern allows for very localized non-contacting measurement of surface displacement as well as strain, and carries a high potential for miniaturization.
13:20-13:40
ThBT1.2
Existing objective speckle techniques suffer from decorrelation
Modeling and Identification of the Optical Path at ELTs - a
effects,
Case Study at the LBT (I), pp. 249-255
measurement
dramatically
decreasing
techniques.
In
the this
performance paper
we
of
such
present
a
compensation based displacement measurement scheme, where
Böhm, Michael
Univ. of Stuttgart
Pott, Jörg-Uwe
Max-Planck-Inst. for Astronomy, Heidelberg
Kürster, Martin
Max-Planck-Inst. for Astronomy, Heidelberg
feedback operation. This converts the image sensor into a
Univ. of Stuttgart
zero-detector, what considerably improves the speckle pattern
Sawodny, Oliver
we keep the measured speckle pattern displacement close to zero by actively following the measuring objects movement in a
correlation over a significantly extended measurement range. For real-time feedforward control of an opto-mechanical piezo driven correction device using acceleration measurements, we
14:20-14:40
ThBT1.5
model the Large Binocular Telescope's optical path using a linear
The Openloop Liquid Crystal Adaptive Optics for
dynamical
Astronomical Application (I), pp. 271-275
system
approach.
The
model
is
derived
from
experiments conducted at the telescope. These experiments will
Hu, Lifa
CIOMP
briefly be described and measurements along with simulation results will be presented. For off-site lab esting, a small experiment
Atmospheric
setup is described and experimental lab data is compared to the
astronomical objects and limits the spatial resolution of large
56
turbulence
deteriorates
the
image
quality
of
Book of Abstracts aperture optical telescopes. Adaptive optics (AO) corrects the
inside the human joint. Therefore, a dynamic model of human
aberrations induced by atmospheric turbulence in real time, which
walking used for estimating the human joint torque is proposed.
concentrates the incident light and enables the telescope to
Since the kinematic constraints of the lower-limb extremity during
achieve the diffraction-limited resolution on-axis or over an
walking vary depending on gait phases, the dynamic model of
extended field-of-view(FoV). In this paper, we present the transfer
human walking is described by multiple sub-dynamic models,
function of our open-loop liquid crystal adaptive optics system.
which are derived using Lagrangian mechanics. The joint kinematic
Based on the transfer function, we calculated the bandwidth of our
measurements and estimated human joint torque results are
nematic LC AO system: -3dB bandwidth are about 57.0 Hz and
verified by experiments.
82.4Hz for high order aberration and tilt-tip compensation control, respectively. Through further improvements on LC material, electronic interface port, shortened data processing time and optimized control, we will get a better LC AO system.
13:20-13:40
ThBT2.2
Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study, pp. 293-300
14:40-15:00
ThBT1.6
Prediction Control Algorithm for Close-Loop Adaptive Optical System (I), pp. 276-284 Li, Xinyang
Inst. of Optics and Electronics, CAS
To reduce the effect of servo lag error in the close-loop adaptive optics system (AOS), a prediction control algorithm (PCA) is proposed in this paper. We describe a linear predictive controller that uses the historical voltages of deformable mirror to predict their future voltages in advance. The parameters of the predictor are optimized in real time by a modified Recursive Least-Square (RLS) algorithm. Numerical simulations are carried out to show the significant improvements brought by the predictor. The close-loop Strehl Ratio of the residual wave-front error and the power spectrum density of the residual voltages of deformable mirror are calculated as the evaluation criterions. The comparison results between the PCA and the classical proportional integral (PI) control
Lu, Junkai
Univ. of California, Berkeley
Chen, Wenjie
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
The integration of the brain-machine interface (BMI) and the exoskeleton
technique
has
the
potential
to
promote
the
understanding of fundamental principles in neural control of movement, as well as to motivate a new generation of rehabilitation or power augmentation exoskeleton systems. In this paper, the kinematic design and development of a 6-DOF upper limb exoskeleton for a BMI study is presented. In order to achieve a singularity-free design of the shoulder complex, a 4-DOF shoulder complex model is proposed using one redundant DOF in contrast to the commonly used orthogonal triad model. The feasibility of both singularity and joint limit avoidance control is investigated based on the reachability analysis.
algorithm show that the residual errors caused by servo lag in the
13:40-14:00
system could be more effectively reduced by using the PCA than
Mechanical Design and Kinematic Analysis of a 10 D.O.F.
using the classical PI control algorithm. In addition, the control
Robot Manipulator, pp. 301-306
bandwidth of AOS is improved by using the PCA.
Teng, Ming-Chang
ThBT2.3
Mechanical and System Res. Lab. Industrial Tech.
ThBT2
XIYUAN 3
Noval Exoskeleton and Robotic Devices (Regular Session) Chair: Melchiorri, Claudio
Tsai, Yi-Jeng
Mechanical and System Res. Lab. Industrial Tech.
Hsiao, Chin-Chi
Industrial Tech. Res. Inst.
Univ. of Bologna
Co-Chair: Kim, Kyung-Soo
KAIST
13:00-13:20
In this paper, a 10 degree-of-freedom (D.O.F.) robot manipulator consisting of a 6 D.O.F. light-weight arm and a 4 D.O.F. cable
ThBT2.1
driven hand is presented with the morphological analysis. The
7 Degrees of Freedom Passive Exoskeleton for Human Gait
robot manipulator, Roppie, has been developed as a service robot
Analysis: Human Joint Motion Sensing and Torque
by Industrial Technology Research Institute (ITRI) in Taiwan. Its
Estimation During Walking, pp. 285-292
main features are 10 degrees of freedom, light-weight design, and
Kanjanapas, Kan
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
In order to provide insightful information for the effective diagnosis of a patient's abnormal gait, this paper presents a 7-DOF passive exoskeleton which can deliver both kinematic information and estimated human joint torque during walking. This paper introduces
flexible object manipulation by integrating motion control and vision feature recognition. Its weight is 5.7 kg, its payload is 1.2 kg, and its tip point velocity is up to 1 m/s. 14:00-14:20
ThBT2.4
Mechatronic Design of a Three-Fingered Gripper for Underwater Applications, pp. 307-312
both a hardware implementation and an algorithm to obtain
Bemfica Rodrigues, Jéferson
Univ. of Bologna
kinematic information and human joint torque. To measure the joint
Melchiorri, Claudio
Univ. of Bologna
kinematic and ground contact force; encoders, gyroscopes and
Moriello, Lorenzo
Univ. of Bologna
Palli, Gianluca
Univ. of Bologna
Scarcia, Umberto
Univ. of Bologna
smart shoes are used and attached to the passive exoskeleton. However, human joint torque information cannot be directly measured due to the impracticality of installing a torque sensor
57
Book of Abstracts Vassura, Gabriele
Univ. of Bologna
In this paper, the design and experimental evaluation of a three-fingered robotic gripper for underwater applications is presented. The gripper has some innovative features with respect to other devices known in the literature, concerning in particular the
compliant jaw enhances the stability of its grasp, and its worm gear enables the gripper grasp to be stable while also reducing the gripper's weight. With a force sensor, it can manage sensitive force control. In this way, we designed a robot gripper suitable for rapid service robots.
workspace, the kinematic capabilities, and the sensory equipment. The main design specifications are described, deriving from the particular tasks in which the gripper will be involved, and the proposed solutions discussed. Results obtained during real
ThBT3
XIYUAN 4
Control Methodologies (Regular Session)
underwater experiments are provided as well, in order to
Chair: Ma, Chengbin
Univ. of Michigan-Shanghai Jiao
demonstrate the capabilities of the gripper. 14:20-14:40
Tong Univ. Joint Inst. Co-Chair: Feng, Ying
ThBT2.5
South China Univ. of Tech.
Design of Prosthetic Robot Hand with High Performances
13:00-13:20
Based on Novel Actuation Principles, pp. 313-318
Prescribed Adaptive Control of a Class of Nonlinear System
ThBT3.1
with Asymmetric Hysteresis, pp. 325-331
Shin, Young June
KAIST
Kim, Soohyun
KAIST
Li, Zhi
Concordia Univ.
Kim, Kyung-Soo
KAIST
Su, Chun-Yi
Concordia Univ.
Chai, Tianyou
In this paper, a conceptual design is presented to develop the
Feng, Ying
prosthetic robot hand which can accomplish most typical activities of daily life conducted by amputees. This design is based on three novel actuation principles, which are called distributed actuation, dual-mode twisting actuation, and EM joint locking mechanism, respectively. First of all, the distributed actuation may simulate the effect of the distributed muscles in human finger and provides an additional design freedom to structurally maximize the fingertip force. Second, the dual-mode twisting actuation is considered for a new type of power transmission which allows large actuating force and high-speed motion. Third, the EM joint locking mechanism guarantees additional degrees of freedom to the under-actuated robot finger/hand. It may lead to the dexterous motions and stable grasps. Finally, based on the design concepts of the actuation mechanisms, we design a finger module for a high performance and develop a robot hand having the five finger modules. 14:40-15:00
ThBT2.6
Design of a Robot Gripper for a Rapid Service Robot, pp. 319-324 Jung, TaeJin Oh, Jun Ho
Korea Advanced Inst. of Science and Tech. KAIST
Northeastern Univ. South China Univ. of Tech.
Control of uncertain nonlinear systems with hysteresis nonlinearity has re-attracted much attention in recent years. However, the most of the results are for symmetric hysteresis. In this paper, focusing on
the
asymmetric
hysteresis
phenomenon
by
adaptive method is proposed to mitigate the hysteresis effect. The main contributions lie in 1) firstly derive the analytic inverse compensation error of the ASPI model; 2) employ the prescribed adaptive control approach to achieve global stability of the nonlinear system and guarantee the transient and steady-state performance of the tracking error without knowledge of system parameters. Simulation results validate the effectiveness of the proposed approach. 13:20-13:40
ThBT3.2
Control of Transient Response Via Polynomial Method, pp. 332-339 Ma, Chengbin
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Qiao, Yue
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
This research designs a robot gripper for a rapid service robot. For a service robot that moves rapidly, a robot gripper must be
described
asymmetric shifted Prandtl-Ishlinskii (ASPI) model, a prescribed
Cao, Junyi
Xi'an Jiaotong Univ.
lightweight and must have the ability to grasp objects of any size or shape stably. In addition, sufficient gripping force, a low cost, and a
In this paper, a general discussion on the controller design for
friendly shape are necessary. To satisfy the above requirements,
transient response control is firstly conducted based on the
this research designs a new robot gripper. We use a four-bar
polynomial method. It is shown for general all-pole close-loop
linkage underactuated system for shape adaptability and to reduce
systems, their step responses have zero or nearly zero overshoot
the weight. In a simulation, the four-bar linkage is designed to
under the nominal characteristic ratio assignment $[2.5, 2, 2,
eliminate the rollback ejection phenomenon while also maximizing
dots]$; while the time constant $tau$ determines the speed of
the utilization of a parallel grasping. While other studies place
response. The control of the classical benchmark two-mass system
emphasis on preventing rollback ejection phenomenon, in this
is introduced as a case study, in which the m-IPD control
research we stress the maximum utilization of both parallel and
configuration is adopted. It is found the time constant $tau$ cannot
power grasping using a compliance jaw and a double four-bar
be arbitrarily specified under the m-IPD control configuration and
linkage design. With the parallel four-bar linkage system, the
the nominal characteristic ratio assignment. The designed m-IPD
gripper can perform both parallel grasping and power grasping,
controller
allowing it to grip a diverse range of objects. Moreover, the
Meanwhile, the large and negative derivative gain designed under
58
demonstrates
a
sufficient
damping
performance.
Book of Abstracts the nominal characteristic ratio assignment leads to a poor
time, using the irregular sampling and regular control action
robustness. Through the complementary sensitivity function
scheme for the HDD achieves an RMS standard deviation of the
analysis, the robustness of the polynomial-based m-IPD controller
position error signal (PES) that is 40% smaller than the
design
$(K_d^*
corresponding value achieved by using a controller provided by our
s^{*2}+K_p^*s^*+K_i^*)$; while the characteristic ratio assignment
industry partner, in which both the sampling and control rates are
and the time constant determine the nominal time response of the
irregular.
is
found
to
depend
on
the
term
of
close-loop control system.
14:20-14:40
13:40-14:00
ThBT3.3
Robust Finite Frequency H! Passive Fault Tolerant Static Output Feedback Control with Application to Active Vibration Attenuation, pp. 340-346 Zhang, Hui
Ohio State Univ.
Wang, Rongrong
Ohio State Univ.
Wang, Junmin
Ohio State Univ.
In this work, the robust finite frequency H1 passive fault-tolerant static output feedback controller design problem is investigated. The control law is a static output feedback control and the actuators are subject to faults. The fault matrix is described by a polytope with finite vertices. In order to attenuate the effect from the external disturbance to the controlled output, the finite frequency H1 control in which the Hamilton matrix is avoided is employed. The static output feedback gain is determined via a two-stage method. Then, an iterative algorithm is proposed to derive a smaller H1 performance index. The proposed algorithm is applied to an active control problem of a structural system under an earthquake excitation. Simulations and comparisons have shown that the designed fault-tolerant controller can significantly attenuate the vibration from the ground and protect the structural system even actuator faults occur.
ThBT3.5
Polynomial Control for Air-To-Air Missiles Based on Coefficient Diagram Methods, pp. 355-361 Zhao, Jinlei
Xi'an Jiaotong Univ.
Cao, Junyi
Xi'an Jiaotong Univ.
Chen, Wen
Wayne State Univ.
Ma, Chengbin
Univ. of Michigan-Shanghai Jiao Tong Univ. Joint Inst.
Cao, Binggao Based
on
Coefficient
Xi'an jiaotong Univ. Diagram
Methods
(CDMs),
a
polynomial-control scheme for air-to-air missiles is proposed. According to the analysis of CDM-based polynomial control theory and missile dynamics, two overload-loop controllers with different structures for air-to-air missiles are designed. First, the structure and order of the controller and its corresponding characteristic polynomial of the closed-loop control system are defined following the coefficient diagram. Then, parameters of the polynomial are determined based on the desired control specifications. Numerical simulation studies for different controllers under various conditions, including the variation of aerodynamic parameters, different controller structures and output disturbances, are implemented to explore the characteristics of different control systems. Simulated results verify that the controller designed via CDMs has better
14:00-14:20
ThBT3.4
Limits of Performance in Systems with Periodic Irregular Sampling and Actuation Rates, pp. 347-354
robustness in comparison with the traditional three-loop autopilot. 14:40-15:00
ThBT3.6
Robust Stabilizer Design for High-Precision Tracking of a
Shahsavari, Behrooz
Univ. of California, Berkeley
Conway, Richard
Univ. of California, Berkeley
Leng, Tongtong
Keikha, Ehsan
National Univ. of Singapore
Liu, Bofeng
Horowitz, Roberto
Univ. of California, Berkeley
Lu, Chao
Tsinghua Univ.
This paper examines the limits of performance in systems with
Zhang, Zhen
Tsinghua Univ.
periodic irregular sampling rate when the actuation is not
Yan, Peng
necessarily synchronized with the sampling. For such a system, three sampling and actuation schemes are considered: when the sampling and control rate are both regular, when they are both irregular, and when the sampling rate is irregular while the control rate is regular. To ascertain the limits of performance of this type of systems under each sampling and actuation scheme, the system is modeled as a linear periodically time-varying (LPTV) system; optimal LQG control design with a variance constraint is applied to find the smallest achievable mean variance of the performance signal subject to a constraint on the mean control effort variance. In addition, to deal with the computational delay of the controller, an
Linear Gantry, pp. 362-367 Shandong Univ. Shanghai Jiaotong Univ.
Beihang Univ.
In this paper,we develop a robust H-inf stabilizer design method for a parallel structure of internal model-based tracking control for a Voice Coil Motor (VCM) driven servo gantry. The physical model of the VCM gantry is discussed and the system augmentation with the internal-model control structure and the exosystem immersion is generated, where the plant model uncertainties are taken into consideration as well. A mixed sensitivity optimization method is introduced for the synthesis of robust stabilizers. Simulations and Real time experiments demonstrate good performance of the proposed method for high precision tracking of the servo gantry system.
innovative discretization method is proposed which does not introduce any extra states into the state space model. The
ThCT1
proposed method is exploited to determine the performance of a
Nanoscale Positioning and Scanning Probe Technology III
hard disk drive (HDD) in track-following mode. A simulation study demonstrates that in the presence of 30% irregularity in sampling
Boardroom
(Invited Session)
59
Book of Abstracts Chair: Moheimani, S.O. Reza Co-Chair: Tsao, Tsu-Chin
Univ. of Newcastle Univ. of California Los Angeles
Organizer: Sebastian, Abu
IBM Res. - Zurich
Organizer: Schitter, Georg
Vienna Univ. of Tech.
15:20-15:40
ThCT1.1
A New Approach to Active Q Control of an Atomic Force Microscope Micro-Cantilever Operating in Tapping Mode (I), pp. 368-374 Fairbairn, Matthew
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
When imaging in tapping mode, scan speed and image quality may be improved by modification of the Atomic Force Microscope (AFM) micro-cantilever quality (Q) factor. The most commonly applied method of Q control uses velocity feedback with an
Tsao, Tsu-Chin
Univ. of California, Los Angeles
Tsuchiya, Nolan Eizo
Univ. of California, Los Angeles
Verhaegen, Michel
Delft Univ. of Tech.
This paper uses a new method for receding-horizon adaptive control to reduce laser beam jitter. The control scheme generates a control command derived from a receding-horizon performance index that involves future values of an output disturbance. A recursive least squares adaptive lattice filter performs the required prediction based on real time measurements. In a laser beam steering experiment, the adaptive controller drives a micro mirror to cancel broadband disturbance and maintain the laser spot on an optical position sensor. Experimental results demonstrate the capability of the receding-horizon adaptive controller to incorporate frequency weighting to reduce sensitivity to plant modeling error at high frequencies.
estimate of the cantilever tip velocity obtained by phase shifting the
16:20-16:40
displacement signal. System performance may be degraded and
Closed-Loop Control of a Novel 2-DOF MEMS
stability can not be guaranteed using this control technique as the control action affects unmodeled cantilever dynamics. In this paper a resonant controller is presented as a new method of controlling the cantilever Q factor which guarantees closed loop stability in the
ThCT1.4
Nanopositioner with Electrothermal Actuation (I), pp. 391-398 Fowler, Anthony
The Univ. of Newcastle
presence of unmodeled cantilever dynamics. AFM images are
Rakotondrabe, Micky
presented to demonstrate the effectiveness of this control
Moheimani, S.O. Reza
technique.
Univ. de Franche Comté Univ. of Newcastle
The design, characterization and control of a novel 2-DOF MEMS
15:40-16:00
ThCT1.2
nanopositioner
is
presented,
with
Z-shaped
electrothermal
Control of a MEMS Nanopositioner for Atomic Force
actuators being used to position the device's central stage.
Microscopy (I), pp. 375-382
Whereas the more commonly-used V-shaped electrothermal
A
actuator only allows displacements in one direction, the design of
Yong, Yuen Kuan
The Univ. of Newcastle
Fowler, Anthony
The Univ. of Newcastle
Mohammadi, Ali
The Univ. of Newcastle
motion along each of the two axes. Testing of the device shows
Moheimani, S.O. Reza
The Univ. of Newcastle
that stage displacements in excess of +/-5um are achievable for
2
DoF
MEMS-based
nanopositioner
with
integrated
electrothermal sensors for on-chip AFM applications is presented. The electrothermal sensors consist of a pair of 50um long silicon heaters that operate in a differential mode. It is demonstrated in this work that the sensor measurements can be used in feedback control loops to improve the quality of AFM images during high-speed raster scanning. The x and y resonance frequencies of the MEMS-based nanopositioner appear at 815 Hz and 800 Hz respectively. To obtain high-speed AFM images, a positive position feedback (PPF) controller is designed to damp the resonant mode of the fast axis and an integrator is used to achieve satisfactory tracking. For the slow axis, a notch filter and an integrator are implemented to track a slow ramp signal. To further increase the
the Z-shaped beams used in the presented device allows two actuators to be coupled back-to-back to achieve bidirectional
both the x and y axes. The device features integrated displacement sensors based on polysilicon electrothermal heaters, which are supplied with an electrical bias voltage that results in Joule heating. The resistance of each heater varies depending on the position of the central stage, with two heaters being used per axis in a differential configuration. The displacement measurements are utilized as part of an implemented closed-loop control scheme that uses both feedforward and feedback mechanisms based on the principle of internal model control. Experimental testing shows that the use of the controller enhances the static and dynamic performance of the system, with particular improvements being seen in the device's reference tracking, response time and cross-coupling rejection.
tracking bandwidth of the fast axis, an inversion-based feedforward
16:40-17:00
technique is combined with the PPF and integral feedback loops.
Modulated-Demodulated Q Control of an Atomic Force
With
Microscope Microcantilever, pp. 399-405
the
proposed
feedforward-feedback
control
strategy,
high-quality AFM images up to 50 Hz line rate are obtained without noticeable vibration-induced artifacts. 16:00-16:20
ThCT1.3
Control of Jitter in a Laser Beam Experiment by Receding Horizon Adaptive Control (I), pp. 383-390 Gibson, James Steven
60
Univ. of California, Los Angeles
ThCT1.5
Karvinen, Kai
Univ. of Newcastle
Moheimani, S.O. Reza
Univ. of Newcastle
We outline the application of the modulated-demodulated control technique to the quality (Q) factor control of an atomic force microscope
microcantilever.
The
modulated-demodulated
controller developed can be modeled as a linear time invariant
Book of Abstracts controller, which resembles a positive position feedback (PPF)
Zhang, Lei
Univ. of Texas at Dallas
controller. We utilize negative imaginary theory to concisely
Li, Yaoyu
Univ. of Texas at Dallas
summarize the requirements for robust stability of the closed loop system. The Q controller is verified experimentally on a
This study targets the charging scenario for multiple chargeable
microcantilever. Modulated-demodulated control appears to be
vehicles at parking lots or charging stations where most vehicles
well suited to the control of high frequency dynamics, simplifying
have extended parking time, e.g. at the commercial buildings. All
the bandwidth requirements of the baseband controller. Due to the
the vehicles are desired to be charged to full prior to the departure
controller parameterization, the tuning process is extremely simple.
time specified, under constrained total charging capacity. A
We believe modulated-demodulated control could find applications
two-stage approximate dynamic programming (TSADP) framework
in high speed atomic force microscopy (AFM) and MEMS-based
is proposed to determine the optimal charging strategy, utilizing the
nanopositioning.
predicted short-term future information and long-term estimation from historical data. The algorithm is separated into two stages, the optimization stage and approximation stage. The optimization
ThCT2
XIYUAN 3
State Estimation and Electrical Vehicle (Regular Session) Chair: Fujimoto, Hiroshi
The Univ. of Tokyo
Co-Chair: Li, Yaoyu
Univ. of Texas at Dallas
15:20-15:40
ThCT2.1
Extended Kalman Filtering for Robot Joint Angle Estimation Using MEMS Inertial Sensors, pp. 406-413
stage is to find the optimal charging strategy for the short-term ahead time horizon. The approximation stage is to approximate the long-term time horizon charging cost, by the way of approximate dynamic programming (ADP). The whole algorithm works as a partial
rollout
algorithm
and
partial
approximate
dynamic
programming. The TSADP framework can be integrated into stochastic
programming
framework,
when
the
short-term
information is uncertain with probabilities. The simulation results show that the proposed method can significantly decrease the
Wang, Yizhou
Univ. of California, Berkeley
energy cost.
Chen, Wenjie
Univ. of California, Berkeley
16:20-16:40
Tomizuka, Masayoshi
Univ. of California, Berkeley
Multi-Rate Kalman Filter Design for Electric Vehicles Control
The possibility of utilizing low-cost MEMS accelerometers and gyroscopes for accurate joint position estimation of the robot
ThCT2.4
Based on Onboard Vision System with Uneven Time Delay, pp. 431-436
manipulator is investigated in this paper. Cascade Kalman filtering
Wang, Yafei
The Univ. of Tokyo
formulation is derived from the robot forward kinematics and the
Nguyen, Binh Minh
The Univ. of Tokyo
stochastic models of the joint motion sensors. We validate the
Fujimoto, Hiroshi
The Univ. of Tokyo
Hori, Yoichi
The Univ. of Tokyo
accuracy of the proposed algorithm via experimentation. We also discuss the effect of the nonlinearity in the kinematic model on two approximation methods - the first-order linearization and the
Vehicle safety systems have become increasingly popular in
unscented transform.
modern vehicles, and real time information of vehicle states such
15:40-16:00
ThCT2.2
Scale and Rotation Invariant Two View Microgripper Detection That Uses a Planar Pattern, pp. 414-422
as
yaw
rate,
lateral
acceleration
and
lateral
position
is
indispensable for such systems. Yaw rate and acceleration signals can be obtained from onboard gyro/inertial sensors, and vehicle lateral position can be measured by an onboard vision system.
Hirvonen, Juha Robert
Tampere Univ. of Tech.
Normally, the sampling rate of a camera is much slower compared
Kallio, Pasi
Tampere Univ. of Tech.
with that of the other onboard sensors. Moreover, image
In automated grasping of microparts or objects with unknown dimensions and orientations, at least two cameras have to be used to acquire the depth information. In addition to recognition and reconstruction of the real-world coordinates of the target objects, the system has to be able to detect also the real-world coordinates of the microgrippers from the images. This paper presents a scale and rotation invariant microgripper detection method that uses a planar pattern. The method is suitable especially for prototyping systems, whose composition might vary between the experiments. The gripper detection is shown to be accurate enough for challenging
micromanipulation
tasks
of
small
electronic
components and individual paper fibers. 16:00-16:20
processing takes time and the time varies depending on captured images and hardware loads (delay time is measurable through time stamp). In case of integrated vehicle motion and position control, however, a unified feedback frequency is desired. Considering the slow control periods of traditional actuators such as hydraulic brakes, many previous studies down-sample the fast rate sensors to adapt the vision device. On the other hand, for electric vehicles, the control period of actuators (motors) is much shorter than the sampling time of a normal camera. To improve the control performance, this research employs a combined vehicle and vision model for lateral position estimation and proposes a multi-rate Kalman filter with reconstructed measurements based on an inter-sample residual estimation technique.
ThCT2.3
Optimal Charging Strategy for EV Charging Stations by Two-Stage Approximate Dynamic Programming, pp. 423-430
16:40-17:00
ThCT2.5
Advanced Multi-Rate Kalman Filter for Double Layer State Estimator of Electric Vehicle Based on Single Antenna GPS
61
Book of Abstracts and Dynamic Sensors, pp. 437-444
15:40-16:00
ThCT3.2
Nguyen, Binh Minh
The Univ. of Tokyo
Modeling of Ultra-Precision Pneumatic Servo Control Stage,
Wang, Yafei
The Univ. of Tokyo
pp. 453-456
Fujimoto, Hiroshi
The Univ. of Tokyo
Tian, Yanbing
Qingdao Tech. Univ.
Hori, Yoichi
The Univ. of Tokyo
Wang, Tao
beijing Inst. of Tech.
In this paper, a double layer state estimator for electric vehicle is
One ultra-precision pneumatic servo motion stage combined fine
proposed. The first layer provides sideslip angle and yaw angle
and coarse control is designed in this paper. Metal bellows and the
estimation. Utilizing the output the first layer, roll angle, longitudinal
voice coil motor are used as the driving element, aerostatic stage is
and lateral velocity are estimated from the second layer. The
used to support the working stage, and the control accuracy of the
estimator is designed by using the course angle and velocity vector
motion stage is improved under conditions without friction. The
obtained from single antenna GPS and a novel advanced multi-rate
hardware scheme is given in this paper, and the system
Kalman filter. While motion control system of electric vehicle
mathematical model is established, and the control algorithm is
requires state estimation every 1 millisecond, the sampling time of
analyzed too.
GPS based measurement is much longer. In order to solve this problem,
inter-sample
residual
prediction
is
proposed.
Furthermore, by treating the combination of model uncertainties and external disturbances as extended state to be estimated, the
16:00-16:20
ThCT3.3
Reliability Prediction Method of Hydraulic System by Fuzzy Theory, pp. 457-462
high robustness of vehicle state estimation is achieved. The
Chen, Dongning
Yanshan Univ.
satellite information is utilized for auto-tuning of GPS measurement
Yao, Chengyu
Yanshan Univ.
Feng, Zhongkui
Yanshan Univ.
noise covariance matrix.
The hydraulic system's reliability is a key factor to ensure the ThCT3
XIYUAN 4
reliability of hydraulic system. The paper describes a reliability
Modeling and Control of Pneumatic/Hydraulic Systems
prediction method that may be used to evaluate the reliability of
(Regular Session) Chair: Mattila, Jouni
Tampere Univ. of Tech.
Co-Chair: Zhu, Xiaocong
takes advantage of fuzzy set theory. The aim of this method is to minimize the deficiencies of the traditional reliability prediction
ThCT3.1
methods treating a failure rate as fixed value due to insufficiency practice data. Triangular fuzzy number and Gaussian fuzzy
Levelling Control of an Electro-Pneumatic Stabilized
number are used in the application of this prediction method, where
Platform Driven by Pneumatic Muscles, pp. 445-452
environmental factor, derating factor, and other factors are
Hefei Univ. of Tech.
Zhu, Xiaocong
hydraulic systems for industrial applications. The proposed method
Zhejiang Univ.
15:20-15:40
Cao, Jian
reliable operation of equipment and it is very important to evaluate
Zhejiang Univ.
Yao, Bin
Purdue Univ.
considered. Finally, an example of type crane's hydraulic system is given to verify the feasibility and practicability of the method. 16:20-16:40
ThCT3.4
Tao, Guoliang
Zhejiang Univ.
Reliability Optimization of Multi-State Hydraulic System
Wang, Qingfeng
Zhejiang Univ.
Based on T-S Fault Tree and Extended PSO Algorithm, pp.
An electro-pneumatic stabilized platform driven by pneumatic
463-468 Yao, Chengyu
Yanshan Univ.
devices for ship-borne application. An adaptive robust leveling
Wang, Bin
Yanshan Univ.
control strategy based on the MIMO terminal plant dynamics was
Chen, Dongning
Yanshan Univ.
muscles (ESPDPM) was proposed to realize leveling of important
proposed to remain level with the horizon at all times for the electro-pneumatic stabilized platform system subject to various
In order to overcome the difficulty of constructing the multi-state
vibration or environmental disturbances. The resulting controller
system's reliability optimization model, and the shortage of
can effectively compensate various parameter uncertainties due to
premature convergence of PSO (Particle Swarm Optimization)
unknown parameters in the terminal plat dynamics through
algorithm, a new reliability optimization method based on T-S fault
parameter adaptation, and simultaneously handle large amount of
tree and EPSO (Extended PSO) algorithm is proposed. According
uncertain
nonlinearities
nonlinearities
and
due
to
environmental
neglected
hard-to-model
disturbances
such
as
to the T-S fault tree and T-S rules of the events, the multi-state system reliability optimization model is constructed, at the same
time-varying friction forces of pneumatic muscles, modeling error
time, given constraint conditions on the system cost, weight and
from contraction force of pneumatic muscles, pressure differential
volume, and combined with the death penalty to construct the
and flow rate equations, and observation error of disturbance
fitness function. Furthermore, EPSO algorithm based on the
posture etc.. The simulation results demonstrated a maximum
attraction and repulsion forces in the artificial physics is applied to
leveling error of 0.45° for the electro-pneumatic stabilized platform
the
using the proposed leveling controller.
Comparing with PSO algorithm, the results of EPSO algorithm are
62
reliability
optimization
of
multi-state
hydraulic
system.
Book of Abstracts in a better performance in obtaining global optimal solution. 16:40-17:00
ThCT3.5
Study on the Influence of Flow Force on a Large Flowrate Directional Control Valve, pp. 469-477 Gao, Haiping
Huazhong Univ. of Science and Tech.
Li, Baoren
Huazhong Univ. of Science and Tech.
Yang, Gang
Huazhong Univ. of Science and Tech.
This paper focuses on analyzing the characteristic of the flow force acting on a large flowrate directional valve (1200L/min). The flow area of the notches on the spool is calculated and the mathematic model of the spool is presented. The change rule of total steady flow force is obtained through numerical simulation. The nonlinear response of the spool valve is explained reasonably and the input forces needed to make sure port T1 and port T2 shut down are given out respectively. The results show that the total flow force promotes the spool movement at the beginning but suppresses after the spool displacement reaches a certain value. Furthermore, the vibration is caused by the dynamic force balance acting on the spool, leading to the large input force to make sure the relative ports closed. It is proposed that each pair of ports of the large flowrate directional control valve should be designed to the same structure to restrain these problems.
63
Book of Abstracts 13:40-14:00
Technical Program for Friday April 12, 2013 FrBT1
Boardroom
Servo Control Technologies for Data Storage (Invited Session) Chair: Tomizuka, Masayoshi
Univ. of California, Berkeley
Co-Chair: Pantazi, Angeliki
FrBT1.3
Inverse-Based Local Loop Shaping and IIR-Filter Design for
IBM Res. - Zurich
Precision Motion Control (I), pp. 490-497 Chen, Xu
Univ. of California, Berkeley
Oshima, Atsushi
NSK Ltd
Tomizuka, Masayoshi
Univ. of California, Berkeley
In motion-control problems such as vibration rejection, periodical reference tracking, and harmonic disturbance cancellation, the
Organizer: Cherubini, Giovanni
IBM
Organizer: Yamaguchi, Takashi
Ricoh Company Ltd.
exhibiting concentrated energies at multiple bands of frequencies.
IBM Res. - Zurich
In this paper, we discuss a feedback loop-shaping approach to
Organizer: Pantazi, Angeliki 13:00-13:20
FrBT1.1
Adaptive Regulation of Time Varying Disturbances in a Tape Storage System (I), pp. 478-483
disturbances/references
share
a
common
characteristic
of
address such a class of control problem. An integration of (inverse) system models is proposed to bring enhanced high-gain control at the required local frequency regions. We show that such servo enhancement can be effectively achieved if good model
de Callafon, Raymond
Univ. of California, San Diego
information is available at the disturbance frequencies, and that a
Wang, Longhao
Univ. of California, San Diego
rich class of design tools can be integrated for the controller
Archival demands for digital tape storage systems require smaller spacing between data tracks on the magnetic tape to allow for more data storage on a single cartridge. Increasing track density
formulation. The proposed algorithm is verified in simulation and experiments on vibration rejection in hard disk drives and an electrical power steering system in automotive vehicles.
while maintaining track following provides a challenge for the servo
14:00-14:20
control of the tape drive. In particular, interchangeable tape
Contact-Induced Vibration in Dual-Stage HDD Servo
cartridges and time-varying tape reel diameters during operation cause variable disturbances during servo control. In this paper we show how a tape servo control algorithm can be regulated to handle changes in disturbance dynamics during servo operation of the tape drive. The approach is based on adaptive
FrBT1.4
Systems and Its Compensation Using PQ Method and Peak Filters (I), pp. 498-505 Venkatakrishnan,
Data Storage Inst. (DSI)
Venkataramanan
regulation by exploiting a Youla-Kucera parameterization of the
Xu, Jian-Xin
servo controller and an explicit minimization of the Position Error
Huang, Deqing
National Univ. of Singapore
Signal (PES) during servo operation in real-time. Theoretical
Huynh, The Cat Tuong
National Univ. of Singapore
results on the stability of the feedback system and real-time application results on an Linear Tape-Open (LTO) drive are included in the paper. The result show a significant reduction of the variance of the PES over different tape cartridges and a constant PES variance during a complete reel-in operation of the tape drive. 13:20-13:40
FrBT1.2
Skew Estimation and Feed-Forward Control in Flangeless Tape Drives (I), pp. 484-489 Pantazi, Angeliki Cherubini, Giovanni Jelitto, Jens
IBM Res. - Zurich IBM IBM Res. - Zurich
An enhanced skew follow control system is presented to more accurately and reliably control the tape-to-head skew in tape systems with flangeless rollers. It features a novel feed-forward skew control system, based on a new skew estimation technique that allows obtaining skew from the information provided by one servo channel only. A disturbance observer provides an estimate of the lateral tape motion, which is used to estimate the absolute tape skew. The feed-forward controller utilizes that skew estimate to enhance the performance of a traditional feedback skew-following system and to enable skew follow operation if only one servo channel is active. The performance of the enhanced skew following method is illustrated by experimental results, both in combined operation with the classical feedback system and the feed-forward system and in stand-alone feed-forward mode.
64
National Univ. of Singapore
Other than many well-known vibration sources in high density hard disk drive (HDD) servo systems, contact-induced vibration (CIV) is a new vibration source due to continuous contact of the read/write head with the media. This paper presents the experimental observation on the characteristics of CIV and its compensator design under dual-stage servo structure. By lowering the fly-height between the slider and the recording media artificially, the effects of CIV are investigated at different flyheights, different rotation speeds, and different tracks. We found that, unlike the airflow disturbance that affects all frequencies of HDD, the CIVs excite and amplify only the resonance modes of the system, namely, the modes at 441 Hz, 2110 Hz and 2800 Hz in our experimental setup. Moreover, consistent relationships between the center frequencies and magnitudes of the CIV modes and the tested fly-height, rotation speed and track position are clearly observed and analyzed. In what follows, to facilitate the compensator design for CIV in dual-stage HDD system that is actually a dual-input single-output system, the so-called PQ method is adopted to reduce the problem to two single-input single-output design problems. As such, the relative contributions to system output from the voice coil motor (VCM) and lead-zirconium-titanate (PZT) actuator subsystems can be well assigned in the frequency domain. Meanwhile, based on the prior CIV investigation, two well-designed peak filters are incorporated in parallel with the PZT loop to further shape the whole sensitivity loop. In the end, the remarkable performance of the proposed method in CIV compensation is demonstrated by simulation.
Book of Abstracts 14:20-14:40
FrBT1.5
Using Multiple Accelerometers (I), pp. 506-510
Chair: Book, Wayne J.
IBM Res. - Zurich
Lantz, Mark
Georgia Inst. of Tech.
Co-Chair: Maas, Jürgen
Ostwesfalen-Lippe Univ. of Applied Sciences
IBM
Reliable operation of tape storage devices requires
high
positioning accuracy of the servo control system under vibration conditions. The demand for increased storage density makes it increasingly
XIYUAN 3
Control of Mechatronic Systems I (Regular Session)
Vibration Compensation in Tape Drive Track Following Pantazi, Angeliki
FrBT2
more
challenging
to
meet
the
track-following
performance requirements especially in the presence of external vibration disturbances. In the recently introduced flangeless tape
13:00-13:20
FrBT2.1
Operator Error Based Design of Position Controllers for Dynamically Slow Systems, pp. 517-522 Elton, Mark
HUSCO International
Book, Wayne J.
Georgia Inst. of Tech.
drives, the head positioning system has translational and rotational
Previous work has found that performance with position control
capabilities to be able to compensate for both the lateral tape
exceeds that with rate control except for dynamically slow systems,
motion and the head-to-tape skew arising from large tape
such as hydraulic machines. In an effort to extend the intuitiveness
excursions. In this paper, vibration measurements from two
of position control to these systems, a novel human-machine
accelerometers are utilized to enhance the closed-loop track-follow
interface was applied to a dynamically slow system. This paper
accuracy
system.
analyzes the cost in time and in control effort of the errors
Specifically, the accelerometers are placed on the tape drive frame
operators made while controlling the position of a dynamically slow
and on the actuator system providing measurements of the
system. From this analysis, two “smoothing” position controllers
vibration of the drive frame and the track-follow actuator,
were designed and tested on the same system. The first controller,
respectively. Vibration coupling effects from the rotational
the best fit controller, showed significant improvement for tracking
degree-of-freedom are estimated by combining the measurements
tasks and maintained the near optimal performance of the full state
from the two accelerometers. A feedforward control scheme is
feedback position controller on point-to-point motion tasks. The
proposed that utilizes the acceleration measurement of the applied
second
vibration and the estimated acceleration due to coupling effects.
statistically similar performance on all of the tasks to the full state
Experimental results demonstrate that the combined feedforward
feedback position controller.
of
the
two-degree-of-freedom
actuator
scheme provides substantial improvement in the track-follow performance under vibration conditions. FrBT1.6
Integrated Servo-Mechanical Design of Distribution-Based Robust Mechatronics Using GKYP Lemma (I), pp. 511-516 National Univ. of Singapore
Tang, Muchen
National Univ. of Singapore
Pang, Chee Khiang
National Univ. of Singapore
controller,
13:20-13:40
showed
FrBT2.2
Military Vehicles, pp. 523-529 Kieneke, Rüdiger
Ostwesfalen-Lippe Univ. of
Graf, Christian
Ostwesfalen-Lippe Univ. of Applied Sciences
Maas, Jürgen
Ostwesfalen-Lippe Univ. of Applied Sciences
Data Storage Inst.
The following contribution describes the design and validation of an
National Univ. of Singapore
active seat suspension with two translational degrees of freedom.
Hong, Fan
and
elimination
NUS
Ng, Adam
specifications
time
Applied Sciences
Tan, Yan Zhi
Performance
the
Active Seat Suspension with Two Degrees of Freedom for
14:40-15:00
Lee, Tong Heng
controller,
robust
stabilization
of
This seat suspension system is designed to be integrated in various military vehicles to reduce the mechanical vibrations
mechatronics are generally difficult to achieve simultaneously with
caused by test runs on synthetic test tracks, which affect the
a
integrated
human health and condition confidence. The proposed active seat
servo-mechanical design algorithm is proposed for finite frequency
suspension is specially designed to support the drivers during the
redesign
test drives. In a first step the model of the seat and the driver are
low-order of
controller. a
In
mechanical
Kalman-Yakubovic-Popov
this plant
(GKYP)
paper, using Lemma.
an the The
Generalized plant
is
derived considering the motions in vertical and lateral direction. To
synthesized based on a pre-designed low-order controller, and
suppress the vibrations a control strategy is presented in a further
robust stability criterion of the overall control system in the
step. The vibration controller is designed for a 1 DOF model based
presence of Gaussian plant parametric perturbations is also
on a hybrid Skyhook- and Groundhook-Principle and in alternative
included. Our simulation results using the proposed algorithm
as a feedforward control using an ideal model for the seat and
achieve a high-bandwidth control system with disturbance
driver. Finally, the realized active seat suspension is integrated in a
attenuation capabilities at the phase-stabilized resonant modes of
military vehicle to prove the amount of vibration suppression in
the plant, and is robustly stable to uniform plant parametric
comparison to a common passive seat by road test on synthetic
perturbations with the low-order controller.
tracks emphasing an improvement of the drivers well-being.
65
Book of Abstracts 13:40-14:00
FrBT2.3
Switching Robust Control for Transparent and Stable Teleoperation, pp. 530-536 López Martínez, César
fuzzy
logic
system
is
utilized
to
compensate
parametric
uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied and the
Eindhoven Univ. of Tech.
Augusto
control system is proved to be semi-globally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an ELS and
Molengraft, René van de
Eindhoven Univ. of Tech.
the comparative experimental results indicate that AFTC controller
Steinbuch, Maarten
Eindhoven Univ. of Tech.
is effective for ELS to achieve a guaranteed transient as well as final tracking accuracy.
The
inherent
transparency-stability
trade-off
in
bilateral
teleoperation poses a challenge to design controllers that find a
14:40-15:00
FrBT2.6
proper balance between both requirements. Furthermore, when the
Improving Force Control Using Zero Coupling Impedance
environment of the teleoperation system varies within a wide
Criterion in Series Manipulator Systems, pp. 549-554
range, a single controller might no be sufficient to achieve both
Li, Renjun
stability and transparency. Therefore, we propose the synthesis of
Vuong, Ngoc Dung
Singapore Inst. of Manufacturing
Lim, Chee Wang
Singapore Inst. of Manufacturing
a switching robust controller that guarantees both stability and transparency for a predefined range of environment stiffness. Moreover, we take into account during the design process the fact
National Univ. of Singapore and Tech. and Tech.
that environment estimators will have limited accuracy due to noise and uncertainty. Subsequently, we show the potential of the approach by numerical simulation of a 1-DOF teleoperated system. 14:00-14:20
FrBT2.4
MEMS Resonator with Displacement Sensor Based on Electro-Thermal Principles, pp. 537-542 Moore, Steven
The Univ. of Newcastle
Moheimani, S.O. Reza
The Univ. of Newcastle
This paper examines the feasibility of using displacement sensors based on electro-thermal principles in the design of resonators using MEMS technology. The use of this type of displacement sensor provides a new technology for low frequency resonator design. The theory and design of the displacement sensors are based on an existing body of work and show the displacement sensors have excellent resolution, small die footprint and a low operating voltage but have a high power consumption and low bandwidth. Two resonator designs, with a natural frequency of approximately 10 kHz, have been modeled and fabricated for experimentation. One is based on a microcantilever with parallel plate electrostatic actuators, while the other is based on
Chew, Chee Meng
National Univ. of Singapore
Using industrial manipulators for force control normally suffers from large impedance due to their large inertia, friction and stiffness. Series macro-mini system has been proposed as a solution to lower
the
robot
impedance.
However,
the
force
control
performance of a series macro-mini manipulator system may be compromised due to the low frequency resonance modes of the macro manipulator. Although changing the dynamics of the macro manipulator has been proved to be useful to improve the force control performance, it cannot be easily done due to closed control architecture. In this paper, we propose a Zero Coupling Impedance criterion to address the aforementioned problem. Since modifying the dynamic of the macro is not feasible, the coupling between the macro and mini is changed instead. Experiments are used to validate the proposed criterion. The results suggest that by satisfying the Zero Coupling Impedance criterion, force control performance of the series manipulator system will not be limited by macro manipulator. This research provides a general guideline of designing and controlling an end effector that is carried by a manipulator for force control tasks.
fixed-guided micro-beams with comb electrostatic actuators. The electrical interface for the sensor output is a Wheatstone bridge. Both resonators are operated in air. The displacement sensors
FrBT3
were able to capture the resonant motion of both resonators. The
Biped, Network, and Multi-Agent Systems (Regular Session)
microcantilever based resonator had a quality factor of 195 and a resonance gain of -27 dB. The comb-drive based resonator had a quality factor of 440 and a resonance gain of -20 dB. 14:20-14:40
FrBT2.5
Controller Design of Electric Loading System Based on T-S Fuzzy Logic, pp. 543-548 Wang, Xingjian
Beihang Univ.
Wang, Shaoping
Beihang Univ.
Electric loading system (ELS) simulates aerodynamic load and exerts the load on actuation system. The key issue of ELS is how to eliminate the influence of extra torque caused by actuation system. In order to overcome these difficulties, we propose an adaptive fuzzy torque control (AFTC) algorithm. Takagi-Sugeno
66
Chair: Jayasuriya, Suhada Co-Chair: Chen, Xiang 13:00-13:20
XIYUAN 4
Univ. of Central Florida Univ. of Windsor FrBT3.1
Compensation of Time Delay in a Network-Based Gait Rehabilitation System with a Discrete-Time Communication Disturbance Observer, pp. 555-562 Zhang, Wenlong
Univ. of California, Berkeley
Tomizuka, Masayoshi
Univ. of California, Berkeley
In this paper, a network-based gait rehabilitation system is proposed for enhanced mobility and tele-rehabilitation. In the proposed rehabilitation system, a compact rotary elastic actuator (cRSEA) is employed to provide assistive torque to the patients
Book of Abstracts and it is controlled over a local wireless network. However, time
walking on rough or uneven terrain. An online moving ground
delay exists in both sensor-controller and controller-actuator
reference map based on both present and future information is
channels, which leads to performance degradation and even
proposed. It is obtained via minimizing the error of footstep, and the
destabilization. Moreover, the amount of time delay is time-varying
error of Center of Mass (CoM) position and velocity of the robot. By
and it is di±cult to measure accurately. In order to compensate the
applying this reference map, robust CoM trajectories can be
time delay and guarantee stability of the system, a communication
generated such that the resulted Zero Moment Point (ZMP) can
disturbance observer (CDOB) is designed in the discrete-time
follow the moving horizontal reference. This walking algorithm
domain. Parameters are tuned based on the linear quadratic
enhances the robots walking stability on uneven terrain based on
regulator (LQR) design technique and compared to other
preview control. The dynamic simulation results show that it can
parameter choices in the frequency domain in terms of closed-loop
signicantly improve walking stability and also minimize the error in
stability, tracking performance, disturbance attenuation, and noise
tracking the pre-dened trajectory. The technique is very general
cancellation. Simulation and experimental results are shown to
and can be applied to a wide variety of humanoid robots.
validate the performance of the proposed controller. 13:20-13:40
14:20-14:40 FrBT3.2
Re-Configuration Strategy for PTZ Camera Networks, pp. 563-568
A Novel Self-Adaptation Hybrid Artificial Fish-Swarm Algorithm, pp. 583-588 Hu, X. T.
Alarcon, Jose
Univ. of Windsor
Chen, Xiang
Univ. of Windsor
Ahmadi, Majid
Univ. of Windsor
A method for PTZ camera re-conguration oriented toward tracking applications and surveillance systems is presented. The visual constraints are transformed into geometric constraints by a coverage model, and the nal PTZ congurations are averaged by a consensus algorithm. The approach is to design a distributed algorithm that enables cooperation between the cameras. Experimental results show successful camera handoff. 13:40-14:00
FrBT3.3
Multi-Agent Deployment Based on Homogenous Maps and a Special Inter-Agent Communication Protocol, pp. 569-576 Rastgoftar, Hossein
Univ. of Central Florida
Jayasuriya, Suhada
Univ. of Central Florida
In this paper, presented is a methodology for formation control of an n-D multi agent system (MAS). The n-D motion of the MAS is treated as n one-D motions with the evolution of each coordinate of an agent representing the collective motion of a continuum of
FrBT3.5
Huang, Y. A.
No.38 Res. Inst. of CETC State Key Lab. of Digital Manufacturing Equipment and Tech.
In this paper, the social behaviors of fish swarm were classified in four ways: foraging behavior, stray behavior, reproductive behavior, and escaping behavior. Inspired by this, a novel artificial fish swarm algorithm (NAFSA) was proposed, which integrated the merits of the self-adaptation strategy, mutation strategy and hybrid strategy into the social behaviors of fish swarm. In the case of mutation strategy, the cloud theory was introduced into the flight behavior, and the basic cloud generator was used as the mutation operator because of the properties of randomness and stable tendency of a normal cloud model. For the hybrid strategy, the selection, crossover and mutation operator in evolutionary algorithm were applied to define the reproductive ability of an artificial fish. Furthermore, the parameters of Step and Visual were developed in forms of hyperbolic tangent function to adjust the optimize performance dynamically during iterations process. Finally, ten standard test functions are used as the benchmark to validate the effectiveness of the NAFSA. Experimental results confirmed the superiority of NAFSA in terms of both solution quality and convergence speed.
agents constrained to always stay on a straight line. The motion of
14:40-15:00
the continuum is controlled by the two vertex agents, left most and
The Study on the Learning of Walking Gaits for Biped
the right most, by preserving certain distance ratios among the
Robots, pp. 589-593
agents. First, it is shown how a specific homogenous map defining a desired agent topology may be achieved by local inter-agent communication. Second, a strategy for deploying agents to lie on a desired curve utilizing local inter-agent communication and starting from a randomly distributed initial topology is outlined. 14:00-14:20
FrBT3.4
Moving Horizontal Reference Map for Bipedal Robot Walking Over Uneven Terrain, pp. 577-582 Wu, Ning
National Univ. of Singapore
Chew, Chee Meng
National Univ. of Singapore
Poo, Aun Neow
National Univ. of Singapore
Li, Renjun
National Univ. of Singapore
In this paper, we propose a constructive and robust control design for online stabilization of biped robot dynamic motion, especially
FrBT3.6
Hwang, Kao-Shing
National Chung-Cheng Univ.
Yeh, Keng-Hao
National Chung-Cheng Univ.
Liu, Jia-Yan
National Sun Yat-sen Univ.
This paper presents a study on biped walking and balance control by reinforcement learning. The robot learns how to walk without prior knowledge of explicit dynamics model by a reinforcement learning approach. The Q-learning sharpens up the robot's walking gaits so as that improve the stability of each gait and reduce the number of the posture patterns in a gait cycle. In this paper, the learning agent employs an intuitive evaluation knowledge to help the biped robot with a basic walking skill learn to improve its behavior in terms of restricting ZMP to a certain region on each foot. FrCT1
Boardroom
67
Book of Abstracts Nanorobotic Manipulation and Assembly (Invited Session) Chair: Li, Yangmin
three parallel PUU legs, a moving platform and a fixed platform.
Univ. of Macau
Co-Chair: Liu, Lianqing
Shenyang Inst. of Automation
Organizer: Liu, Lianqing
Shenyang Inst. of Automation
15:20-15:40
FrCT1.1
The mobility characteristics of the stage is analyzed and proved via FEA method. The kinematics and dynamic modeling of the mechanical system of the stage are conducted by resorting to compliance
matrix
method,
and
analytical
models
structure and electromagnetic model are validated by finite element
Active Landmark Configuration for Accurate
analysis(FEA) performed with ANSYS. The mechanical structures
Nano-Positioning (I), pp. 594-599 Yuan, Shuai
SIA
Liu, Lianqing
Shenyang Inst. of Automation
The spatial uncertainties of AFM tip position hinders the AFM based nanomanipuation. Although the landmark based tip localization can be applied to improve the tip position accuracy in
is analyzed in a multi-physics environmental simulation and electromagnetic actuators are applied in ANSYS too. Both FEA and the analytical models well demonstrate that the movement of the stage is purely translational. Based on the designed parameters, this micro-parallel manipulator can have a large workspace, a very high resolution, and a heavy payload ability.
the task space, the PZT nonlinearity and system drift are still a
16:20-16:40
challenge to compensation performance when the tip is positioned
A Novel Analytical Model for Flexure-Based Compliant
far from the landmark. Therefore this paper proposes an active
Proportion Mechanisms, pp. 612-619
landmark configuration. This method first estimates the nearby area called as landmark domain around the target position, and then actively manipulates the landmark into the landmark domain by using virtual hand to improve the positioning accuracy. Simulation and experiment present the validity of the proposed method.
FrCT1.4
Meng, Qiaoling
Univ. of Macau
Li, Yangmin
Univ. of Macau
This paper proposes a novel analytical model for flexure-based proportion compliant mechanisms. The displacement and stiffness calculations of such flexure-based compliant mechanisms are
15:40-16:00
FrCT1.2
Frequency Based Combination Control Strategy for AFMs (I), pp. 600-605 Ren, Xiao
Nankai Univ.
Fang, Yongchun
Nankai Univ.
This paper analyzes the relationship between the resonant phenomenon of piezo-scanner and the control system bandwidth in an atomic force microscopy system (AFMs). Based on the results, a novel frequency based combination control strategy is proposed and
for
electromagnetic forces are also established, both mechanical
then
implemented
with
the
currently
utilized
proportional-integral (PI) controller in Z-axis for AFMs. That is, the regulation error is separated into two parts of high frequency content and low frequency content, for which two different controllers are designed to generate two auxiliary control signals, which are then synthesized to actuate the piezo-scanner to improve the performance of AFMs. The designed strategy is
formulated based on the principle of virtual work and pseudo rigid-body model (PRBM). According to the theory and method, a set of closed-form equations are deduced in this paper, which incorporate the stiffness characteristics of each flexure hinge, together with the other geometric and material properties of the compliant mechanism. Displacement proportion, input stiffness, and output stiffness calculations can simply be performed for any serial compliant mechanism. Corner-filleted and circular flexure hinges that are utilized as connectors in proportion compliant mechanisms in this paper. Two types of flexure-based compliant proportion mechanisms based on the novel analytical model are designed and optimized based on these proposed equations. Finite element analysis results show that these design equations are reliable and easier to be used in the design of such proportion compliant mechanisms. This proposed novel analytical model gives a new viewpoint on the design of flexure-based proportion compliant mechanisms.
analyzed in frequency domain to show that it provides much enhancement for control system bandwidth, and the conclusion is verified by both simulation and experimental results, demonstrating that superior imaging performance for high-speed scanning tasks
FrCT2 Control of Mechatronic Systems II (Regular Session)
can be obtained by the proposed combination control strategy.
Chair: Zhu, Jihong
16:00-16:20
Co-Chair: Fan, Dapeng
FrCT1.3
A Novel Flexure-Based 3-DOF Micro-Parallel Manipulator with a Gripper for Micro/nano Manipulation (I), pp. 606-611
XIYUAN 3
15:20-15:40
Tsinghua Univ. National Univ. of Defense Tech. FrCT2.1
Reducing Intersample Ripple of Actuator in Multirate
Xiao, Shunli
Univ. of Macau
Li, Yangmin
Univ. of Macau
Ji, Lan Yue
Yang, Qinmin
Zhejiang Univ.
Kirchner, Frank
Environment by a Joint Space Interpolator, pp. 620-627 DFKI RIC DFKI RIC, Univ. of Bremen
This paper presents the design and analysis of a novel compliant
Chattering is a very undesired phenomenon in technical systems.
flexure-based micro-parallel manipulator with gripper, which is with
There can be many causes for it. In this paper, at first simulation
translational 3-DOF and driven by electromagnetic actuators. The
results are shown that insufficient setpoint updating can also lead
stage is constructed with a symmetrical structure by employing
to chattering in form of intersample ripple. The difference between
68
Book of Abstracts setpoint updating rate and the control frequency can be traced
Remedial Operations of Permanent Magnet Fault Tolerant
back to the multi-layered software architecture of an overall
Motor for Short-Circuit Fault, pp. 643-649
system. As a solution, a joint space interpolator is suggested, which is a novel construction mainly combining a trajectory interpolator with a jitter buffer in joint space. On the one hand it provides supplementary setpoints to the controller and on the other hand it ensures very strict real-time performance of the closed-loop system. At last, experiment results are shown to support the proposed method. This scheme is implemented for, but not limited to, actuators utilizing geared brushless DC (BLDC) motors with FPGA-based controllers. The simulations and experiments have focus on robotic motion control in joint space.
Si, Binqiang
Tsinghua Univ.
Zhu, Jihong
Tsinghua Univ.
Ji, Jinghua
Jiangsu Univ.
Due to their concentrated windings and modular topology, permanent-magnet fault-tolerant (PMFT) motors inherently offer decoupling phases and fault-tolerant capability. Two fault-tolerant drive
topologies
for
these
motors,
namely
H-bridge
and
star-connection, are presented and compared for short-circuit fault. In order to keep torque performance invariant during the faulty
FrCT2.2
operation, the current amplitude of healthy phases should be
Energy-Saving Trajectory Planning for a Toggle Mechanism
increased, and only the phase angle of the adjacent phases should
15:40-16:00 Driven by a PMSM, pp. 628-635 Hsu, Yi-Lung
National Kaohsiung First Univ. of Science and Tech.
Fung, Rong Fong
National Kaohsiung First Univ. of Science and Tech.
be changed in the H-bridge mode, while both the current amplitude and the phase angle of healthy phases should be changed in the star-connection mode. Both strategies are derived, compared and analyzed. Finally, the simulated results are given, verifying the effectiveness of theoretical analysis. 16:40-17:00
FrCT2.5
This paper proposes a methodology to plan an energy-saving
A Linear Interpolation Fuzzy Controller for a Boiler Pressure
trajectory for a toggle mechanism by a permanent magnet
Control System, pp. 650-654
synchronous motor (PMSM). The system is first identified by the
Bai, Yanhong
Taiyuan Univ. of Science and Tech.
polynomial, which is a point-to-point (PTP) function and satisfies
Zhao, Zhijuan
Taiyuan Univ. of Science and Tech.
the end conditions of displacement, velocity, acceleration and jerk
Sun, Zhiyi
Taiyuan Univ. of Science and Tech.
at the initial and final times. The real-coded genetic algorithm
Quan, Long
Taiyuan Univ. of Science and Tech.
numerical methods. The trajectory is described by a high-degree
(RGA) is employed to determine the coefficients of the polynomial with the fitness function, which is the inverse of the absolute value
Considering nonlinear behaviors and environmental disturbance of
of the input electric energy. In this paper, some discussions for
the boiler pressure control system, a linear interpolation fuzzy
planning an energy-saving trajectory are made, and three cases of
controller is developed. First, according to the conventional
the fitness functions are used.
discrete fuzzy control principle, a discrete fuzzy controller for the
16:00-16:20
FrCT2.3
system is designed and a 2-D fuzzy control lookup table is deduced. Then, to overcome the conventional fuzzy controller's
LuGre-Model-Based Friction Compensation in Direct-Drive
disadvantage of lower precision caused by discretization, a bilinear
Inertially Stabilization Platforms, pp. 636-642
interpolation 2-D table lookup method is used to replace the exact
Li, Zhiqiang
National Univ. of Defense Tech.
Fan, Dapeng
National Univ. of Defense Tech.
Fan, Shixun
National Univ. of Defense Tech.
A Trajectory tracking problem for direct-drive inertially stabilized platforms suffered from nonlinear friction was considered in this paper. The dynamic characteristics of the system was study. A
lookup method, with which continuous output can be obtained from the discrete control table. Finally, based on the existed computer control
system
hard-in-loop
and
real-time
boiler
system
simulation
hardware
system
is
configuration, established
in
Matlab/RTWT. Lots of experiments are carried out. And the results prove that better control performance can be achieved with the proposed control scheme.
parameter identification method for LuGre model based on multilevel
coordinate
search
algorithm
was
presented.
Furthermore, nonlinear friction observer was designed to estimate
FrCT3
the unmeasurable internal state of LuGre model. The comparative
Design of Mechatronic Systems (Regular Session)
trajectory tracking experiments were conducted on a simulator of direct-drive systems between the single proportional–derivative (PD) control and the PD with LuGre model-based compensation. The experimental results revealed that the control scheme based on LuGre-model-based friction compensation reduced 3" tracking error to 0.2mrad which is improved almost 66.7% compared with
Chair: Wang, Xingsong
XIYUAN 4
Southeast Univ.
Co-Chair: Lei, Yong
Zhejiang Univ.
15:20-15:40
FrCT3.1
Holistic Design Optimization in Mechatronics, pp. 655-662
the PD control. At last, the ‘fake non-dissipativity phenomenon' of
Frede, Daniel
KTH Royal Inst. of Tech.
LuGre in simulation and the digital implementation of LuGre friction
Malmquist, Daniel
KTH Royal Inst. of Tech.
compensation were discussed.
Wikander, Jan
KTH Royal Inst. of Tech.
16:20-16:40
FrCT2.4
Design of modern mechatronic systems can be an intimidating
69
Book of Abstracts task. The underlying problem lies in that several different
Design of a Gravity Balanced Upper Limb Exoskeleton with
engineering domains merge into one product, creating integration
Bowden Cable Actuators, pp. 678-683
issues. Commonly used design methodologies are based on optimizing the different domains separately; hence creating a suboptimal final system. This paper contributes to the field by
Wu, Qingcong
Southeast Univ.
Wang, Xingsong
Southeast Univ.
describing and discussing a holistic approach to design and
This paper presents a design of gravity balanced upper limb
optimize mechatronic products, especially useful in an early design
exoskeleton used for the stroke patients to regain their motor
phase. Specifically, this paper extends previously published work
function. Bowden cable actuators have a high power-weight ratio
by taking control aspects into account, as well as enabling the use
and can significantly reduce the mass, inertial and power
of multiple optimization criteria. The design approach described is
consumption of the device. The gravity balance of the device is
based on using simplified, static models, to dimension and
achieved by a hybrid strategy, which uses zero free-length springs
describe
transducer
and auxiliary parallel links to locate the COM (center of mass) of
components, while transfer function models are used for control
the device and keeps the total potential energy of the system
design
time-efficient
invariant with all configurations. The balance torque caused by the
optimization, computationally inexpensive ways to evaluate
variation of weight and height is calculated. The device is proved to
structural and behavioral properties are sought. An evolutionary
be robust with the users of different weights and heights.
physical and
properties
behavioral
of
modeling.
structure To
and
enable
optimization algorithm is used to evaluate the component models and by doing that derive an optimal solution. 15:40-16:00
FrCT3.2
Mechatronic Design of a Four Wheel Steering Mobile Robot with Fault-Tolerant Odometry Feedback, pp. 663-669 Oftadeh, Reza
Tampere Univ. of Tech.
M. Aref, Mohammad
Tampere Univ. of Tech.
Ghabcheloo, Reza
Tampere Univ. of Tech.
Mattila, Jouni
Tampere Univ. of Tech.
16:40-17:00
FrCT3.5
Analysis of Dynamic Tissue Deformation During Needle Insertion into Soft Tissue, pp. 684-691 Gao, Dedong
Zhejiang Univ.
Lei, Yong
Zhejiang Univ.
Yao, Bin
Purdue Univ.
Tissue deformation is one of the most significant factors, which effects the needle placement inside the soft tissue. Based on the analysis, a tissue deformation model is presented to quantify the
In this paper, the mechatronics design of a four wheel steered
volume of tissue deformation. The geometry of tissue deformation
mobile robot is discussed in detail. Mechanical structure and
is analyzed, and the cone is used to approximate the shape of
electrical interfaces are presented. Low-level software architecture
tissue deformation. The methods for measuring the depth and
based on embedded pc-based control is designed that enables the
radius of tissue deformation are introduced to calculate the volume
robot to operate its eight independent actuators synchronously.
of tissue deformation. The dynamic needle-tissue interactions are
Kinematics models are elaborated, and it is shown that how
investigated, and the potential, kinetic, dissipated, viscous and
mechanical structure of the robot affects kinematics and the
strain energies are analyzed based on the energy conservation
feedback. Based on kinematics models, a fault tolerant wheel
law. The needle insertion experimental setup, consisting of a linear
odometry is proposed to make the feedback robust to practical
actuator, a force sensor, a needle, a tissue container and a light, is
wheel odometry faults during the solution of forward kinematics.
constructed to obtain the test data. The experiments are performed
Real-time implementation of presented to support the the efficacy
on the artificial tissue specimens, and the energy-based fitting
of proposed methods.
model for the tissue deformation is presented to estimate the the
16:00-16:20
FrCT3.3
Autonomous Stair Climbing of a Wheeled Double Inverted Pendulum, pp. 670-677 Strah, Bruno
Tech. Univ. Darmstadt
Rinderknecht, Stephan
Tech. Univ. Darmstadt
The described wheeled double inverted pendulum was built to serve as a stair-climbing device (SCD). It can negotiate steps autonomously. The overall SCD model is represented by a hybrid automaton.
It
consists
of
nonlinear
situation-changing
continuous-time properties. Depending on the situation, the SCD is either fully actuated or under-actuated. Furthermore, discontinuous phenomena exist due to wheel-to-ground unilateral constraints. Feedback linearization is used as a basis for the control design. Due to a different situation-changing relative degree a full-state linearization or a partial linearization is applied. The state transition “settling” is developed within the virtual constraints framework. 16:20-16:40
70
FrCT3.4
volume of deformation. The results show that the model could predict the volume of tissue deformation and determine the zone of tissue deformation.
Author Index Fang, Yongchun ....................................................... FrCT1.2
A
600
563
Feng, Ying ................................................................ ThBT3
563
.................................................................................. ThBT3.1
325
99
Feng, Zhongkui......................................................... ThCT3.3
457
153
Fleming, Andrew John .............................................. WeBT1.1
1
C
.................................................................................. WeBT1.2
7
.................................................................................. WeCT3.4
225
Fowler, Anthony........................................................ ThCT1.2
375
Arifin, Ahmad Suryo .................................................. WeCT3.4
225
.................................................................................. ThCT1.4
391
116
Fox, Andrew.............................................................. WeBT2.5
Ahmadi, Majid ........................................................... FrBT3.2 Alarcon, Jose ............................................................ FrBT3.2 Andersen, Torben Ole............................................... WeBT3.4 Andersson, Sean....................................................... WeCT1.5 Ang Jr, Marcelo H ..................................................... WeCT3
Aschemann, Harald................................................... WeBT3.6
Frede, Daniel ............................................................ FrCT3.1
B Bacher, Wolfgang...................................................... WeBT3.1 Bai, Kun..................................................................... WeCT2
CC
67 655
75
Freedson, Patty ........................................................ WeBT2.3
53
C
Fujimoto, Hiroshi....................................................... WeCT3.5
231
160
.................................................................................. ThCT2
Bai, Yanhong............................................................. FrCT2.5
650
.................................................................................. ThCT2.4
431
Bemfica Rodrigues, Jéferson .................................... ThBT2.4
307
.................................................................................. ThCT2.5
437
37
Fung, Rong Fong...................................................... FrCT2.2
628
.................................................................................. WeCT2.1
Bertram, Torsten ....................................................... WeBT2.1 Böhm, Michael .......................................................... ThBT1.2 Book, Wayne J. ......................................................... FrBT2 .................................................................................. FrBT2.1
249
C
G
C
Gao, Dedong ............................................................ FrCT3.5
684
517
Gao, Haiping............................................................. ThCT3.5
469
Gao, Robert .............................................................. WeBT2.3
C
53
Cao, Binggao ............................................................ ThBT3.5
355
Ghabcheloo, Reza .................................................... FrCT3.2
663
Cao, Jian ................................................................... ThCT3.1
445
Gibson, James Steven.............................................. ThCT1.3
383
Cao, Junyi ................................................................. ThBT3.2
332
Gong, Liang .............................................................. WeCT2.6
190
.................................................................................. ThBT3.5
355
Govindarajan, Madhu Soodhanan ............................ WeBT2.5
Chai, Tianyou ............................................................ ThBT3.1
325
Graf, Christian........................................................... FrBT2.2
Chang, Peter I. .......................................................... WeBT1.4
20
.................................................................................. WeCT1
CC
Gravdahl, Jan Tommy .............................................. WeBT1.5
67 523 28
H
.................................................................................. WeCT1.2
131
Haeberle, Walter....................................................... WeCT1.1
125
Chavan, Dhwajal ....................................................... WeCT1.2
131
Heertjes, Marcel........................................................ WeBT1.3
13
Chemori, Ahmed ....................................................... WeCT3.6
237
Henikl, Johannes ...................................................... WeBT3.3
91
Chen, Dongning ........................................................ ThCT3.3
457
Henke, Benjamin ...................................................... WeCT2.4
177 414
.................................................................................. ThCT3.4
463
Hirvonen, Juha Robert.............................................. ThCT2.2
Chen, Wen ................................................................ ThBT3.5
355
Hoffmann, Frank ....................................................... WeBT2.1
Chen, Wenjie............................................................. ThBT2.2
293
Hong, Fan ................................................................. FrBT1.6
511
.................................................................................. ThCT2.1
406
Hori, Yoichi ............................................................... ThCT2.4
431
CC
.................................................................................. ThCT2.5
437
.................................................................................. FrBT3.2
563
Horowitz, Roberto ..................................................... ThBT3.4
347
Chen, Xu ................................................................... FrBT1.3
490
Hsiao, Chin-Chi......................................................... ThBT2.3
301
Chen, Ying ................................................................ ThBT1.1
243
Hsu, Yi-Lung ............................................................. FrCT2.2
628
Chen, Zheng ............................................................. WeCT3
CC
Hu, Jwu-Sheng ......................................................... WeBT2
Chen, Xiang .............................................................. FrBT3
.................................................................................. WeCT3.2
207
.................................................................................. WeBT2.4
37
C 61
O
Hu, Lifa ..................................................................... ThBT1.5
271
.................................................................................. FrBT1.2
484
Hu, X. T..................................................................... FrBT3.5
583
Chew, Chee Meng .................................................... FrBT2.6
549
Huang, Deqing.......................................................... WeCT3.3
214
.................................................................................. FrBT3.4
577
.................................................................................. FrBT1.4
498
Choi, Hyunjin ............................................................. WeCT2.2
165
Huang, Haocai .......................................................... ThBT1.1
243
Clayton, Garrett ......................................................... WeCT1.4
145
Huang, Peng............................................................. WeCT1.5
153
Conway, Richard ....................................................... ThBT3.4
347
Huang, Y. A. ............................................................. FrBT3.5
583
Huynh, The Cat Tuong ............................................. WeCT3.3
214
.................................................................................. FrBT1.4
498
Hwang, Kao-Shing.................................................... FrBT3.6
589
Cherubini, Giovanni................................................... FrBT1
D de Callafon, Raymond............................................... FrBT1.1
478
E Eielsen, Arnfinn Aas.................................................. WeBT1.5 Elton, Mark ................................................................ FrBT2.1
28 517
F Fairbairn, Matthew .................................................... ThCT1.1 Fan, Dapeng ............................................................. FrCT2
368 CC
I Iannuzzi, Davide ....................................................... WeCT1.2
131
Ito, Shingo................................................................. WeBT1.4
20
J Janschek, Klaus........................................................ WeCT3.1
.................................................................................. FrCT2.3
636
Jayasuriya, Suhada .................................................. FrBT3
Fan, Shixun ............................................................... FrCT2.3
636
.................................................................................. FrBT3.3
71
197 C 569
Author Index Jelitto, Jens ............................................................... FrBT1.2
484
Lu, Chao ................................................................... ThBT3.6
362
Ji, Jinghua ................................................................. FrCT2.4
643
Lu, Junkai ................................................................. ThBT2.2
293
Ji, Lan Yue ................................................................ FrCT2.1
620
Lu, Lu........................................................................ WeBT3.2
84
Jung, TaeJin.............................................................. ThBT2.6
319
Lygeros, John ........................................................... WeCT1.1
125
.................................................................................. WeCT1.3
138
K Kallio, Pasi ................................................................ ThCT2.2
414
Kanjanapas, Kan....................................................... ThBT2.1
285
M. Aref, Mohammad ................................................. FrCT3.2
Karvinen, Kai............................................................. ThCT1.5
399
Ma, Chengbin ........................................................... ThBT3
Katalenic, Andelko .................................................... WeCT2.3
170
.................................................................................. ThBT3.2
Keikha, Ehsan ........................................................... ThBT3.4
347
Kemmetmueller, Wolfgang........................................ WeBT3.3 Kieneke, Rüdiger....................................................... FrBT2.2 Kim, Kyung-Soo ........................................................ ThBT2
91 523
M 663 C 332
.................................................................................. ThBT3.5
355
Ma, Jie ...................................................................... WeCT2.5
184
Maas, Jürgen ............................................................ FrBT2
CC
CC
.................................................................................. FrBT2.2
523 655
.................................................................................. ThBT2.5
313
Malmquist, Daniel ..................................................... FrCT3.1
Kim, Soohyun............................................................ ThBT2.5
313
Mattila, Jouni............................................................. ThCT3
Kirchner, Frank.......................................................... FrCT2.1
620
.................................................................................. FrCT3.2
663
CC
McManus, Brian........................................................ WeCT1.4
145
Kong, Kyoungchul ..................................................... WeCT2
C
.................................................................................. WeCT2.2
165
Kozek, Martin ............................................................ WeBT3.1
75
.................................................................................. ThBT2.4
307 612
Kugi, Andreas............................................................ WeBT3 .................................................................................. WeBT3.3 Kürster, Martin........................................................... ThBT1.2
Melchiorri, Claudio .................................................... ThBT2
C
C
Meng, Qiaoling.......................................................... FrCT1.4
91
Mo, Lingfei ................................................................ WeBT2.3
53
249
Mohammadi, Ali ........................................................ ThCT1.2
375
Moheimani, S.O. Reza.............................................. ThCT1
L
C
225
.................................................................................. ThCT1.1
368
Lan, Ruihong............................................................. ThBT1.1
243
.................................................................................. ThCT1.2
375
Lantz, Mark ............................................................... FrBT1.5
506
.................................................................................. ThCT1.4
391
Lee, Kok-Meng .......................................................... WeCT2.1
160
.................................................................................. ThCT1.5
399
Lee, Tong Heng ........................................................ FrBT1.6
511
.................................................................................. FrBT2.4
537
CC
Molengraft, René van de .......................................... FrBT2.3
530
.................................................................................. FrCT3.5
684
Moore, Steven .......................................................... FrBT2.4
537
Leng, Jianxing ........................................................... ThBT1.1
243
Moriello, Lorenzo ...................................................... ThBT2.4
307
Leng, Tongtong ......................................................... ThBT3.6
362
Munnig Schmidt, Robert, H....................................... ThBT1.3
256
Li, Baoren .................................................................. ThCT3.5
469
Li, Bing-chu ............................................................... WeCT2.6
190
Na, Byeonghun ......................................................... WeCT2.2
Li, Renjun .................................................................. FrBT2.6
549
Narayanan, Krishna Kumar ...................................... WeBT2.1
37
.................................................................................. FrBT3.4
577
Neumann, Ruediger.................................................. WeCT2.4
177
Li, Xinglong ............................................................... WeCT2.5
184
Ng, Adam.................................................................. FrBT1.6
511
Li, Xinyang ................................................................ ThBT1.6
276
Nguyen, Binh Minh ................................................... ThCT2.4
431
C
.................................................................................. ThCT2.5
437
Lai, Chow Yin ............................................................ WeCT3.4
Lei, Yong ................................................................... FrCT3
Li, Yangmin ............................................................... FrCT1
N 165
.................................................................................. FrCT1.3
606
.................................................................................. FrCT1.4
612
Oftadeh, Reza........................................................... FrCT3.2
CC
Oh, Jun Ho................................................................ ThBT2.6
319
.................................................................................. ThCT2.3
423
Oshima, Atsushi........................................................ FrBT1.3
490
Li, Zhi ........................................................................ ThBT3.1
325
Li, Zhiqiang................................................................ FrCT2.3
636
Palli, Gianluca........................................................... ThBT2.4
307
Lim, Chee Wang ....................................................... WeCT3.4
225
Pang, Chee Khiang................................................... FrBT1.6
511
.................................................................................. FrBT2.6
549
Pantazi, Angeliki ....................................................... WeCT1
Li, Yaoyu ................................................................... ThCT2
O 663
P
C
45
.................................................................................. WeCT1.1
125
Liu, Bofeng ................................................................ ThBT3.6
362
.................................................................................. WeCT1.3
138
Liu, Cheng-liang ........................................................ WeCT2.6
190
.................................................................................. FrBT1
Liu, Hongbo............................................................... ThBT1.1
243
.................................................................................. FrBT1
Liu, Jia-Yan ............................................................... FrBT3.6
589
.................................................................................. FrBT1.2
484
Lin, Chung-Yen ......................................................... WeBT2.2
Liu, Lianqing.............................................................. FrCT1
CC
.................................................................................. FrCT1
O
.................................................................................. FrCT1.1 Liu, Shaopeng ........................................................... WeBT2.3 Liu, Yuan ................................................................... ThBT1.1 Liu, Zhibin.................................................................. WeBT3.2 López Martínez, César Augusto................................ FrBT2.3
72
594
.................................................................................. FrBT1.5
506 131
.................................................................................. ThBT1.4
264
Pedersen, Henrik Clemmensen................................ WeBT3.4
243
Pettersen, Kristin Y. .................................................. WeBT1.5
530
O
Paris, Rene ............................................................... WeCT1.2
53 84
CC
Poo, Aun Neow......................................................... FrBT3.4
99 28 577
Author Index Posada, Luis Felipe................................................... WeBT2.1
37
Tao, Ruichao ............................................................ WeCT2.5
184
Post, Bill .................................................................... WeBT2.5
67
Teng, Ming-Chang .................................................... ThBT2.3
301
249
Thurner, Thomas ...................................................... ThBT1.4
264
Tian, Yanbing............................................................ ThCT3.2
453
Pott, Jörg-Uwe .......................................................... ThBT1.2 Q
45
332
Tomizuka, Masayoshi ............................................... WeBT2.2
Qu, Fengzhong ......................................................... ThBT1.1
243
.................................................................................. ThBT2.1
Quan, Long ............................................................... FrCT2.5
650
.................................................................................. ThBT2.2
293
.................................................................................. ThCT2.1
406
Qiao, Yue .................................................................. ThBT3.2
R
285
391
.................................................................................. FrBT1
Rastgoftar, Hossein................................................... FrBT3.3
569
.................................................................................. FrBT1.3
490
Ren, Xiao .................................................................. FrCT1.2
600
.................................................................................. FrBT3.1
555
670
Touati, Nahla ............................................................ WeCT3.6
237
197
Tsai, Yi-Jeng............................................................. ThBT2.3
301
125
Tsao, Tsu-Chin ......................................................... ThCT1
Rakotondrabe, Micky ................................................ ThCT1.4
Rinderknecht, Stephan.............................................. FrCT3.3 Roth, Matthias ........................................................... WeCT3.1 Rothuizen, Hugo ....................................................... WeCT1.1
C
CC
.................................................................................. ThCT1.3
383
256
Tsuchiya, Nolan Eizo ................................................ ThCT1.3
383
197
Tuma, Tomas............................................................ WeCT1.1
125
Sawodny, Oliver ........................................................ WeCT2.4
177
.................................................................................. WeCT1.3
138
.................................................................................. ThBT1.2
249
Scarcia, Umberto ...................................................... ThBT2.4
307
S Saathof, Rudolf ......................................................... ThBT1.3 Sandner, Thilo........................................................... WeCT3.1
Schirrer, Alexander ................................................... WeBT3.1
75
U Ursem, Luuk, J.......................................................... ThBT1.3
256
V
Schitter, Georg .......................................................... WeBT1
C
Vagia, Marialena....................................................... WeBT1.5
28
.................................................................................. WeBT1
O
van den Bosch, P. P. J. ............................................ WeCT2.3
170
20
Vardar, Yasemin ....................................................... WeBT1.3
O
Vassura, Gabriele ..................................................... ThBT2.4
307
.................................................................................. WeBT1.4 .................................................................................. WeCT1
13
Venkatakrishnan, Venkataramanan.......................... WeCT3.3
214
.................................................................................. ThBT1
C
.................................................................................. FrBT1.4
498
.................................................................................. ThBT1
O
Verhaegen, Michel.................................................... ThCT1.3
383
264
Vuong, Ngoc Dung ................................................... FrBT2.6
549
.................................................................................. WeCT1.2
.................................................................................. ThBT1.4 .................................................................................. ThCT1
131
O
W
Schmidt, Lasse.......................................................... WeBT3.4
99
Wang, Bin ................................................................. ThCT3.4
Schmidt, Steffen........................................................ WeCT2.4
177
Wang, Cong.............................................................. WeBT2.2
45
Schroedter, Richard .................................................. WeCT3.1
197
Wang, Junmin........................................................... WeBT2
CC 67
Sebastian, Abu.......................................................... WeBT1
CC
.................................................................................. WeBT1
O
.................................................................................. ThBT3.3
340
O
Wang, Longhao ........................................................ FrBT1.1
478
.................................................................................. WeCT1
.................................................................................. WeBT2.5
463
.................................................................................. WeCT1.1
125
Wang, Qingfeng........................................................ WeBT3.5
109
.................................................................................. WeCT1.3
138
.................................................................................. WeCT3.2
207 445
O
.................................................................................. ThCT3.1
Shahsavari, Behrooz................................................. ThBT3.4
.................................................................................. ThCT1
347
Wang, Rongrong....................................................... ThBT3.3
340
Shao, Da ................................................................... WeCT2.6
190
Wang, Shaoping ....................................................... FrBT2.5
543
Shin, Young June...................................................... ThBT2.5
313
Wang, Tao ................................................................ ThCT3.2
453
Si, Binqiang ............................................................... FrCT2.4
643
Wang, Xingjian.......................................................... FrBT2.5
543
Song, Hong ............................................................... ThBT1
CC
Wang, Xingsong ....................................................... FrCT3
.................................................................................. ThBT1
O
.................................................................................. FrCT3.4
678
C
.................................................................................. ThBT1.1
243
Wang, Yafei .............................................................. ThCT2.4
431
Spronck, Jo, W.......................................................... ThBT1.3
256
.................................................................................. ThCT2.5
437
Steinbuch, Maarten ................................................... FrBT2.3
530
Wang, Yizhou ........................................................... ThCT2.1
406
20
Wikander, Jan........................................................... FrCT3.1
655
670
Wu, Ning ................................................................... FrBT3.4
577
Su, Chun-Yi............................................................... ThBT3.1
325
Wu, Qingcong ........................................................... FrCT3.4
678
Sugie, Toshiharu ....................................................... WeCT3.5
231
Sun, Hao ................................................................... WeBT3.6
116
Xiao, Shunli............................................................... FrCT1.3
606
Sun, Zhiyi .................................................................. FrCT2.5
650
Xu, Jian-Xin .............................................................. WeCT3.3
214
.................................................................................. FrBT1.4
498
Steininger, Juergen ................................................... WeBT1.4 Strah, Bruno .............................................................. FrCT3.3
T
X
Tan, Yan Zhi.............................................................. FrBT1.6
511
Tang, Muchen ........................................................... FrBT1.6
511
Yamaguchi, Takashi ................................................. FrBT1
Tao, Guoliang............................................................ ThCT3.1
445
Yan, Peng ................................................................. ThBT3.6
Y
73
O 362
Author Index Yang, Gang ............................................................... ThCT3.5
469
Yang, Ping................................................................. ThBT1.1
243
Yang, Qinmin ............................................................ FrCT1.3
606
Yao, Bin..................................................................... WeBT3.2
84
.................................................................................. WeCT3.2
207
.................................................................................. ThCT3.1
445
.................................................................................. FrCT3.5
684
Yao, Chengyu ........................................................... ThCT3.3
457
.................................................................................. ThCT3.4
463
Yao, Hong ................................................................. WeBT3.5
109
Yeh, Keng-Hao.......................................................... FrBT3.6
589
Yong, Yuen Kuan ...................................................... ThCT1.2
375
Yuan, Shuai............................................................... FrCT1.1
594
Z Zhang, Hui................................................................. ThBT3.3
340
Zhang, Lei ................................................................. ThCT2.3
423
Zhang, Wenlong........................................................ FrBT3.1
555
Zhang, Zhen.............................................................. ThBT3.6
362
Zhao, Jinlei................................................................ ThBT3.5
355
Zhao, Zhijuan ............................................................ FrCT2.5
650
Zhu, Hongzhong........................................................ WeCT3.5
231
Zhu, Jihong ............................................................... FrCT2
C
.................................................................................. FrCT2.4
643
Zhu, Songsong.......................................................... ThBT1.1
243
Zhu, Xiaocong ........................................................... WeBT3
CC
.................................................................................. ThCT3 .................................................................................. ThCT3.1
74
CC 445
A Actuator and Sensor
FrBT2.2, FrBT2.4, FrBT2.5, FrBT3.2,
Systems
FrCT2.1, FrCT3.4, ThBT1.1,
Actuators Nonlinear Control
ThBT3.1, WeBT1.3, WeBT3.3
ThBT1.3, ThBT1.4, ThBT2.1,
Nonlinear Estimation and
ThCT2.1, WeBT2.2, WeBT2.4,
ThBT2.4, ThCT1.2, ThCT1.4,
Filtering
WeBT3.1
Optical Systems
ThBT1.1, ThBT1.2, ThBT1.3,
ThCT2.4, ThCT3.5, WeBT1.1, WeBT1.2, WeBT1.4, WeBT1.5,
O
WeBT2.3, WeCT1.1, WeCT1.2,
ThBT1.4, ThBT1.5, ThCT1.3
WeCT2.1, WeCT2.2, WeCT2.3, Adaptive Control
FrCT1.1, FrCT2.5, FrCT3.3,
R
WeCT2.6, WeCT3.1, WeCT3.3
Rapid Prototyping
FrCT2.5
FrBT1.1, FrBT2.3, FrBT2.5,
Robotics
FrBT2.1, FrBT2.6, FrBT3.1, FrBT3.4,
ThBT1.6, ThBT3.1, ThCT1.3,
FrBT3.6, FrCT1.1, FrCT1.3, FrCT2.1,
ThCT3.1, WeBT3.2, WeCT3.2
FrCT3.2, FrCT3.3, FrCT3.4,
Aerospace Systems
ThBT3.5
ThBT2.3, ThBT2.4, ThBT2.5,
Automotive Systems
ThCT2.3, ThCT2.4, ThCT2.5
ThBT2.6, ThCT2.1, ThCT2.2, WeBT2.1, WeBT2.2, WeBT2.4,
B Bio-Medical Systems
FrBT3.1, FrCT3.5, ThBT2.1,
WeBT2.5, WeCT2.2, WeCT3.4,
ThBT2.2 D Design
WeCT3.6 Robust Control
ThBT3.3, ThBT3.5, ThBT3.6,
ThBT2.2, ThBT2.3, ThBT2.5,
ThCT3.1, WeBT3.2, WeBT3.4,
ThBT2.6, ThBT3.6, ThCT3.3,
WeBT3.6, WeCT3.2, WeCT3.6
ThCT3.4, WeBT2.3, WeBT2.5, WeBT3.1, WeCT2.5 Diagnosis
FrBT2.3, ThBT3.1, ThBT3.2,
FrBT2.2, FrBT2.4, FrCT1.4, FrCT3.1,
S Signal Processing
FrCT2.4, ThCT3.3 F
ThBT1.4, ThCT2.2, ThCT2.5, WeBT2.4, WeCT3.5
Simulation
FrBT2.6, FrCT2.2, FrCT3.1,
Failure Tolerance
FrCT2.4, ThBT3.3, ThCT3.4
ThBT3.5, ThCT3.5, WeBT3.1,
Force Feedback
FrBT2.3, FrBT2.5, FrBT2.6
WeBT3.3, WeBT3.6, WeCT2.5, WeCT3.6
H Hybrid Control
FrBT2.2, FrCT3.3, ThBT2.2
Smart Structures
FrCT1.4
Test and Verification
ThBT1.2, ThBT1.3, ThBT2.3,
T
M Machines
FrBT2.1, ThCT3.3, ThCT3.4, WeCT2.3, WeCT2.5
Marine Systems
ThBT2.4
Micro-/Nanosystems
FrBT1.2, FrBT1.3, FrBT1.4, FrBT1.5, FrBT2.4, FrCT1.1, FrCT1.2, FrCT1.3, FrCT1.4, ThBT3.4, ThCT1.1, ThCT1.2, ThCT1.4, ThCT1.5, ThCT2.2, ThCT3.2, WeBT1.1, WeBT1.2, WeBT1.3, WeBT1.4, WeBT1.5, WeCT1.1, WeCT1.2, WeCT1.3, WeCT1.4, WeCT1.5, WeCT3.1, WeCT3.3, WeCT3.5
Motion Control
FrBT1.1, FrBT1.3, FrBT1.4, FrBT1.6, FrBT2.1, FrBT3.1, FrBT3.3, FrCT1.3, FrCT2.1, FrCT2.2, FrCT2.3, FrCT2.4, FrCT3.2, ThBT3.4, ThBT3.6, ThCT3.1, ThCT3.5, WeBT1.1, WeBT1.3, WeBT1.4, WeBT1.5, WeBT2.2, WeBT2.3, WeBT3.2, WeBT3.4, WeBT3.5, WeBT3.6, WeCT1.1, WeCT1.2, WeCT1.3, WeCT2.2, WeCT2.4, WeCT3.2, WeCT3.3, WeCT3.4, WeCT3.5
Multi-Disciplinary Modelling FrBT1.6, FrBT3.5, FrCT2.2, FrCT3.1, WeCT2.4
N Non-Conventional
ThCT1.4
ThBT3.4, WeCT2.3
Keyword Index
76
The 6th IFAC Symposium on Mechatronic Systems April 10-12, 2013, Hangzhou, China Sheraton Hangzhou Wetland Park Resort
Welcome Reception
Dinner
Tuesday April 9 18:30-21:00 XIXI 3
Wednesday, April 10 18:30-21:00 Feast Restaurant of Hotel West Wing
IFAC Banquet & Award
Farewell Reception
Thursday April 11 18:45-21:30 XIXI 1&2
Friday April 12 17:20-19:30 Feast Restaurant of Hotel West Wing
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