2001 IEEE/ASMEInternational Conference on

Advanced Intelligent Mechatronics

AIM '018—12 July 2001

Teatro SocialeComo, Italy

PROGRAM

http://www.AIM01.unina.it

Co-sponsored byIEEE Industrial Electronics Society

IEEE Robotics and Automation SocietyASME Dynamic Systems and Control Division

WELCOME

On behalf of the Institute of Electrical and Electronics Engineers (IEEE) and the American Society of Mechanical Engineers (ASME), I am glad to host you at the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '01). The purpose of this biennial conference, following the footsteps of the previous two editions in Tokyo, Japan (1997) and Atlanta, Georgia, USA (1999), is to promote activities in various areas of mechatronics by providing a forum for exchange of ideas, presentation of technical achievements, and discussion of future directions. The theme of the Conference is Synergy in Mechatronics—The Next Step of Information Technology.

This year, a record number of 280 papers have been submitted from 32 different countries with an overall breakdown for the three greater geographical areas of about: 1/2 for Europe and Africa, 1/4 for Asia and Oceania, and 1/4 for America. The resulting paper classification is: 206 regular papers, 55 invited-session papers, and 19 industry-oriented papers (a novelty for this Conference). The technical program includes the presentation of 4 videos and 224 papers organized into 48 sessions. The review process has been conducted by the 3 Program Co-Chairs, the Invited Session Chair and the Industry-Oriented Chair, as well as by the Video Session Chair. The process has been aided by the requirement that all papers and videos be submitted in electronic form, thereby allowing each contribution to receive 3 independent reviews! Besides thanking all the Chairs and Committee Members, I would like to take this opportunity to acknowledge the tremendous effort invested by the E-Media Chair and his Co-Chair to ensure a prompt and efficient handling of the submission and review process.

The Proceedings are provided in both printed and CD-ROM version, thanks to the work of the Publication Chair. In addition, this Program booklet contains the abstracts of the papers which have been made available on the web http://www.AIM01.unina.it prior to the Conference as well.

The Technical Program begins on Sunday 8 July in the afternoon with a Workshop and a Tutorial promoted by the devoted Chair, which are followed by the Video Session. Paper Sessions are held in four parallel tracks from Monday to Wednesday. A strategic choice has been to invite four Plenary Speakers all from industry: Bruno Murari, Stephen Hung, Masakazu Ejiri and Jan Van Eijk. Also, an Exhibition has been organized by the devoted Chair. The intensive Social Program for the Conference Attendees and their Accompanying Persons includes: a boat tour sightseeing along the lake shores, then docking at Villa Olmo for the Welcome Cocktail on Monday; the Banquet in the historical halls of Villa Erba in Cernobbio on Tuesday; and the Farewell Wine Tasting at Teatro Sociale on Wednesday. Finally, Thursday 12 July is dedicated to visit local industries.

A special word of appreciation goes to the General Co-Chair for his precious advise on the management of the Conference, as well as to the Local Arrangement Chair for his tireless support to the organization of the event.

Last but not least, I wish to thank the professional staff of Centro “A. Volta” who have fulfilled their secretarial duties as effectively as smoothly. Of course, we must remember and express our greatest recognition to all the Authors. Without their valuable contributions, there would be no conference at all.

On behalf of the whole AIM ′01 Team, welcome to Italy: it is my great pleasure to meet you in Como!

Bruno SicilianoGeneral Chair

VENUE

Como is on a lake in Lombardia region (Northern Italy), located about 40 Km from Milan in a wealthy industrial area. Only a few minutes away from the Swiss border, it can be reached by train or car in about 40 minutes from the hub Milan Malpensa 2000 International Airport. It is also in an ideal position to travel in Europe and reach famous destinations such as Venice, Portofino and Cinque Terre (three hours), Florence and Tuscany (four hours). Attending an opera performance at either of the famous theaters: "La Scala" in Milan and "Arena" in Verona (past Lake Garda) is worthy an extension of the journey to Northern Italy. Just half an hour from bustling Milan, Lake Como is a jewel-like oasis of tranquillity, a magical combination of lush Mediterranean foliage and snowy alpine peaks. It is the third largest Italian lake. It is made up of three branches, joined in a charming central lake, but separated by different styles and cultures; the Colico's branch is savage and pure; the Lecco’s branch is a natural jewel and the Como’s one is refined and elegant. The conference is held in the fascinating site of Teatro Sociale, a neo-classical building of early 19th century located in the heart of the city next to the cathedral. The Conference Secretariat is pleased to assist attendees and accompanying persons for local tourist information.

ORGANIZATION

Sponsors and Supporters

Co-sponsored byIEEE Industrial Electronics Society (IES)IEEE Robotics and Automation Society (RAS)ASME Dynamic Systems and Control Division (DSCD)In cooperation withInstitute of Electrical Engineers of Japan (IEEJ)Institute of Systems, Control, and Information Engineers (ISCIE)International Federation of Automatic Control (IFAC)Japan Society of Mechanical Engineers (JSME)Japan Society of Precision Engineers (JSPE)Robotics Society of Japan (RSJ)Society of Instrument and Control Engineers (SICE)

With the generous financial support ofSTMicroelectronics

AgustaBalance Systems

FIARGerit

JoinetControl Techniques Italia

Heidenhainand

Università degli Studi di SalernoPolitecnico di Milano — Sede di Como

Chairs

GENERAL CHAIRBruno SicilianoDipartimento di Ingegneria dell’Informazione e Ingegneria ElettricaUniversità degli Studi di Salerno, ItalyTel: +39 089-96-4306 Fax: +39 089-96-4218bsiciliano@unisa.it

GENERAL CO-CHAIRShigeki SuganoDepartment of Mechanical EngineeringWaseda University, JapanTel: +81 (3) 52863264 Fax: +81 (3) 52720948sugano@paradise.mech.waseda.ac.jp

PROGRAM CO-CHAIR (Europe and Africa)Jadran LenarčičInstitut Jožef StefanSloveniaTel: +386 (61) 177-3378 Fax: +386 (61) 219-385jadran.lenarcic@ijs.si

PROGRAM CO-CHAIR (Asia and Oceania)Shigeru OkumaDepartment of Electrical EngineeringNagoya University, JapanTel: +81 (52) 789-2775 Fax: +81 (52) 789-3140 okuma@okuma.nuee.nagoya-u.ac.jp

PROGRAM CO-CHAIR (America)William R. HamelMechanical & Aerospace Engineering & Eng. Science Dept.University of Tennessee, USATel: +1 (865) 974-6588 Fax: +1 (865) 974-5274whamel@utk.edu

INVITED SESSION CHAIRClarence W. de SilvaDepartment of Mechanical EngineeringUniversity of British Columbia, CanadaTel: +1 (604) 822-6291 Fax: +1 (604) 822-2403desilva@mech.ubc.ca

INDUSTRY-ORIENTED & LOCAL ARRANGEMENT CHAIRGianantonio Magnani

Dipartimento di Elettronica e InformazionePolitecnico di Milano, Italy

Tel: +39 02-2399-3673 Fax: +39 02-2399-3587magnani@elet.polimi.it

VIDEO CHAIRRajiv V. Dubey

Mechanical Engineering DepartmentUniversity of South Florida, USA

Tel: +1 (813) 974-2280 Fax: +1 (813) 974-3539 dubey@eng.usf.edu

E-MEDIA CHAIRClaudio Melchiorri

Dipartimento di Elettronica Informatica e SistemisticaUniversità degli Studi di Bologna, Italy

Tel: +39 051-209-3034 Fax: +39 051-209-3073 cmelchiorri@deis.unibo.it

WORKSHOP AND TUTORIAL CHAIRLuigi Glielmo

Facoltà di IngegneriaUniversità del Sannio in Benevento, Italy

Tel: +39 0824-30581 Fax: +39 0824-21866 glielmo@unisannio.it

PUBLICATION CHAIRTzyh-Jong Tarn

Department of Systems Science and MathematicsWashington University, USA

Tel: +1 (314) 935-6037 Fax: +1 (314) 935-6121 tarn@wurobot.wustl.edu

EXHIBITION CHAIRGianni Ferretti

Dipartimento di Elettronica e InformazionePolitecnico di Milano, Italy

Tel: +39 02-2399-3682 Fax: +39 02-2399-3587ferretti@elet.polimi.it

Committees

PROGRAM COMMITTEE (Europe and Africa)Giuseppe Ambrosino (Università di Napoli Federico II, Italy)Stefano Chiaverini (Università di Cassino, Italy)Paolo Dario (Scuola S. Anna di Pisa, Italy)Giuseppe De Maria (Seconda Università di Napoli, Italy)Ruggero Frezza (Università di Padova, Italy)James Hewit (University of Dundee, UK)Manfred Hiller (Universität Duisburg, Germany)Rolf Isermann (Technische Universität Darmstadt, Germany)Rolf Johansson (Lund Institute of Technology, Sweden)Okyay Kaynak (Boðaziçi University, Turkey)Kostas Kyriakopoulos (NTU Athens, Greece)Wolfgang Moritz (Mechatronik Laboratorium Paderborn, Germany)Antonio Piccolo (Università di Salerno, Italy)François Pierrot (LIRM Montpellier, France)Norberto Pires (Universidade de Coimbra, Portugal)Gianfranco Rizzo (Università di Salerno, Italy)Paolo Rocco (Politecnico di Milano, Italy)Riccardo Scattolini (Università di Pavia, Italy)Gerhard Schweitzer (ETH Zürich, Switzerland)Henrik Van Brussel (Katholieke Universiteit Leuven, Belgium)

PROGRAM COMMITTEE (Asia and Oceania)Marcelo Ang (National University of Singapore, Singapore)Lilong Cai (Hong Kong Univ. of Science and Technology, PRC)Hyung-Suck Cho (KAIST, Korea)Li-Chen Fu (National Taiwan University, ROC)Toshio Fukuda (Nagoya University, Japan)Kazuhiro Hane (Tohoku University, Japan)Hideki Hashimoto (University of Tokyo, Japan)Koji Ito (Tokyo Institute of Technology, Japan)Akitoshi Itoh (Tokyo Denki University, Japan)Makoto Kaneko (Hiroshima University, Japan)Dong-Soo Kwon (KAIST, Korea)Jang-Myung Lee (Pusan National University, Korea)Ren Luo (National Chung Cheng University, ROC)Toshiro Noritsugu (Okayama University, Japan)Kouhei Ohnishi (Keio University, Japan)Jong-Hyeon Park (Hanyang University, Korea)Takanori Shibata (AIST Intelligent Systems Institute, Japan)James Trevelyan (University of Western Australia, Australia)Yang-Sheng Xu (Chinese University of Hong Kong, PRC)Yoshio Yamamoto (University of Tokai, Japan)

PROGRAM COMMITTEE (America)Wayne Book (Georgia Institute of Technology, USA)George Chiu (Purdue University, USA)Tom Collins (Georgia Institute of Technology, USA)Kevin Craig (Rensselaer Polytechnic Institute, USA)Elizabeth Croft (University of British Columbia, Canada)Imme Ebert-Uphoff (Georgia Institute of Technology, USA)Lin Guo (Maxtor Corporation, USA)Saeid Habibi (University of Saskatchewan, Canada)Reid Kress (University of Tennessee, USA)Tom Kurfess (Georgia Institute of Technology, USA)Kok-Meng Lee (Georgia Institute of Technology, USA)Deirdre Meldrum (University of Washington, USA)Ranjan Mukherjee (Michigan State University, USA)Ronald Perez (University of Wisconsin Milwaukee, USA)

Rahmat Shoureshi (Colorado School of Mines, USA)Dawn Tilbury (University of Michigan, USA)

Masayoshi Tomizuka (University of California at Berkeley, USA)Ian Walker (Clemson University, USA)

Ching Ping Wong (Georgia Institute of Technology, USA)Bin Yao (Purdue University, USA)

INVITED SESSION COMMITTEEBasilio Bona (Politecnico di Torino, Italy)

Gianni Ferretti (Politecnico di Milano, Italy)Devendra Garg (Duke University, USA)

Gerd Hirzinger (DLR, Germany)Tong Heng Lee (National University of Singapore, Singapore)

Mohammad Jamhsidi (University of New Mexico, USA)Arthur Murphy (Dupont Company, USA)

Jonathan Wu (National Research Council, Canada)

INDUSTRY-ORIENTED COMMITTEEJakob Apkarian (Quanser Consulting, Canada)

Torgny Brogårdh (ABB Robotics, Sweden)Pietro Buttolo (Ford Motor Company, USA)

Toshitsugu Inoue (Matsushita Electric Company, Japan)Nobuto Matsuhira (Toshiba Corporation, Japan)

Peter Putz (ESTEC European Space Agency, The Netherlands)Taizo Sakaki (Ricoh Company, Japan)

Tariq Samad (Honeywell Technology Center, USA)Hemant Sardar (Thompson Ramo Wooldridge, USA)

Lorenzo Sciavicco (Università di Roma Tre, Italy)Herman Soemers (Philips CIT, The Netherlands)

Maurizio Zuffada (ST Microelectronics, Italy)

VIDEO COMMITTEE Benedetto Allotta (Scuola S. Anna di Pisa, Italy)

I-Ming Chen (Nanyang Technological University, Singapore)Thenkurussi Kesavadas (SUNY Buffalo, USA)

WORKSHOP AND TUTORIAL COMMITTEELuigi Del Re (Universität Linz, Austria)

Hami Kazerooni (University of California at Berkeley, USA)Kazuhiro Kosuge (Tohoku University, Japan)Giorgio Rizzoni (Ohio State University, USA)

E-MEDIA CO-CHAIRDaniele Arduini (Cinetica, Italy)

EXHIBITION CO-CHAIRPaolo Rocco (Politecnico di Milano, Italy)

CONFERENCE SECRETARIATCentro di Cultura Scientifica "Alessandro Volta"

Villa Olmo, Como, ItalyFax: +39 031 573395

LOGISTICS AND SERVICESChiara Stefanetti

chiara.stefanetti@centrovolta.it

REGISTRATION AND ACCOMMODATIONNadia Tansini

nadia.tansini@centrovolta.it

PROGRAM LAYOUT

Sunday 8 July 2001

15:00—18:00 Workshop″PICMicro MCU in Mechatronics: Hands On″, J. Apkarian

Tutorial″Mechatronics Realizations in Hybrid Electric Vehicles″, L. Glielmo

18:00—18:40 Video Session

Monday 9 July 200108:15—08:30 Opening Ceremony08:30—09:20 Plenary 1 ″Is Micromachining Still a Dream or an Industrial Reality?″, B. Murari

Track A Track B Track C Track DM109:30—11:10

Manipulator Design Teleoperation Motion and Imaging Transportation Systems

11:10—11:30 Coffee BreakM211:30—13:10

Parallel Manipulators Intelligent Systems I Fixture and Grasping Design Railway Vehicle Technology

M314:30—15:50

Biomechatronics Intelligent Systems II Fixture and Part LocationSystems

Automotive Systems I

15:50—16:10 Coffee BreakM416:10—17:30

Advances in Robotics WithinRAMSETE Project

Intelligent Process Automation Sensing Automotive Systems II

18:00—19:30 Lake Boat Tour19:30—21:30 Welcome Cocktail @ Villa Olmo

Tuesday 10 July 200108:30—09:20 Plenary 2 ″An Open System Interconnection Model for Mechatronics″, S. Hung

Track A Track B Track C Track DT109:30—11:10

Robot Analysis and Planning Neural and Fuzzy Control Actuators Manufacturing Systems I

11:10—11:30 Coffee BreakT211:30—13:10

Robot Dynamics and Control Vibration Control I Hydraulic Actuators Manufacturing Systems II

T314:30—16:10

Manipulation and Control Vibration Control II Actuator Design Software Design for Manufacturing

16:10—16:30 Coffee BreakT416:30—18:10

Robot Force Control Control of Mechatronics Systems Robot Actuation Mechatronics System Design

19:30—23:30 Banquet @ Villa Erba

Wednesday 11 July 200108:30—09:20 Plenary 3 ″Robotics and Machine-Vision — An Industrial View —″, M. Ejiri

Track A Track B Track C Track DW109:30—11:10

Flexible Manipulators Walking Machines Mechatronics Curricula Discrete Event Systems inAutomated Transportation

11:10—11:30 Coffee BreakW211:30—13:10

Service Robots Human―Machine Interfaces I Technology Enhanced Teaching Data Storage Systems

14:30—15:20 Plenary 4 ″The Law of Cooperation in Mechatronics″, J. Van EijkW315:30—16:50

Robotic Manipulation in Space Human―Machine Interfaces II Mechatronics Applications Fault Detection

16:50—17:10 Coffee BreakW417:10—18:30

Vehicles and Space Exploration Mobile Robots Micro Technology Planning and Navigation

18:30—18:45 Closing Ceremony

19:00—21:00 Farewell Wine Tasting @ Teatro Sociale

Thursday 12 July 200109:00—13:00 Industry Tour 1 ″STMicroelectronics″ (Semiconductors) Industry Tour 2 ″Agusta″ (Helicopters)

SOCIAL PROGRAM

Monday 9 July 2001

18:00–19:30Lake Boat Tour

Embarkment across main square (Piazza Cavour) by the conference site (Teatro Sociale). Sightseeing along lake shores and docking at Villa Olmo19:30–21:30Welcome CocktailAppetizers, cakes, fruit, pasta and wine in the park of Villa Olmo

Tuesday 10 July 2001

19:30–23:30BanquetBus transfer from main square to Villa Erba in Cernobbio. Full-course classical Italian dinner in historical halls

Wednesday 11 July 2001

19:00–21:00Farewell Wine TastingSelection of Italian wines with cheese (parmigiano, pecorino, gorgonzola, etc.) and cured pork (prosciutto, salame, culatello, etc.) at Teatro Sociale

TECHNICAL PROGRAM

Sunday 8 July 2001

15:00–18:00Workshop (WS) & Tutorial (TU)18:00–18:40Video Session (VI)

Monday 9 July 2001

08:30–09:20Plenary Lecture 1 (PL1)09:30–13:10 & 14:30–17:30Paper Sessions (M1 to M4 in 4 parallel tracks A to D)

Tuesday 10 July 2001

08:30–09:20Plenary Lecture 2 (PL2)09:30–13:10 & 14:30–18:10Paper Sessions (T1 to T4 in 4 parallel tracks A to D)

Wednesday 11 July 2001

08:30–09:20Plenary Lecture 3 (PL3)14:30–15:20Plenary Lecture 4 (PL4)09:30–13:10 & 15:30–18:30Paper Sessions (W1 to W4 in 4 parallel tracks A to D)

Thursday 12 July 2001

08:30–14:30Industry Tours (IT)

Sunday 8 July 2001

WSWorkshop Tutorial

TUSALA PASTA 15:00―18:00 SALA TURCAJacob Apkarian, Canada ORGANIZER Luigi Glielmo, Italy

PICMicro MCU in Mechatronics: Hands On

This workshop focuses on the use of the PICMicro MCU by Microchip Technology in Mechatronics. The workshop consists of two components: Introduction to the PIC 16F877 and development tools; and Hands-on experimentation. Due to the hands-on

Mechatronics Realizations in Hybrid Electric Vehicles

Aim of this tutorial is to bring to mechatronics teachers and researchers from academia a concrete feeling of the current state-of-art in the automotive field,

particularly on Hybrid Electric Vehicles. The participants, world-leading automakers

nature of the workshop, attendance is limited to 10 people, equipped with a laptop. Fundamentals of programming in C (not C++) will be required.

15:00–15:20Introduction to the PICMicro 16F87715:20–15:30Software installation on your laptop15:30–16:00Hands on: Digital I/O16:00–16:30Hands on: Serial communications with a PC16:40–17:00Hands on: Analog loopback and sampling17:00–17:30Hands on: Realtime issues17:30–18:00Hands on: Realtime PID control using the PIC

The hands-on session shall be run in the following manner. Each participant shall bring their own laptop to which we install a compiler. We shall supply you with the code for each hands on session. The code shall be explained and discussed. Minor changes shall be suggested for you to change in the code in order to gain understanding. You then compile your program on your PC to see that it is free of error. You then take the compiled code to the hands-on station and download the code to the PIC and run and observe your program's response.

and automotive research centers, will present their recent realizations and discuss both problems already solved through mechatronics, and future problems which will

need attention by mechatronics researchers.

15:00–15:10Introduction, Luigi Glielmo, Università del Sannio, Italy

15:10–15:50HEV Technologies for Passenger Cars – An Overview, Ralf Bady, RLE

International, GermanyHybrid Electric Vehicles are one promising option to reduce fuel consumption and emissions of future passenger cars. Different technologies have been investigated

within the past 30 years, since 1997 first technologies have been implemented in production vehicles and have been made available first on the markets in Japan, US

and also now Europe. Different hybrid technology configurations will be presented and discussed. The latest vehicle applications will be summarized.

15:50–16:30INMOVE – Concept of a Charge-Sustaining Hybrid Drive Train, Christian Renner,

Ralf Bady, FKA mbH Aachen, GermanyThe R&D-project INMOVE has dealt with the development and realization of a hybrid

drive system. The main objective of the project has been the definition of such a power train, the research on optimized technology and finally the prototyping of two

demonstrators (Citroën Berlingo), in order to design and evaluate an appropriate hybrid driving strategy. To achieve a good fuel economy with a cost effective solution

a parallel hybrid drive has been developed. The drive train is of the “single shaft” configuration, where the electric motor works on the input shaft of the manual gearbox. The clutch is electronically controlled and automated. The different

components of the drive system are connected by a CAN-bus. The overall control, the drive system management and especially the driving strategy are realized by a vehicle management unit. With finishing the build up of the first prototype end of 1999 and the

second prototype end of 2000, optimization and analysis under real conditions have been possible. Measurements of the fuel economy show comparatively low results

and verify the overall functionality of the subsystems as well as the strategy.

16:40–17:20Hybrid Electric Vehicle Realization at Fiat, Pasquale Campanile, Centro Ricerche

Fiat, ItalyThe concept of mild hybrid vehicle developed by CRF, named ECODRIVER, is a

parallel configuration consisting of a dual clutch system with a robotised gearbox.The objective is to achieve substantial fuel consumption reduction, while keeping

performance and comfort as much as possible equivalent to the ICE powered reference vehicle.The objective has been achieved combining a gasoline engine with an asynchronous electric motor and through the implementation of functions such as

stop&start, electrical power assist during acceleration, regenerative braking.Engineering challenges regarded packaging and weight optimisation of

powertrain and electrical components, but the key factor is the optimal control strategy. Only through an optimal control is in fact possible to achieve the best

matching of the two motors for maximum efficiency, unimpaired driveability during up and down gearshifting, smooth stop & start operations for customer acceptance.

17:20–18:00Volkswagen Hybrid Electric Vehicles: An Overview about Past, Present and Future Activities and the Influence of Mechatronics on Functionality of Key

Components of the Hybrid Powertrain, Siegfried Koehle, Volkswagen AG, GermanyVolkswagen has been conducting research into hybrid vehicle concepts since the

beginning of the 1970s. Some examples of built prototypes and the research results will be introduced. The goal was to combine the advantages of the conventional

combustion engine and the electric motor in terms of fuel consumption and environmental benefits. These activities led to the VW Golf Hybrid tested in a 3 year

fleet test in Zurich, Switzerland and to the first series production hybrid vehicle, the Audi Duo, equipped with a 66 kW TDI engine combined with a 29 kW synchronous

electric motor and a 5 speed semi automatic gearbox. One of the key components of a hybrid drive train is an automatic transmission with robotised gear shifting and

clutches which enables the comfortable and effective use of either the combustion engine or the electric motor or both in addition. The realization of this function without

Mechatronics today is not imaginable. The vehicle management computer has to decide about the needed actions within the powertrain and mechanical actuators have

to shift gears, operate clutches etc. Other mechatronic components include power steering, brake by wire, air conditioning etc. which do influence car fuel consumption.

Sunday 8 July 2001

VIVideos

VISALA BIANCA 18:00―18:40CHAIR Rajiv Dubey, USA

CO-CHAIR Tenkurussi Kesavadas, USA

18:00–18:10A New Inverter Drive for Position Control of Brushless MotorsMi-Ching Tsai, Bin-Hong Shen, National Cheng Kung University, ROC

This video presents a novel approach for the development of brushless motor drives in which the position feedback elements such as encoders and Hall sensors are not required. Therefore, a single drive is able to control different kinds of motors under the same configuration. This open-loop control scheme has a potential to develop a universal drive that is suitable for different kinds of motors with various functions such as micro-stepping, position, and speed controls. The sample control applications presented in this video are the point-to point position control of a brushless DC motor, a Permanent Magnet Synchronous Motor (PMSM), the micro-stepping control of a PMSM, and a position control of a linear induction motor.

18:20–18:30Test of the Hybrid Robot WHEELEG on a Volcanic Environment

Salvatore Guccione, Giovanni Muscato, Università di Catania, Italy

In the video some of the last experimental results performed on the robot WHEELEG in laboratory and on a volcanic terrain are shown. The robot WHEELEG is a hybrid

wheeled/legged robot with two front legs and two rear wheels.

18:10–18:20Realization of Dexterous Hand Task by Using Multi-Finger Dual Robot Hand Hajime Sugiuchi, Shinichiro Watanabe, Tetsu Morino, Yokohama National University, Japan

A multi-fingered dual robot hand system is developed to achieve dexterous hand works in human mimetic approach. Each hand has 4 fingers and thumb.Each finger has 4 joints and the last joint is coupled with the next. So, each finger has 3 DOFs. Thumb also has 4 joints and all joints are active.One extra joint is placed on the palm.The role of this joint is to imitate the motion of human palm and extent the working area of ring and little fingers. By introducing this palm joint, chopsticks handling task was realized. Both hands are covered with distributed touch sensor which has more than 600 measuring points. By using this sensor, the contact force of hand surface can be controlled.

18:30–18:40Therapy of Children Assisted by Mental Commit Robot

Takanori Shibata, Teruaki Mitsui, AIST, Kazuyoshi Wada, Takayuki Kumasaka, Kazumi Tagami, Tsukuba University, Kazuo Tanie, AIST, Japan

We have been developing mental commit robots that provide psychological and physiological effects to human beings through physical interaction. The appearances

of robots look like real animals such as cat and seal. We applied mental commit robots to assist therapy of children at a hospital. Video will show how children interact

with the mental commit robots.

Thursday 12 July 2001

IT1Industry Tour 1 Industry Tour 2

IT2STMicroelectronics AgustaSemiconductors Helicopters

08:30–14:30Castelletto Design and Industrial Center, Cornaredo (Milan)

STMicroelectronics is a global independent semiconductor company that designs, develops, manufactures and markets a broad range of semiconductor integrated circuits ("ICs") and discrete devices used in a wide variety of microelectronic applications, including telecommunications systems, computer systems, consumer products, automotive products and industrial automation and control systems. In 2000, ST's net revenues were US $7,813.2 million and net earnings were US $1,452.1 million. According to various independent market research data and semiconductor company reports, including Dataquest's annual preliminary ranking for 2000, STMicroelectronics is the seventh largest semiconductor company in the world.

The visit is organized in two parts: The first part is a presentation of about half an hour of the integrated circuits manufacturing process. The second part is a guided tour within the manufacturing plants. Visitors will be divided into small groups. Each group tour will last about 45 minutes.

The total travelling time is about two hours. Tour includes a lunch break.

08:30–15:30Cascina Costa Plant and Vergiate Center (Varese)

Agusta is an AgustaWestland company, the new joint company world’s second largest manufacturer of helicopters. The Company designs and manufactures several military and civilian helicopters, and enjoys the partnership with Bell to design and develop the

Bell/Agusta BA609 tiltrotor, the first civil tiltrotor to be offered on the market.

The first part of the tour is at the Cascina Costa plant, near Varese. It includes the Agusta's Headquarters, facilities for production of gearboxes and other transmission

components and test benches, and the Agusta Electro Avionic Integration Center, with software house, simulation systems and integration rigs. The approximate size of the

plant is 875,786 square meters of which 121,342 covered, and there are 1932 employees.

The second part is at the center for operational and functional integration at Vergiate (Varese), 20 minutes far from Cascina Costa, where the phases of final assembly and

subsequent flight tests of helicopters take place. The organization of this center purses the objective of managing, from both a technical and production point of view, the processes of industrialisation, installation and testing of electro-avionic systems. The Vergiate center features 841 employees and an approximate size of 1,344,472

square meters of which 90,992 covered.

The visit will last about 2 hours in Cascina Costa and 1 and half in Vergiate. The total travelling time will be about 2 hours. Tour includes a lunch break.

PL1Plenary Lecture 1 Plenary Lecture 2

PL2Monday 9 July 2001 08:30―09:20 Tuesday 9 July 2001SALA PLATEA

Shigeki Sugano, Japan HOST Jadran Lenarčič, Slovenia

Is Micromachining Still a Dream or an Industrial Reality?Bruno Murari, STMicroelectronics, Italy

Micromachining has been a popular subject for research for many years, but with the exception of a few specialized devices it has not yet become an industrial reality. Today, however, the technology has advanced beyond the limits of laboratory demonstrations and is about to ramp up the scale of industrial production. This talk discusses the emerging MEMS technologies that address the problems of industrial scale application, examining aspects such as developing processes suitable for multiple applications, new methods of packaging and issues concerning testing and reliability. Practical examples of products designed for mass production are included to illustrate key issues in the talk.

Bruno Murari is the Director of the "Castelletto" Research and Development laboratories of STMicroelectronics at Cornaredo, near Milan, Italy. Born in Treviso (near Venice) in 1936, he graduated in Electrical Technology at the Pacinotti Technical Institute, Venezia-Mestre, in 1955, followed by a two-year postgraduate course in electronics at the Beltrami Institute, Milan. He joined SGS —now STMicroelectronics— in 1961, working first in the application laboratory and then in the linear IC design group. In 1972 he became head of linear IC design and development at the company's "Castelletto" laboratories on the outskirts of Milan, and in 1981 he also became plant manager for the Castelletto facility, which includes a pre-production wafer fab. Today he is responsible for all of the activities of this center, which focusses on the development of Smart Power BCD technology + MEMS technology + advanced design on Power IC's. He has personally designed 10 integrated circuits and has supervised the design of more than 1000 others. A major contributor to ST's leadership position in high power IC technology, Bruno Murari holds 60 patents concerning IC design and technology, has published more than 40 papers and contributed to the McGraw-Hill book Power Integrated Circuits (1985). He is also co-editor of the book Smart Power: Technologies and Applications, published in November 1995 by Springer-Verlag. Often he has been invited to present papers on power technology at conferences in the US, Europe and Japan and participate in panel discussion on this subject. He has also been Chairman of the European Solid-State Circuits Conference in 1991 and was a teacher in power IC Design course at the University of Pisa. In 1993 he was a finalist in the EDN Innovator of the Year award. In April 1995 he was awarded the European SEMI award for his contribution to power IC technology. On May 1st 1994 he was conferred the Maestro del Lavoro honor by the President of the Italian Republic and in October 1995 he received an honorary degree from the Ca' Foscari University of Venice for his role in the development of multidisciplinary IC technologies. Recently he is starting a new activity in Castelletto plant using micromachining for MEMS. Married with two sons, Bruno Murari enjoys skiing and is an expert in underwater fishing. Equally skilled as a designer of free-flight model aircraft, he has been three times Italian champion in individual model aircraft flying contests and also world champion in the team category.

An Open System Interconnection Model for MechatronicsSteven Hung, Visteon Corporation, USA

The presence of intelligent, electronic control in conjunction with mechanical actuation has spread far beyond the industrial or commercial setting. Mechatronic systems have moved well beyond their industrial roots, and, today, mechatronics are very present in

many consumer products. The markets for growth in the presence of mechatronics have long presented many potential technology development synergies between

military, industrial, commercial, and consumer product development arenas. The pace of actual growth in the presence of mechatronics, on the other hand, appears slow in light of the fact that many enabling technologies have been in use for many years in

various product areas. The automotive system and industrial technology development arenas serve as an excellent example of a pair of synergistic mechatronic

development areas. Many of the technologies that will enable development of safe, reliable new automotive mechatronics have been staples of industrial mechatronics for years. Many automotive implementations of technologies, meanwhile, can perform as well as industrial counterparts at orders of magnitude lower cost. Improved exchange

of perspectives can accelerate development of automotive mechatronics and, concurrently, motivate changes in industrial implementation philosophies that can

substantially lower industrial mechatronic system costs. Missing, however, is a topological model, such as the Open System Interconnection (OSI) model of ISO/IEC

7498, which would give developers a common reference basis when discussing application requirements and when comparing the viabilities of transplant technologies

or architectures under consideration. The OSI basic reference model has helped streamline such discussions in the software and computer network communication

industry: the mechatronics community could well afford a similar enabling reference. This presentation will begin with a discussion of why automotive and industrial

mechatronics, as an exemplary pairing, have evolved in different directions. It will then proceed through a brief description of how technology developments are enabling a

convergence of those directions, and, finally, note how an enabler of the Internet revolution can serve as an example of how to streamline development discussions

and accelerate propagation of mechatronic technologies.

Stephen T. ("Steve") Hung received the B.S.E.E. degree from the University of Tennessee in 1983 and the M.S. and Ph.D. degrees from the University of Illinois in

1985 and 1989, respectively. He interned with the General Electric Company's Electric Utility Systems Engineering Department, Schenectady, NY, in 1984; was attached to

the self-tuning arc-welding technology group of the U.S. Army Corps of Engineers Construction Engineering Research Laboratory, Champaign, IL, from 1985 to 1987; and worked from 1987 to 1988 as a consultant to PKResearch, Urbana IL, on Ford

Motor Company's self-tuning control development efforts in the areas of road vehicle active suspension and vehicle speed control. From 1988 to 1992, Dr. Hung served as

an assistant professor in the Department of Electrical Engineering at Auburn University, Auburn, AL. During the summers of 1991 and 1992, he was also an Interagency Personnel Act (IPA) scientist with the U.S. Navy's Naval Undersea

Warfare Center, Newport, RI. In the fall of 1992, Ford Motor Company recruited Dr. Hung to help lead the successful traction control development effort for the

Benetton/Ford B193B Formula One race car. With a ban on traction control in Formula One in effect subsequent to the 1993 season, he assisted with development of a

hardware-in-the-loop system for real-time testing of Ford's Formula One powertrain electronics systems. He then joined Ford's Global Test Operations in 1995, where he

was responsible for development and integration of a low-cost/high-durability data acquisition/communication system tailored for unobtrusive, remote monitoring of

customers' vehicle usage. With the successful deployment of the monitoring system, he moved on in summer 1998 to join Visteon Corporation's Steering System

Engineering strategic business unit, where, today, he is responsible for development of electrohydraulic steering systems and fully-electric steering systems for large cars and light trucks. Dr. Hung's research interests are centered around topics related to

transportation systems electronics, and include adaptive and self-tuning systems, optimal predictive control techniques, motion control, and specification methodologies for cost minimization of control system implementations. Dr. Hung is a member of the

IEEE Industrial Electronics Society.

PL3Plenary Lecture 3 Plenary Lecture 4

PL408:30―09:20 Wednesday 11 July 2001 14:30―15:20SALA PLATEA

William Hamel, USA HOST Shigeru Okuma, Japan

Robotics and Machine-Vision for the Future – An Industrial View –Masakazu Ejiri, Hitachi Company Ltd., Japan

Recent trends in industrial technology are to make things small, synergetic, intelligent, and environmentally friendly. Mechatronics is one research area on these trends, and its perspective is first introduced. The status of research in robotics and machine-vision technologies is then described as a typical example of mechatronics research. Expectations for the future of these technologies are also mentioned from the viewpoint of industry, emphasizing the importance of considering the reliability in robotics and of studying real-time color video processing in machine vision. These fields are becoming increasingly important for establishing a productive, efficient, secure, and stress-free society through factory, office, and social automation.

Masakazu Ejiri received the B.E. degree in mechanical engineering and the Dr.Eng. degree in electrical engineering, both from Osaka University, Osaka, Japan, in 1959 and 1967, respectively. Since 1959, he has been with the Central Research Laboratory of Hitachi Ltd., Kokubunji, Tokyo, Japan. He spent 1967-1968 as a Visiting Professor at the University of Illinois, Chicago and 1977-1981 as a Vice President of HISL Inc. (Hitachi's subsidiary company), California, USA. He has worked primarily in the area of control engineering, pattern recognition, robotics, machine vision, and artificial intelligence, and authored more than 50 technical papers and five books. One of his most famous achievements is the development of world-first transistor assembly machines using machine vision technology in 1973. More recent achievements include the development of new mail-sorting machines in 1997. He is presently a Senior Chief Research Scientist, Corporate Technology, both at the Central Research Laboratory and the Mechanical Engineering Research Laboratory of Hitachi Ltd. He is also a Visiting Professor of the Japan Advanced Institute of Science and Technology, Hokuriku, and Fukui University. Dr. Ejiri is a Fellow of the IEEE, a Fellow of IAPR (International Association for Pattern Recognition), and a Fellow of the IEICE (Institute of Electronics, Information and Communication Engineers of Japan). He served as a Vice President of the IAPR during 1990-1992 period, and is currently a member of the Governing Board of the IAPR. He has been serving as a Vice-President of the Robotics Society of Japan during 1999-2001 period, and will serve as the President of the Robotics Society of Japan, starting from March 2001.

The Law of Cooperation in MechatronicsJan Van Eijk, Philips Centre for Industrial Technology, The Netherlands

The design and development of advanced and intelligent systems requires contributions from different technical disciplines. When the required cooperation is

successfully achieved a whole range of competitive business options is created. Unfortunately such cooperation is not easily obtained. During the past 15 years the

Philips Centre for Industrial Technology developed a strong Mechatronics community. For this development the Law of Cooperation proved to be very suitable to guide the process. The basic aspects of this "Law" will be presented in combination with some

of the technical results obtained during our development.

Dr. van Eijk obtained his Masters Degree from the Delft University of Technology in 1975. He was educated as a Mechanical Engineer in the field of Instrument Design. After four years in the service of UNESCO in Pakistan and Sri Lanka he returned to the University to do research for his doctorate. His thesis, presented in 1985, dealt with the design and implementation of flexure elements in precision mechanisms.

From 1984 he started working at the Centre for Industrial Technology of the Philips Electronics Company. There he was involved in the industrialization of the Compact

Disc player mechanisms. This involved the mechanical design, dynamic behavior and the interaction with feedback control performance. The second development activity

focussed on the motion devices for the ASML wafersteppers and scanners. Here also the layout of the mechanical system proved to require attention. Other equipment he was involved include electron microscopes, placement equipment for PCB assembly

and other manufacturing equipment. Critical in most of these projects was the Predictive Modeling of Machine Dynamics and its link with Control Design. As the

leader of the Mechatronic Departments in Philips he has worked on the creation of effective cooperation of specialists from different technical backgrounds. The

Mechatronics capability has now grown to a group of about 200 people in the Philips CFT in Eindhoven. A multiple of this number is working in the affiliated development

groups. Most of them have received training from the central groups on Mechatronics. In the beginning of the year 2000 Dr. van Eijk became a part-time professor in the

Faculty for Design, Construction and Manufacturing of the Delft University for Technology. He is setting up a group on Advanced Mechatronics that will work on high

precision motion and on the design and assembly of Micro-Mechatronic Systems.

M1AManipulator Design Teleoperation

M1BSALA PLATEA 09:30―11:10 SALA PASTADragoljub Surdilovic, Germany CHAIR Kazuhiro Kosuge, Japan

Giuseppe Fusco, Italy CO-CHAIR Alberto Rovetta, Italy

Hyper Redundant Manipulator Using Compound Three-Bar LinkagesKoichi Koganezawa, Takashi Kinoshita, Tokai University, Japan

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM with 12 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It also presents the method and the simulation of the dynamical analysis. Holonomic constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

09:30―09:50

A Web-based Telerobotic System for Research and Education at Essex

Lixiang Yu, Pui Wo Tsui, Quan Zhou, Huosheng Hu, Univ. of Essex, UK

This paper describes steps toward building a web-based telerobotic system for both research and teaching in the Essex University. The system has standard network

protocol and interactive human-machine interface. Using a Web browser, a remote operator can control and/or program a mobile robot to navigate in our laboratory

while receiving visual feedback and simulated local perceptual map via the Internet. The employment of an intuitive user interface enables both researchers and students to control and program mobile robots and to do some experiments

remotely.

The 'Elephant Trunk' Manipulator, Design and ImplementationM.W. Hannan, I.D. Walker, Clemson University, USA

Over that last several years, research in the area of hyper-redundant robots and those robots based on tentacle/trunk type manipulators has become of great interest.Though much progress has been obtained in both the areas of robot construction and robot kinematics, there has been little progress in the implementation of a kinematic model for motion on a physical robot. In this paper, we review both our ‘elephant trunk’ robot’s construction and our previously designed kinematic model. We provide experimental results verifying not only the legitimacy of our kinematic model, but also the real time implementation of the model on the physical robot.

09:50―10:10

Internet Based Teleoperation using Wave Variables with PredictionSaghir Munir, Wayne J. Book, Georgia Institute of Technology, USA

Wave-based teleoperation has been previously attempted over the Internet, however performance rapidly deteriorates with increasing delay. This paper focuses on the use of a modified Smith predictor, a Kalman filter and an energy regulator to

improve the performance of a wave-based teleoperator. This technique is further extended for use over the Internet, where the time delay is varying and

unpredictable. It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction). Successful

experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta

(Georgia) and Tokyo (Japan), are also given.

The Frenet-Serret ManipulatorHiromi Mochiyama, Shin'ichirou Hiramatsu, Yasuchika Mori, National Defense Academy, Japan

The Frenet-Serret manipulators are roboticarms for the whole-arm manipulation. This type of manipulator has the kinematic structure same as Frenet-Serret apparatus of a spatial curve which is a tool for expressing the geometric features of the curve in classical differential geometry. We developed a Frenet-Serret manipulator with three joint units each of which has roll-pitch two degree-of- freedom. In this paper, we show the design concept, specification, mechanical structure and driving mechanism of the developed Frenet-Serret manipulator. We also show a recursive regressor form of the dynamics which will be utilized for system identification and control of the manipulator.

10:10―10:30

Man-Machine Interface using Steering Wheel and Pedals for a Quadruped Walking Robot

Atsushi Konno, Yusuke Mitsuya, Noriyoshi Kato, Masaru Uchiyama, Tohoku University, Japan

For an easier and natural teleoperation of the quadruped walking robots, a user interface is developed with a steering wheel and an assembly of pedals. In order to

change the speed and the direction of the quadruped walking robots according to the operation of the steering wheel and the pedals, an on-line gait transition method

is developed. Using this human-machine interface and on-line gait transition, the operator can control the quadruped walking robots almost in the same way as a

driver drives a car. A quadruped walking robot named JROB-2 is used in the

experiments. As the steering wheel is also equipped with various control buttons, it is possible to assign various single command tasks, like “stand up” and …

The Design of High Performance ManipulatorsH.M.J.R. Soemers, Philips Center for Industrial Technology, The Netherlands

Two case studies are given on the design of high performance manipulators both performed at the Philps CFT (Centre for Industrial Technology). The first case deals with a double scara type manipulator the second with a linear motor based gantry robot for SMD placement. Emphasis is laid on a design approach aimed at achieving outstanding performance in a predictable way. The predictability was achieved by modelling geared to support design decisions. Also the designs themselves had a great deal of predictable properties thanks to the kinematic principles followed.

10:30―10:50

Micro Teleoperation with Parallel ManipulatorNoriaki Ando, Masahito Ohta, Kouhei Gonda, University of Tokyo, Hideki

Hashimoto, University of Tokyo & Presto JST, Japan

This paper describes the haptic interface based micromanipulation systems developer for micro robot fabrication. It is based on fabrications, micro process handling and micro components inspection. It is based on scaled bilateral tele-

operation system between different structures. These systems are composed of an

original 6DOF parallel link manipulator to carry out micromanipulation and a haptic interface with force feedback. These systems aim to make the micromanipulation

more productive constructing a better human interface through the micro envoroment force and scale expansion. In this paper, new micromanipulation

systemsis proposed and evaluated the analysis is conducted performing

fundamental experiments to evaluate the precision and manipulability.Manipulators with RRRS LegsJorge Angeles, McGill University, Canada, Guilin Yang, Gintic Inst. of Manufacturing Technol., I-Ming Chen, Nanyang Technol. Univ., Singapore

A special class of platform manipulators is the subject of this paper. These manipulators comprise two platforms connected by three legs, each being composed of three revolute (R) and one spherical (S) joints, which gives the manipulator six degrees of freedom. Hence, two actuators are required per leg. Under the assumption that the two R joints proximal to the fixed platform are actuated, we derive the differential kinematic relations between actutor joint rates and mobile-platform twist. This model comprises two Jacobian matrices, the forward and the inverse-kinematics Jacobians. These relations are then applied to the

singularity analysis of the parallel manipulator developed at Singapore's Gintic

Institute of Manufacturing Technology and Nanyang Technological University.

10:50―11:10

A Generalized Control Approach for Ideal TeleoperationChi-Cheng Cheng, Jiun-Hung Chen, National Sun Yat-Sen University,

ROC

The master-slave manipulator is capable of extending human dexterous skills to the distant or dangerous environment. In order to maintain its operational efficiency,

working conditions at the slave side need to be honestly transferred to the master side. This paper presents a generalized control strategy for the ideal teleoperation of

a master-slave manipulator. The proposed control framework fully applies position and force signals at both the master and the slave ends, and can bring about

transparent property of ideal teleoperation. Better position tracking performance is demonstrated by teleoperation experiments on a single-link master-slave

telemanipulator interacting with environment.

M1CMotion and Imaging Transportation Systems

M1DSALA BIANCA 09:30―11:10 SALA TURCATakanori Shibata, Japan CHAIR Manfred Hiller, Germany

Antonello Cutolo, Italy CO-CHAIR Angela Di Febbraro, Italy

Design and Analysis of an Absolute Non-Contact Orientation Sensor for Wrist Motion ControlHarry Garner, Georgia Institute of Technology, Martin Klement, Lexmark Inc., Kok-Meng Lee, Georgia Institute of Technology, USA

In this paper, aspects of the design and analysis of a vision-based non-contact absolute orientation sensor with application to wrist-like actuator motion control will be presented. This work is primarily motivated by the need for the measurement of

the absolute orientation of a spherical rotor present in wrist-like actuators for the motion control of such systems. Current orientation measurement approaches

increase the complexity of the mechanical structure through additional contact with

the spherical rotor. To eliminate this additional complexity, a non-contact vision-

based technique that realizes an absolute orientation measurement using a

09:30―09:50

Safeness-Enforcing Supervisory Control for Railway NetworksFabrizio Diana, Alessandro Giua, Carla Seatzu, Università di Cagliari, Italy

In this paper we deal with the problem of modeling railway networks with Petri nets so as to apply the theory of supervisory control for discrete event systems to

automatically design the system controller. We provide a modular representation of railway networks in terms of stations and tracks including sensors and semaphores.

We ensure safeness and local liveness imposing both Generalized Mutual Exclusion Constraints and constraints also involving the firing vector.

Motion Tracking of a Part on a Vibratory FeederWinncy Y. Du, San José State University, USA

This paper addresses the motion tracking of a part on a vibrating plate feeder. A fast boundary extraction routine is first introduced to search a part of interest by investigating several scan lines. Once the first three boundary points of the part – forming a seed segment – are located, the boundary tracing and growing process

can be quickly and accurately implemented inside a sequence of small regions. The pose vector [x,y,] that represents the location and orientation of the part is estimated based on the part’s boundary information. The motion tracking procedure

consists of the four phases: 1) predict the next region that the part will appear using

the previous and current pose vectors; 2) extract the part's boundary within the predicted region using the same boundary-extraction routine; 3) update the pose

vector by calculating the new centroid and orientation; and 4) feed the new pose …

09:50―10:10

Model Predictive Control for Railway NetworksB. De Schutter, T. Van den Boom, Delft University of Technology, The

Netherlands

Model predictive control (MPC) is a very popular controller design method in the process industry. Usually MPC uses linear discrete-time models. In this paper we

extend MPC to a class of discrete-event systems with both hard and soft synchronization constraints. Typical examples of such systems are railway

networks, subway networks, and other logistic operations. In general the MPC control design problem for these systems leads to a nonlinear non-convex optimization problem. We also show that the optimal MPC strategy can be

computed using an extended linear complementarity problem.

Banding Reduction in Electrophotographic ProcessCheng-Lun Chen, George T.-C. Chiu, Purdue University, USA

This paper proposed a new process control strategy for reducing banding artifacts in electrophotographic (EP) processes. EP banding artifact is shown to correlate to the fluctuation of the organic photoconductive (OPC) drum angular velocity. Improved regulation of the OPC drum rotational velocity under various process uncertainty and variations will significantly improve EP process stability and reduce the appearance of banding. The proposed control strategy includes two levels of OPC drum speed regulation. The first level utilizes a loop shaping technique to incorporate a human visual system (HVS) model into the control loop to eliminate low frequency and non-periodic drum velocity fluctuation. The second level uses an internal model based repetitive controller to reduce the effect of periodic velocity fluctuations. The HVS based loop shaping design is intended to address …

10:10―10:30

Control of Transient Phase for Discrete Event Simulation using Computational Steering

T. Kesavadas, Abhishek Sudhir, SUNY Buffalo, USA

Traditional steps in a discrete event manufacturing simulation are to prepare input variables, select simulation parameters, run the simulation and review the results

after the execution is completed. In a new approach proposed here, we have utilized an interactive simulation to obtain improved solutions and instant feedback from the proposed production system. A Computational Steering tool is provided to give the

user increased control of the simulation. This interactive tool gives the user power to view the simulation results dynamically and to control the simulation in real-time. A case study that uses Computational Steering to reduce the length of the transient

phase in steady-state analysis of simulation is presented.

A Robust Machine Vision System Design to Facilitate the Automation of Surface Appearance InspectionsJohné M. Parker, University of Kentucky, USA

The performance demands on coated surfaces (e.g., automotive paints) are considerable. Though the primary purpose of automotive paints is to protect the car body from corrosion, it has been well established that the appearance of a painted surface greatly affects a customer’s perception of that product’s quality. Automotive manufacturers spend considerable sums on the painting process during manufacturing and, again, on warranty-covered claims of paint-related problems. Therefore, robust methods to both characterize and monitor surface quality are critical. Existing quality control methods using expert inspectors are generally effective in assessing perceived appearance; however, they are often labor intensive, time-consuming and can be subjective. Optical techniques conducted … are

10:30―10:50

Traffic Signal Control by EgogramsH. Kobayashi, M. Higuchi, K. Kikuchi, Science University of Tokyo, Japan

In this paper, we present the traffic signal control method in order to avoid traffic jam by applying the simulator for the interpersonal relation by Egograms. Egograms that

is consisted of 5 categories such as critical parents (CP), nurturing parents (NP), adult (A), free child (FC) and adapted child (AC), .indicates personality and is used for counseling by analyzing magnitudes of 5 categories and also for estimating the interpersonal relation. In this simulator, we prepare the computer agent which has Egograms obtained by a human subject. We provide food acquisition environment which is an instinct for survival, and then we arrange 11 actions for the agent that

might be occurred around feeding stations. By analyzing actions selected by plural agents in simulation, we can diagnose the interpersonal relations. For the traffic

signal control, we consider the traffic signal to be an agent and instead of …

A New Omnidirectional Vision Sensor for the Spatial Semantic HierarchyEmanuele Menegatti, Univ. Padova, Italy, Mark Wright, University of Edinburgh, UK, Enrico Pagello, Univ. Padova & LADSEB, Italy

In this paper we propose a new sensor for the Spatial Semantic Hierarchy created by Benjamin Kuipers. To prove the effectiveness of this new sensor it has been used as a sole sensor for a robot. The task of the robot is to build a topological map of an unknown environment using the Spatial Semantic Hierarchy. In the paper we present the strict link that it is possible to create between the Spatial Semantic Hierarchy and the omnidirectional images. We propose a set of topological events that it is possible to identify in the sequence of images acquired while the robot moves. These topological events can be used to pose a discrete set of places that will be the nodes of the topological map. The results of simulated experiments …

10:50―11:10

Generalization of the Cascade Principle in View of a Structured Form of Mechatronic Systems

Joachim Lückel, Thorsten Hestermeyer, Xiaobo Liu-Henke, Universität Paderborn, Germany

With the steady increase in microcontroller performance, mechatronic systems have become more and more complex. This requires new organizational structures both in system design and in controller-structure. For system design, a practical way of

structuring mechanical systems vertically and horizontally has already been presented in a number of papers. This structure has to be reflected in the controller as well. The aim of this paper is to adapt and combine well-known controller design

techniques to make up a new and well-structured way of controller design tailored to the organizational structure of mechatronic design. After a brief overview of the

mechatronic design structure, this new controller design technique will be presented basis of the cascade structure of SISO controllers and the centralized controllers

with state-vector feedback. For an example, the controller of a new modular railway

M2AParallel Manipulators Intelligent Systems I

M2BSALA PLATEA 11:30―13:10 SALA PASTAJorge Angeles, Canada CHAIR Clarence de Silva, Canada

Rezia Molfino, Italy CO-CHAIR Michele Aicardi, Italy

Design of a New 2 DOF Parallel MechanismYoung-Hoon Chung, Jae-Won Lee, Yeungnam University, Korea

We propose a new two-degree of freedom parallel mechanism in this paper. This mechanism was designed in order to improve the kinematic performace and to achieve static balance. We use the pantograph mechanisms in order to change the location of active joints which leads to transformation a direct kinematic singularities into a non-singularities. The direct kinematic singular configurations of the proposed parallel mechanism occur near the workspace boundary such as those of the serial manipulators which means that we do not any more suffer from the singular configuration which occurs at the inside of workspace. Hence the proposed mechanism can overcome disadvantage such as the singular configurations existing in the inside of workspace for a typical parallel mechanisms. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity …

11:30―11:50

Mimesis Embodiment and Proto-symbol Acquisition for HumanoidsTetsunari Inamura, Japan Science and Technology Corporation, Yoshihiko

Nakamura, Iwaki Toshima, University.of Tokyo, Hideaki Ezaki, Kawasaki Heavy Industries Co., Japan

Mimesis is the primitive skill of imitative learning, one of the methods for recognition of others' behavior and construction of self behavior. Mimesis is thought an origin of human intelligence because this function is observed not only at humans but also at

animals. When the mimesis is adopted as learning method for humanoids, convenience for designing full body behavior increase because bottom-up learning

approaches from robot side and top-down teaching approaches from user side involved each other. Therefore, we have developed abehavior acquisition and

understanding system for humanoids based on the mimesis. This system is able to abstract observed others' behaviors into conceptual symbols, to recognize …

Iterative Model-based Design of the Parallel Robot, TRIPLANARJ. Lückel, W. Moritz, W. Kuhlbusch, F. Scharfeld, St. Toepper, P. Maißer, H. Freudenberg, E. Kallenbach, J. Zentner, E. Saffert, Universität Paderborn, Germany

The TRIPLANAR is a novel parallel robot with six degrees of freedom for highly precise measurement and process tasks. Its prototype was developed in just 12 months by means of the mechatronic composition. This design methodology comprises analysis and synthesis of the entire system, including mechanics, actuator system, and information processing in the computer before the constructive design is started. The information processing was designed by means of a simplified model and tested with a complex model. An experimental modal analysis of the real system served to identify the parameters of the complex model. In order to increase the limited motive forces of the TRIPLANAR novel drives, so-called …

11:50―12:10

Implementation and Evaluation of a Reactive Multi-Robot SystemP. Lucidarme, P. Rongier, A. Liégeois, LIRMM, France

This paper presents the implementation of an experimental setup to study the behavior of a group of purely reactive mobile robots subject to serious

unrecoverable failures: some of them have lost mobility, others have lost infrared vision. To survive, each robot must reach a supply center. The eventually degraded mission uses complementary capabilities of the two types of robots by letting a blind robot, meeting by chance an invalid one, carry it. The latter is able to "see" a supply center within a wide range. The hardware and software of the experimental devices

are described, using very simple and low-cost components. Experiments are run with the robots in different initial positions. The results are compared to those

obtained by many computer simulations and by a Markovian process model, both are also described.

A New Method for Fully Autonomous Calibration of Parallel Manipulators Using a Constraint LinkJeha Ryu, Abdul Rauf, Kwangju Inst. of Science and Technology, Korea

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Fully autonomous methods of calibration are cost effective fast and easy to implement. This paper presents a new method for fully autonomous calibration that can be applied to 6 degree-of-freedom fully parallel manipulators. The proposed method uses a link of fixed length having spherical joints at both of it ends to restrain the motion of the end-effector over spherical surface with arbitrary orientations. The end-effector therefore has 5 degrees of freedom. However the measurement data is collected from 6 actuator sensors. This redundancy of sensory information is utilized for calibrating the geometric parameters without using any extra sensing device …

12:10―12:30

Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots

Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai, Osaka University, Japan

We propose a method of effective knowledge-sharing among multiple robots by using storage devices which can be attached into environment. If robots store

knowledge about environment to the devices robot can use the stored knowledge and redcuce cost for achieving tasks. Since memory size of such storage device is

limited robots cannot store all of required knowledge. Therefore the robots store knowledge according to its usefulness defined by reducible cost per time. A memory unit storing useless knowledge is removed from the device and added to the device

that requires more useful knowledge. Then the robots can store useful knowledge over the whole environment and the memory units are flexibly relocated …

Kinematics of the Translational 3-URC MechanismRaffaele Di Gregorio, Università di Ferrara, Italy

A new three-dof spatial parallel mechanism, named translational 3-URC, is presented. The translational 3-URC makes the platform translate with respect to the base. The new mechanism belongs to a set of mechanisms with topologically equal architectures, called 3-URC, which contains another mechanism behaving as a spherical parallel wrist. The translational 3-URC position and mobility analyses are addressed and solved in closed form and the singularity conditions are written in explicit form and interpreted.

12:30―12:50

Collision Detection of Manipulator Based on Adaptive Control LawTaishi Matsumoto, Kazuhiro Kosuge, Tohoku University, Japan

In this paper,we propose a collision detection method of a manipulator based on the nonlinear adaptive control law proposed by Slotine and Li. The collision of a

manipulator with its environment is detected by the difference bet een the actual input torques to the manipulator and the reference input torques calculated based on

the manipulator dynamics.An adaptive control scheme is employed for the manipulator control and the parameter estimation of the manipulator.The reference

input torques are calculated using the estimated manipulator parameters. The proposed collision detection scheme is applied to an industrial manipulator and the

experimental results illustrate the validity of the proposed scheme.

An Experimental Validation of CaPaMan as Earthquake SimulatorChiara Lanni, Fabio Pugliese, Marco Ceccarelli, Università di Cassino, Italy

In this paper we have reported results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate so that we have verified the numerical simulations with practical experiments. Reproducing accelerometer diagrams of really happened earthquakes has proved the practical feasibility. Experimental results have been reported in this paper to show the interest for this application of CaPaMan.

12:50―13:10

Visual Servoing to Fish and Catching Using Global/Local GA SearchMamoru Minami, Hidekazu Suzuki, Julien Agbanhan, Toshiyuki Asakura,

Fukui University, Japan

This paper presents a vision related technique for a manipulator real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA)

and a local search technique of the GA and also the unprocessed gray-scale image called here as raw-image in order to perform recognition of a known target object

being imaged. Also in GA process the computation of the fitness function is based on the configuration of an object model designated as surface-strips model. The

raw-image is used since it is more tolerant of contrast variations from an input image to the next one and moreover does not require any filtering processing time. The

global GA is utilized together with the local GA in order to recognize the target shape and detect the position and orientation simultaneously and to increase …

M2CFixture and Grasping Design Railway Vehicle Technology

M2DSALA BIANCA 11:30―13:10 SALA TURCAEdward De Meter, USA CHAIR Antonio Piccolo, Italy

Maria Chiara Carrozza, Italy CO-CHAIR Torsten Bertram, Germany

Effect of Fixture Design Variables on Fixture-Workpiece Conformability and Static StabilityJose F. Hurtado, Shreyes N. Melkote, Georgia Inst. of Technology, USA

A parametric study of the effect of fixture design variables on fixture-workpiece conformability and static stability is presented. Conformability is defined as the geometric similarity between the workpiece surface and the smallest polyhedron fit over all contacts. Two conformability metrics are introduced to account for global and local conformability. The design variables of interest are: the number and position of fixture elements, fixture element length, clamping intensity, fixture element orientation, static coefficient of friction, fixture element tip radius and the direction of the fixture principal stiffnesses. Both force-controlled and displacement-controlled fixtures are considered. The static stability was found to increase with the static coefficient of friction and with the fixture element tip radius. Clamping …

11:30―11:50

Train Speed and Position Evaluation using Wheel Velocity Measurements

Monica Malvezzi, Paolo Toni, Università di Firenze, Benedetto Allotta, Valentina Colla, Scuola Superiore Sant’Anna, Italy

A novel security system named SCMT, to be installed on trains circulating in Italian railways is currently being developed. One of the components of SCMT is a module

for estimating train speed and positions between two subsequent viapoints equipped with balises which communicate to the train the distance to next target(s) and

velocity requirement(s) at target(s). The module uses two wheels equipped with incremental encoder-type sensors. In this paper we describe an algorithm for position and velocity estimation capable of compensating for poor wheel-rail

adhesion conditions due to rain, fog, ice, leaves, and so on, where conventional odometry algorithms fail. The system was designed and trained using a wide set …

The Development of an Internet-Enabled Semi-Automated Fixture Design SystemA. Senthil Kumar, S.H. Bok, R. Kiran Kumar, A.Y.C. Nee, National University of Singapore, Singapore

Design of a fixture is a complex and an intuitive process. An efficient fixture design system is essential to cut costs and to reduce lead-time. This paper addresses the development of a simple Internet-enabled semi-automated Fixture Design system (SFD), to demonstrate that true 3D fixture design can be carried out over the Internet. The whole system has been developed in Java and Java3D to ensure that the benefits of Java technology are obtained for Internet viability considerations such as portability and good client-server computing performance. The system is currently implemented based on a simple 3-tier thin client-fat server architecture using Java’s Remote Method Invocation (RMI). Design communications are …

11:50―12:10

Mechatronic Strategies for Controlling Railway Wheelsets with Independently Rotating Wheels

Roger Goodall, Loughborough Univ., T.X. Mei, Univ. of Leeds, UK

This paper presents the development of an active control strategy for the independently rotating wheelset of railway vehicles. The proposed control scheme is intuitively formulated with a simple control structure and adaptive to vehicle speed. It does not require basic guidance measurements (e.g. wheel-rail deflection and angle of attack) that are expensive and impractical to implement. Speed sensors are used

to measure the relative rotational speed of the two wheels on a same axle and optional sensors may be used to measure the wheelset yaw velocity relative to the

vehicle body. A two-axle vehicle is used in the study. Both curving performance and passenger ride comfort of the actively controlled vehicle are compared with that of a

typical passive vehicle and an optimal control scheme.

Optimal Fixture Layout Design in a Discrete DomainDiana Pelinescu, Michael Yu Wang, University of Maryland, USA

This paper addresses a major issue in fixture layout design: to evaluate the acceptable fixture designs based on several quality criteria and to select an optimal fixture appropriate with practical demands. The performance objectives considered are related to the fundamental requirements of kinematic localization and total fixturing (form-closure) and are defined as the workpiece localization accuracy and the norm and distribution of the locator contact forces. An efficient interchange algorithm is uaed in a multiple-criteria optimization process for different practical cases, leading toproper trade-off strategies for performing fixture synthesis.

12:10―12:30

Active Control of Railway Vehicles to Avoid Hunting InstabilityS. Bruni, F. Resta, Politecnico di Milano, Italy

The paper deals with the application of active control to increase the operating speed of high speed trains by avoiding the occurrence of hunting instability. To this end, an innovative controlled electro-mechanic damper was designed to substitute

traditional yaw dampers currently in use. The main components of this system are a brushless motor, with gear and spindle, used to apply a longitudinal force between

the carbody and the bogie of the vehicle, and a velocity transducer used to measure the yaw vibrations of the bogie. The electric motor is controlled in order to apply a

force to the bogie opposite to its yawing velocity, thereby maximising the amount of energy dissipation. In order to compare the performances of this new device to

those of traditional oil dampers, a prototype was built and tested in a laboratory test rig reproducing the yawing behavior of an unstable bogie. A mathematical model …

Design Algorithm for Automated Dynamic Grasping of Live BirdsKok-Meng Lee, Xuecheng Yin, Georgia Institute of Technology, USA

This paper presents a method for designing a dynamic grasper for handling natural objects (such as live birds) for subsequent processing. The dynamic grasper uses flexible fingers to accommodate a limited range of varying sizes, shapes, and some motion due to the live object's natural reaction to mechanical grasping. As compared to fingers with multiple active joints, flexible fingers have many potential advantages, because they are lightweight and they have no relative individual moving parts in each of the fingers. The advantages of flexible fingers are seldom exploited for grasping, however, because of complicated analysis involved in their design. For this reason, we present an analytical method for designing a dynamic grasper for handling natural objects on a moving conveyor.

12:30―12:50

Experimental Campaign on a Servo-Actuated PantographB. Allotta, Scuola Sant’Anna, M. Papi, Trenitalia SpA, L. Pugi, P. Toni,

Università di Firenze, A.G. Violi, Trenitalia SpA, Italy

Many interesting technical problems arise from the development of high speed trains current collection is one of the more important. The dynamic behaviour of

pantograph-catenary system make the electrical contact between the catenary and the contact-shoe unreliable. An insufficient quality of Current Collection causes a lot

of negative consequences such as: insufficient current pick up excessive wear of contact shoes and wires power and control electronics malfunction high EMI. Many

Researchers have investigated the problem of optimum current pick up and many different solutions have been proposed in the past years. Since 1993 the

Researchers of University of Florence have proposed the idea of a servo-actuated pantograph. The purpose of these studies was the development of a system …

A Quantitative Measure for Multi-fingered GraspsXiangyang Zhu, Southeast University, Han Ding, Hanxiong Li, City University of Hong Kong, PRC

By using the concept of gauge function, a pseudo metric is defined in the wrench space. On this basis, we present a quality index for multi-fingered grasp, which measures the maximum magnitude of the wrench that can be resisted by the grasp in the worst case. The proposed measure can be formulated as a set of linear programming problem, hence can be calculated efficiently. An optimal grasp synthesis algorithm, which can be used to compute the optimal grasp configuration, is also proposed. Moreover, we present an approach for calculating all grasp configurations that verify quantitative constraint for polygonal objects.

12:50―13:10

Actively Controlled Pantograph: an ApplicationF. Resta, Politecnico di Milano, A. Collina, F. Fossati, Univ. Catania, Italy

In the present paper an active control for high speed train pantograph is proposed in order to improve power collection at high speed (i.e. V>220km/h) allowing the

speedup of the existing lines. The control is based on an available commercial actuator, and its feasibility and effectiveness have been investigated by means of numerical simulation. At this purpose, the dynamics of the actuator (a permanent

DC motor) has been included in a detailed pantograph-catenary interaction model. the actuators can be placed a) on the articulated frame, or b) in correspondence of

the collector head suspension. It has also been suggested to apply the control force directly to the collector head, from the locomotive roof, in order to make a

compromise between the two configurations a) and b), previously mentioned. The first configuration has the advantage that there're no strict limitation to …

M3ABiomechatronics Intelligent Systems II

M3BSALA PLATEA 14:30―15:50 SALA PASTADeirdre Meldrum, USA CHAIR George Wang, CanadaBenedetto Allotta, Italy CO-CHAIR Jonathan Wu, Canada

The Development of a Novel Biomechatronic Hand — Ongoing Research and Preliminary ResultsM.C. Carrozza, S. Micera, B. Massa, M. Zecca, R. Lazzarini, N. Canelli, P. Dario, Scuola Superiore Sant’Anna, Italy

An “ideal” upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal “cybernetic” prosthesis is still far from reality: current prosthetic hands are simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. This paper describes the design and fabrication of a novel prosthetic hand based on a “biomechatronic” and cybernetic approach. Our approach is aimed at providing “natural” sensory-motor coordination to the amputee, by integrating biomimetic mechanisms, sensors, actuators and control, and by interfacing the hand with the peripheral nervous …

14:30―14:50

On Using a Support Vector Machine in Learning Feed-Forward Control

Bas J. De Kruif, Theo J. A. de Vries, Univ. of Twente, The Netherlands

For mechatronic motion systems, the performance increases significantly if, besides feedback control, also feed-forward control is used. This feed-forward part should

contain the (stable part of the) inverse of the plant. This inverse is difiIcult to obtain if non-linear dynamics are present. To overcome this problem, Learning Feed-

Forward Control can be applied. The properties of the learning mechanism are of importance in this setting. In this paper, a support vector machine is proposed as the

learning mechanism. It is shown that this mechanism has several advantages over other learning techniques when applied to Learning Feed- Forward Control. The

method is tested with simulations.

Biomechanical Considerations on the Design of a Humanoid Shoulder GirdleN. Klopčar, J. Lenarčič, Institut "Jožef Stefan", Slovenia

The paper presents a comparison between the ranges of motion in the human shoulder complex and in the humanoid robotic shoulder complex developed as a parallel mechanism. The Elite Motion Analyser was used to obtain the three dimensional trajectories of markers attached to the selected anatomical points on the shoulder girdle. The measurements show an asymmetry of the extreme positions in the shoulder girdle and the difference when the arms are stretched downward and when the arms execute an inclination in the plane of the girdle's motion. The mechanism has to be inclined upward and forward for about 10°. The obtained results of the working cone of the arm show that the central axis is inclined about 60° forward in the horizontal plane and 15° upward in the frontal plane.

14:50―15:10

A Complex Mechatronic System: from Design to ApplicationNicola Tomatis, EPFL, Roberto Brega, ETHZ, Kai Arras, Björn Jensen,

Benoit Moreau, Jan Persson, Roland Siegwart, EPFL, Switzerland

Progress in mobile robotics requires the researchers to access and improve all modules that compose the robot, from low-level mechanical components to high-

level reasoning systems. This paper presents the development process of the robots built at the Autonomous Systems Lab, EPFL Lausanne, Switzerland. Starting from the mechanical and electrical design up to the application, we show the challenges

that needed to be faced as well as the solutions that have been devised. The description covers aspects like the operating system and framework, because of its

role in the overall safety and dependability of the whole software system, the research as a precondition for innovative products, and the man-machine machine

interface, which is indispensable for conveying information to the user …

Influence of Geometry on the Kinematic Performances of a Humanoid Shoulder-Girdle Mechanism with Clearance in the JointsV. Parenti-Castelli, S. Venanzi, Università di Bologna, Italy, J. Lenarčič, Institut "Jožef Stefan", Slovenia

In mechanisms with joints affected by clearance the influence of the geometric parameters on the mechanism kinematic performances can be relevant although difficult to predict. The effect of joint clearance is dependent also on the geometry of the pairing elements. This paper focuses on a mechanism of a humanoid shoulder girdle with clearance in the joints and analyzes the influence of geometric parameters on the accuracy of the output link (of the mechanism). The analysis shows that an optimal kinematic design of the mechanism can be achieved with respect to given values of manufacturing tolerances. In addition the influence of each individual clearance-affected pair on the output link accuracy is evaluated …

15:10―15:30

A Framework for Mobile-Service Based Co-ordination of Embedded Web Agents in Intelligent Buildings

Zhi-Gang Deng, Huosheng Hu, University of Essex, UK

Embedded agents can be used as building blocks or components in the construction of an Intelligent Building (IB). However it remains a great challenge on how to implement this idea in a distributed networking environment. In this paper, we

present a co-ordination framework for web-enabled embedded agents to optimize the dynamic allocation of resources and the mobility of services in an intelligent

building environment to achieve real-time performance. This co-ordination framework is mobile-service based and composed of two parts: a triangle-link

algorithm and a double-layer protocol. A case study is presented to show its implementation.

Mobile Manipulation of Humanoid Robots —A Method of Adjusting Leg Motion for Improvement of Arm's Manipulability—Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae, Osaka University, Japan

A control method of mobile manipulation for a humanoid robot mobile manipulation means the integrated motion centered arm's manipulation is proposed. This method makes the arms carry out the manipulation and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly the arm tips always follow their desired position under the condition with external force by impedance control. Secondly the shoulder is controlled so that manipulability and stability can be improved. Moreover we define three functions; they are an average of manipulability measure and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the …

15:30―15:50

Applying Intelligent Space to Warehouse — The First Step of Intelligent Space Project —

Joo-Ho Lee, Noriaki Ando, University of Tokyo, Teruhisa Yakushi, Katsunori Nakajima, Tohru Kagoshima, Toshiba, Hideki Hashimoto,

University of Tokyo & Presto JST, Japan

We propose a method of guiding mobile robots in networked space in this paper. Distributed sensor devices with processors are located around the networked space

to watch human and robots. We have proposed such kind of space, and we call it Intelligent Space. In the Intelligent Space, robots as well as human are supported informatively and physically. Distributed sensor devices guide mobile robots in the

Intelligent Space and navigation with high adaptability is realized. The experimental results including localization and guidance are shown.

M3CFixture and Part Location Systems Automotive Systems I

M3DSALA BIANCA 14:30―15:50 SALA TURCAKok-Meng Lee, USA CHAIR Luigi Glielmo, Italy

Herman Soemers, Germany CO-CHAIR Maria Pia Fanti, Italy

On the Development of a Fully Automated Universal Fixturing System for a Machine ToolElmer C. Lee, Sanjay E. Sarma, MIT, USA

Reference Free Encapsulation Fixturing is a powerful fixturing technique. Geared towards transforming a machine tool into a rapid prototyping device, this fixturing technique can potentially deliver a fully automated universal fixturing system. This research is aim towards studying and developing the infrastructure that will make automated encapsulation fixturing a reality. Descriptions of the machines and process refinements are discussed in this paper. Also, a case study is presented to illustrate the cost and time benefits this fixturing system can offer while also showing its limitations.

14:30―14:50

Integrated Mechatronics Solution to Maximise Tractability and Efficiency of Wheeled Vehicles

I.J. Spark, M. Yousef Ibrahim, Monash University, Australia

The objective of this work is to apply Mechatronics to increase the stability, tractability and efficiency of wheeled vehicles operating on steep slopes. The

essential feature of this work is that both of the two basic methods of steering a vehicle are used so that they both tend to produce the same centre of curvature for the path of the vehicle. This deliberate redundancy means that the inevitable failure

of one steering system is prevented by both systems acting in unison. This "Steer and drive by wire" system was made feasible due the smart on-board wheel angles

and wheel speed control system presented in this paper.

Modeling and Simulations of Optimal Drilling Through Elastically Deforming WorkpiecesK. Wardak, Systems Engineering Group Inc., U. Tasch, P.G. Charalambides, University of Maryland Baltimore County, USA

Fixture design for machining processes has been the focus of much research in recent years. In the search for optimal fixture layouts computer-aided design and Finite Element analysis have been used. In material removal processes major deviations of part dimensions are attributed to workpiece distortions and deformations. These distortions and deformations are due to cutting forces and clamping loads. Furthermore literature states that approximately 40% of all parts rejected are due to dimensional inaccuracies. These inaccuracies are directly related to poor fixturing design. The utilization of optimization techniques in fixture design has been reported yet cost functions the dimensional inaccuracies of …

14:50―15:10

Adaptive Car Buffer — The Concept, Design Tools and PerspectivesTomasz Bielecki, Jan Holnicki-Szulc, Polish Academy of Sciences, Poland,

Luis Jezequel, Ecole Centrale de Lyon, France

The general concept of design of adaptive structures (equipped with controllable energy dissipaters, so called structural fuses) is presented and the corresponding,

gradient based numerical design tools are described. This concept is applied to design of deployable adaptive car buffer. Numerical simulation of the effect of its

adaptation to various crash scenarios is demonstrated. High effectiveness of active impact energy absorption by adaptive structures demonstrates potential of this

adaptive crashworthiness applications.

An Evaluation of the Linear Clamp Pre-Load Model with Respect to Milling OperationsEdward C. De Meter, Shabbir Choudhuri, Subramanian Vallapuzha, Pennsylvania State University, Raghunath P. Khetan, Delphi Automotive Systems, USA

This paper briefly summarizes the formulation and execution of the Linear, Clamp Pre-Load (LCPL) model. This model is used to compute the minimum clamp pre-loads necessary to keep a workpiece from slipping within a fixturing during machining. This model takes into account all sources of compliance in the fixture-workpiece system as well as gravity and the system of forces exerted during machining. This paper also describes a series of milling experiments that were used to characterize the accuracy of the LCPL model.

15:10―15:30

Analysis and Control of Vehicle Dynamics Under Crosswind Conditions

Oliver Hanke, Torsten Bertram, Manfred Hiller, Gerhard-Mercator-Universität Duisburg, Germany

In more recent vehicle tests the cars crosswind sensitivity is often determined. In this paper models of a Ford Explorer Sport and an Audi A4 Quattro are tested for crosswind sensitivity with the help of FASIM_C++ (a vehicle dynamics simulation

tool, developed in the Mechatronics Laboratory in Duisburg). Further the systematic design of a control unit for the Ford Explorer is described. The intention is to reduce

the lateral offset of the vehicle due to the crosswind in order to reduce the number of vehicle accidents.

Optimal Placement of Fixture ClampsRodrigo A. Marin, Placid M. Ferreira, University of Illinois at Urbana―Champaign, USA

This paper addresses the problem of synthesizing optimal clamping schemes on three-dimensional parts with planar and cylindrical faces with and without friction. Given a workpart with a pre-defined deterministic 3-2-1 location scheme a set of polygonal convex regions on its faces are defined as areas of admissible clamp positions. A known set of one or more external disturbing wrenches are also given. The frictionless case is considered first and a new linear program is formulated that minimizes the maximum clamping force. A transformation of the solution is presented that permits the extraction of the optimal positions of the clamps as well. Friction is introduced next and a linear program is presented that minimizes the maximum normal clamping force. We extend the frictionless formulation to …

15:30―15:50

Some Aspects of Road Sweeping Vehicle AutomationGareth Peel, Maarten Michielen, Graham Parker, University of Surrey, UK

Road sweeping vehicles that are commonly seen on the roads today, have been empirically developed over the years. As a result the operation of such machines has

not undergone systems engineering development with respect to automating the sweeping performance so as to reduce the workload of the driver. This paper reports on work being undertaken to enhance the performance and safety of road sweeping

vehicles. A forward looking debris detection system is being developed alongside research into brushes and the brushing process. This work is necessary to fully

understand and automate the sweeping process. Vision processing techniques have been used to identify various road surfaces and debris. A two step approach is adopted to reduce the load on the processor, but still extract all the necessary

information. Continuous flow of data is provided by laser striping, building up …

M4AAdvances in Robotics Within RAMSETE Project Intelligent Process Automation

M4BSALA PLATEA 16:10―17:30 SALA PASTAGiovanni Ulivi, Italy CHAIR Masayoshi Tomizuka, USA

Paolo Valigi, Italy CO-CHAIR Gianni Ferretti, Italy

An Impedance Control Strategy for Cooperative ManipulationFabrizio Caccavale, Luigi Villani, Università di Napoli Federico II, Italy

In this paper an impedance control strategy is devised for a system of manipulators tightly grasping a common rigid object. In order to avoid internal loading at the object a six-DOF impedance behaviour is imposed at each end-effector. Moreover impedance control is also adopted to achieve a compliant behavior of the object when interaction with the external environment occurs. The overall control scheme is derived according to an inverse dynamics strategy with adoption of an inner motion loop for each manipulator providing robustness to unmodeled dynamics and disturbances.

16:10―16:30

Intelligent 3-D Sensing in Automated Manufacturing ProcessesQ.M. Jonathan Wu, M.F. Ricky Lee, Nationalo Research Council, Clarence

W. de Silva, University of British Columbia, Canada

This paper focuses on the design of an intelligent, three-dimensional (3-D) sensing system for the purpose of applying artificial intelligence methodologies to achieve

product quality assurance in automated manufacturing processes. An efficient 3-D object-oriented knowledge base and reasoning algorithm is developed. The

knowledge base will include knowledge concerning the (1). products, (2). manufacturing processes, and (3). inspection methods. The knowledge base of

products contains properties of the products for design and manufacture through CAD/CAM. The knowledge base of manufacturing and inspection includes various

manufacturing techniques, criteria for detection and diagnosis of defects, and standards and limitations on various decision-making actions related to the …

Open System Real Time Architecture and Software Design for Robot ControlB. Bona, M. Indri, N. Smaldone, Politecnico di Torino, Italy

Robotics equipments used in research studies or industrial prototyping often require reconfiguration of some HW/SW architectures and algorithms for new experiments and trials. Such requirements highlight the interest in new open control system architectures interacting with suitable applications for software development in order to reduce and simplify the project cycle. The goal of this paper is to show an application based on one of these systems - OpenDSP - which allows an easy reconfiguration of a DSP-based hardware for different applications (e.g. different manipulators or the inclusion of additional transducers). An interesting feature of the Developed system is given by its full integration with Matlab environment. OpenDSP has been developed by Mechatronics Laboratory of Politecnico di Torino and …

16:30―16:50

Development of an Intelligent Control System for Wood Drying Processes

Xiaochun George Wang, Wei Liu, Lizhu Gu, Colin Jian Sun, Caikang Elton Gu, Innovation Center, Clarence W. de Silva, University of British

Columbia, Canada

This paper presents the development of the intelligent adaptive control system of an industrial lumber drying process. The research project mainly focuses on automating

the wood drying process through developing and implementing a closed-loop intelligent and adaptive controller with intelligent capability based on the moisture

content of wood. The lumber drying process is complex due to many factors including distributed process dynamics, nonlinearities, drying property variation

among wood pieces, and the coupling effects of temperature, relative humidity and moisture content. The developed control system involves the …

Closed Loop Control of 3D Underactuated Vehicles via Velocity Field TrackingM. Aicardi, G. Casalino, Università di Genova, Italy, G. Indiveri, GMD―AiS, Germany

A novel strategy to design time invariant motion controllers for underactuated mobile systems is applied to the position and attitude control of an underactuated 3D vehicle. The idea consists in defining a velocity vector field such that an ideal, fully actuated system would exponentially achieve the control objective by simply following such field. Then a steering law for the given underactuated system is designed such that it is exponentially stabilized parallel to the above mentioned velocity vector field. For the particular problem here addressed, due to the use of polar like coordinates, this method yields a discontinuous control law. Both the design process and the resulting solution have a most clear physical …

16:50―17:10

Application of Vibration Sensing in Monitoring and Control of Machine Health

K.Z. Tang, K.K. Tan, National University of Singapore, C.W. de Silva, University of British Columbia, Canada, T.H. Lee, K.C. Tan, C.Y. Soh,

National University of Singapore, Singapore

In this paper, an application for monitoring and control of machine health using vibration sensing is developed. This vibration analyzer is able to continuously

monitor and compare the actual vibration pattern against a vibration signature, based on a fuzzy fusion technique. More importantly, this intelligent knowledge-

based real-time analyzer is able to detect excessive vibration conditions much sooner than a resulting fault could be detected by an operator. Subsequently,

appropriate actions can be taken, say to provide a warning or automatic corrective action. This approach may be implemented independently of the control system …

Steering Marine Vehicles: a Drag Coefficient Modulation ApproachM. Aicardi, G. Casalino, Università di Genova, Italy, G. Indiveri, GMD―AiS, Germany

An underwater planar vehicle, actuated by rear thrusters and equipped with longitudinal control surfaces which allow the drag coeficient modulation in the sway direction, is considered in a dynamic setting. The maneuvring controls for the vehicle, in order to reach the required final position and attitude are devised by exploiting both the rear thrusters actuation and the capability ofiered by the admitted presence of the longitudinal, modulable, control surfaces.

17:10―17:30

Neurocomputing Approach for Real Time Optimisation Modelling of an Industrial Process

K. Mohd. Yusof, F. Karray, P.L. Douglas, University of Waterloo, Canada

This paper presents the development and comparison of artificial neural network (ANN) models for real time optimization (RTO). Initial investigations were focused on

a methanol-water flash system, which was simple, yet realistic in representing the nonlinearity of multivariable chemical processes. Following this, ANN models were

then developed for a crude oil distillation column, which was a more complex industrial process. The ANN models were developed with different combinations of

input and output variables to determine the effects of different variable combinations. Radial basis function network models were tested and were taken as the base case. Hierarchically structured neural network (HSNN) models and simple

serial and hybrid network-model configurations were also developed and …

M4CSensing Automotive Systems II

M4DSALA BIANCA 16:10―17:30 SALA TURCAHideki Hashimoto, Japan CHAIR Roger Goodall, UK

Johné Parker, USA CO-CHAIR Hiroshi Kobayashi, Japan

Multi-Echo Technique for Feature Detection and Identification using Simple Sonar ConfigurationsFernando Moita, Urbano Nunes, Coimbra Polytechnic Institute, Portugal

This work presents the study and development of sonar sensor configurations and processing methods with capability to detect and identify planes, edges and corners. The systems presented can be easily applied to settled robots or new platforms to improve the quality and quantity of ultrasonic data. No special configurations as arrays or cells of sensors are used in this work, only standard configurations that can be found and applied in a great number of mobile robots. New multi-echo functionalities are introduced and combined with EERUF, providing a new ME-EERUF (Multi-Echo Error Eliminating Rapid Ultrasonic Firing) method that simultaneously increases the sonar acquisition rate and provides inter-sensor measurements, necessary to implement feature detection and identification …

16:10―16:30

Dynamic Modeling and Control of a Car Transmission SystemR. Zanasi, Università di Modena e Reggio Emilia, A. Visconti, Ferrari SpA,

G. Sandoni, R. Morselli, Università di Modena e Reggio Emilia, Italy

In the paper the dynamic model of a car transmission system is taken into account and a simple control strategy for controlling the transmitted torque is presented. All

the main components of the transmission system (the engine the clutch the gear-box the differential etc.) have been modeled in details by using the graphical

modeling technique named Power-Oriented Graph. A particular attention has been paid to the model of the clutch system because of its importance in the modulation

of the transmitted torque. A simple control strategy for controlling the torque transmitted during the start of the car is also presented. Simulation results show the

usefulness of the model and the effectiveness of the presented control strategy.

Measurement of Force Sensory Information for the Automation of Ultra-Precision Assembly TasksYoshio Yamamoto, Tadashi Hashimoto, Tokai University, Takahiro Okubo, Toyotsugu Itoh, Konica Corporation, Japan

Automation of assembly tasks has previously been tackled by many researchers. They mostly focused on the geometric constraints related to a considered task e.g. relative configuration change between the peg and the hole in peg insertion task. This approach however seems valid only when the dimensional tolerance is fairly large so that it allows to change the relative configuration of the two mating parts in an obvious fashion. This paper investigates how highly precise assembly tasks can be automated. Tolerance considered in the present study is in the range of 3 to 9 μm. We focus on force sensory information involved in high-precision peg-in-a-hole task of a polygon mirror unit because a position-based analysis under such …

16:30―16:50

Modeling of a Novel Fan Clutch Pneumatic Actuation SystemPhilip Kroeker, Vansco Electronics Ltd., Saeid Habibi, Richard Burton,

University of Saskatchewan, Canada

A variable speed fan clutch system has been developed to help improve engine temperature regulation efficiency in heavy-duty commercial vehicles. This system is currently in a prototype phase and a detailed physical model of the actuation system

is required for control system design and design trade-off analysis. This paper proposes the use of model identification techniques to estimate a minimal model

structure. Parametric models of the fan clutch pneumatic system are developed and the system dynamic behavior examined. The fan clutch pneumatic system is

composed of three subsystems. Model structure estimates for these sub-systems are realized using system identification techniques. The physical and parametric models are validated by comparing simulation and test results. A comparison …

Fiber Optic Sensing System for Smart Materials and Structures Andrea Cusano, Giovanni Breglio, Michele Giordano, Antonio Calabrò, Luigi Nicolais, Antonello Cutolo, Università di Napoli Federico II, Italy

In this work, a fiber optic multiparameter sensing system is presented. It could be used for process and structural health monitoring in concrete structures. Reflectometric technique has been implemented for refractive index measurements by using as transducer the fiber end/host interface. Results on the capability of the developed sensor to monitor the curing process of thermoset based composites are presented. The integration with Fiber Bragg Gratings (FBGs) with the aim to perform temperature and strain measurements has been discussed. Two low cost intensity based demodulation techniques for FBGs interrogation have been developed and tested. Preliminary experimental results are shown.

16:50―17:10

The Tyre-Soil Effects on the Manoeuvrability of a City-CarRinaldo C. Michelini, Rezia M. Molfino, Univ. Genova, Italy, Raffaele

Ghigliazza, Princeton Univ., USA, Massimo Callegari, Univ. Ancona, Italy

Eco-compatibility aims at drastic changes of people transportation means and, to grant proper mobility levels, the electrically-powered city-car concept provides

effective solutions. This quite obviously leads to distributed actuation, with separately driven wheels and inconsistencies appear unless redundancy and

tyre/road interaction are properly mastered. The paper deals with the dynamics of such kind of vehicle moving from the behaviour of driven wheels (with compliant tyre

and varying soil interactions); then a twin powered axle or train are investigated, as basic reference to describe the dynamics of a four wheels platform, driven by

redundant actuation on varying friction soils. On these premises, a city car manoeuvre stability can be stated for low speed tasks over urban roads. Results …

Laser-Based Guidance of Multiple Mobile RobotsIgor E. Paromtchik, Hajime Asama, RIKEN, Japan

This paper describes our research work towards the development of an optical guidance system for multiple mobile robots in an indoor environment. The guidance system operates with an environmental model, communicates with mobile robots and indicates their target positions by means of a light projection from a laser pointer onto the ground. Processing the image data from a CCD color camera mounted on the mobile robot allows it to detect the laser light beacon on the ground and estimate its relative coordinates. The robot’s control system ensures the accurate motion of the robot to the indicated target position. The guidance system subsequently indicates target positions corresponding to a desired route for a specified mobile robot in the fleet. The concept of the optical guidance system, its implementation and experimental results are discussed.

17:10―17:30

Optimisation of Energy Flow Management in Hybrid Electric Vehicles via Genetic Algorithms

Antonio Piccolo, Lucio Ippolito, Vincenzo Galdi, Alfredo Vaccaro, Università di Salerno, Italy

Hybrid electric vehicles powertrain, combining electric motor with an auxiliary power unit, can offer a sensible improvement of the overall vehicle environmental impact achieving at the same time a rational energy employment. This valuable features can be magnified designing a suitable energy flow management unit whose main

task is to split the instantaneous vehicle power demand between the internal combustion engine and the electric motor ensuring that the power sources are

operated at high efficiency operating points and the related vehicle emissions are minimised. In the present paper after a preliminary analysis on the strategy adopted

an original methodology for the tuning of the characteristic parameters …

T1ARobot Analysis and Planning Neural and Fuzzy Control

T1BSALA PLATEA 09:30―11:10 SALA PASTAConstantinos Mavroidis, USA CHAIR Ranjan Mukherjee, USA

Massimo Callegari, Italy CO-CHAIR Atsushi Konno, Japan

A New Algorithm for a Minimum Infinity-norm Solution and Its Application to Trajectory Planning of Kinematically Redundant ManipulatorsInsoo Ha, Samsung Electronics, Jihong Lee, Chungnam National University, Korea

In this paper, we propose a new algorithm for finding a minimum infinity-norm solution of consistent linear equations. The proposed algorithm includes the advantages of previous works such as computational efficiency of Cadzow’s algorithm and geometric interpretation of Shim’s algorithm, and overcomes the disadvantages of them such as incompleteness of Cadzow’s algorithm and computational inefficiency of Shim’s algorithm. Also, for redundant robot trajectory planning based on minimum infinity-norm solution, an efficient approach avoiding discontinuity in trajectory is proposed by resolving the non-uniqueness problem …

09:30―09:50

Thrust Force Control of Drilling System Using Neural NetworkShigeyasu Kawaji, Kumamoto University, Masaki Arao, Omron

Corporation, Yuehui Chen, Kumamoto University, Japan

Thrust force and cutting torque are important outputs in the control of drilling systems.In this paper, a method for estimating and control the thrust force in the

drilling process is proposed.Firstly,a neural network model of thrust force is on-line constructed. Secondly,based on the neuro model of thrust force,a simulated neuro

controller is developed by using online trained recursive least square algorithm.Finally,the trained controller is applied to the drill machine to force the

thrust force of the drilling system follow the reference thrust froce signal.The experimental results demonstrate the e .ectiveness of the proposed method.

Real-Time End-Effector Path Following for Robot Manipulators Subject to Velocity, Acceleration, and Jerk Joint LimitsGianluca Antonelli, Stefano Chiaverini, Giuseppe Fusco, Università di Cassino, Italy

In this paper an inverse kinematics algorithm for robot manipulators is developed which takes into account joint velocity acceleration and jerk limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be assigned on-line and the algorithm is suitable for real-time implementation on non-redundant robot arms. Numerical simulation results are reported to demonstrate the effectiveness of the proposed technique.

09:50―10:10

A Fourier Series Based Iterative Learning Control for Nonlinear Uncertain Systems

Wubi Qin, Lilong Cai, Hong Kong Univ. of Science and Technology, PRC

In this paper a Fourier series based learning controller for the tracking control of nonlinear uncertain systems is proposed. The Fourier series based learning

controller consists of a PD part and a learning part. The learning part generates feed forward term based on the Fourier series approximation of the PD output. By

introducing a system Input-Output (I/O) mapping matrix the coupling effects of the PD output harmonics in the Fourier space are considered in our algorithm instead of

treating them individually. Trajectory tracking experiments conducted on a belt driven Positioning table indicated that the proposed method was more effective than

the same type of controller without the I/O matrix.

Velocity Workspace Analysis for Multi-legged Walking RobotsJihong Lee, Insik Kim, Chungnam National University, Bong-Hwan Jeon, KRISO, Korea

In this paper the analysis of manipulability of multi-legged robotic systems under hard-foot-condition is made. Given bounds on the capabilities of joint actuators of each legs the purpose of this study is to derive the bounds for body moving velocity achievable by the system. The velocity workspace of robot system is represented as a polytope which is derived from the joint velocity limits through Jacobian matrices of each robot. This concept of manipulability for multiple cooperating robots is transformed into moving velocity analysis of multi-legged walking robots through so-called reaction velocity. To validate the proposed concept application examples are presented including continuous walking gaits as well as several different stationary posture of legged walking robots.

10:10―10:30

Application of Flat Image Recognition Technique for Automation of Micro Device Production

Tatyana N. Baidyk, UNAM, Mexico

The main idea of the suggested method is connected with using the machine vision systems for micro devices production. It is proposed to reduce the three-dimensional machine vision tasks to two-dimensional (flat) tasks of optical recognition. There are developed the contour processing algorithms (for example, thinning, thickening etc.)

There are neural classifiers to solve the recognition tasks.

Local Path Modifications of Heavy Load ManipulatorsEva Dyllong, Artur Komainda, Gerhard-Mercator-Universität Duisburg, Germany

The field testing of heavy load manipulators in a varying environment requires use of efficient methods for collision detection and for fast modification of the given path of the end-effector. Motion control of the Tool Center Point (TCP) of a heavy load manipulator can be realized with a virtual elastic band in the workspace of the TCP. In this paper we present an efficient method to modify the virtual elastic band which enables it to react in real-time to local changes in the environment. The method is based on the B-Spline technique. The advantage of this new method is that the path of the TCP is only changed near the moving obstacles and points which are reached by the TCP remain unchanged. A feature which is important to real-time applications. A local modification of the virtual elastic band the influence of …

10:30―10:50

Innovative Biorobotic System for the Diagnosis of Neuro-motor Conditions: Methodology and Results

A. Rovetta, M. Bisogni, Politecnico di Milano, A. Cucè, STMicroelectronics, R. Pegoraro, Politecnico di Milano, Italy

This paper concerns a biorobotic system based on fuzzy logic to diagnose and monitor the neuro-psycho-physical conditions of an individual . The system, called Daphne, is characterized by a small dimension design; user-friendly hardware and software mean that even non-experts will be able to use this device. Furthermore,

thanks to its design concept, the system can be used not only for medical applications, but also in the fields of daily health-care and sport. Daphne is a portable system, involving multiple parameters such as reaction time, speed,

strength and tremor which are processed by means of fuzzy logic; additionally, the device is characterized by a voice detection system.

Statics and Singularity Loci of the 3-UPU WristRaffaele Di Gregorio, Università di Ferrara, Italy

The static analysis of a parallel wrist known as 3-UPU wrist is presented and the 3-UPU wrist singularity conditions are interpreted from the statics’ point of view. An equation (singularity equation) that enables to find all the 3-UPU wrist singular configurations is written in explicit form. Moreover, the use of the Rodrigues parameters to parameterize the 3-UPU wrist platform orientation allows the singularity equation to become a fourth degree polynomial equation in three unknowns. Finally a numerical example is presented.

10:50―11:10

A Radial Basis Function Networks Approach for the Tracking Problem of Mobile Robots

A. D'Amico, G. Ippoliti, S. Longhi, Università di Ancona, Italy

The paper proposes a Radial Basis Function Networks (RBFN) approach to the solution of the tracking problem for mobile robots. RBFN-based controllers are

investigated in order to introduce some degree of robustness in the control system and to avoid the main disadvantage of Multilayer Neural Networks (MNN) to be

highly nonlinear in the parameters. The training of the nets and the control performances analysis have been done in a real experimental setup. The proposed

solutions are implemented on a PC-based control architecture for the real-time control of the LabMate mobile base and are compared with MNN-based control

schemes. The experimental results are satisfactory in terms of tracking errors and computational efforts.

T1CActuators Manufacturing Systems I

T1DSALA BIANCA 09:30―11:10 SALA TURCAGiorgio Figliolini, Italy CHAIR Devendra Garg, USA

Ciro Natale, Italy CO-CHAIR Shreyes Melkote, USA

Improved Setpoint Adjustment for Ultrasonic MotorsThomas Schulte, Norbert Fröhleke, Universität Paderborn, Germany

Speed control strategies for piezoelectric drives have been presented by several authors. Beside various control strategies based on adaptive structures like MIAS, MRAS, neural nets or Fuzzy control, a completely model based control system using an inner bending wave control and an outer speed control including a torque calculator for linearization has been presented. This paper deals with investigations and improvements of this torque calculator. The setpoint adjustment is focused to utilize the degrees of freedom for the bending wave values, which represents an additional potential for optimization of the performance of the drive system. Theoretical and experimental results confirm the advances.

09:30―09:50

Sensing & Control of Conform(TM) Extrusion Gap Between Wheel and Tooling Plates

Kafeel A. Khawaja, Holton Machinery Ltd, Lakmal Seneviratne, King’s College London, UK

The results of an investigation into the automation of the Conform TM Extrusion process using mechatronic solutions are presented in this paper. Conform Extrusion is a very versatile manufacturing process, enabling the production of a wide variety

of high quality products in continuous lengths. During Conform TM Extrusion, it is very important to maintain an appropriate gap between the wheel and tooling, in

order to achieve product quality. An active gap sensing and control system for improving Conform Extrusion product quality is presented. The gap is measured using an air gauge system and controlled using a hydraulic actuation system. A

feedback controller is employed to attain the required gap, specified by the user ...

Dynamic Modeling of Hysteresis in PiezoceramicsR. Ben Mrad, H. Hu, University of Toronto, Canada

A model for hysteresis in piezoceramic actuators when they are subject to dynamic voltage excitations is developed. The model uses measurements of the first order reversal curves and the rate of change of the input voltage signal. The model is shown through experiments to offer high accuracy under voltage excitations at frequencies up to 800 Hz.

09:50―10:10

Formal Analysis of Existing Control Sooftware in Cyclic Closed Production Line

Lado Lenart, Institut "Jožef Stefan", Slovenia

The existing software in control of alcaline batteries industrial production line of flow--shop type was critically analyzed from the viewpoint of modern control theory of dynamic event systems (DES). The installed software itself was coded in ladder

logic in PLC controllers. Two guidelines were followed in this analysis first the minimax algebra solution for timing supervision and construction of exception

language and second the formal way for organizing the DES supervisor supremal control language. The results of analysis are reported.

A Novel 3-Phase Programmable Voltage Waveform Current Source Inverter for AC DrivesVincenzo Delli Colli, Roberto Di Stefano, Fabrizio Marignetti, Maurizio Scarano, Università di Cassino, Italy

The paper introduces a novel approach to the voltage controlled current source inverter (CSI) .The switching strategy is based on the current space vector modulation. Numerical simulations point out that the voltage feedback allows to reduce dramatically the voltage ripple in comparison with a traditional VSI.

10:10―10:30

Model-Aided Stability Control on Machine ToolsMichael F. Zäh, Ludwigsburg, Germany

Chatter often prevents installed drive power from being exploited to the full in the application of machine tools. This type of dynamic instability is usually caused by the

compliance of the machine frame and of the drive systems. This paper proposes a dynamic process model using a closed loop structure to simulate the operating

behavior of the machine, which is characterized by the chatter-free workable depth of cut. The results of this simulation can be employed for stability-constrained

adaptive control by connecting a personal computer to a machine tool.1 Abstract: Chatter often prevents installed drive power from being exploited to the full in the

application of machine tools. This type of dynamic instability is usually caused by the compliance of the machine frame and of the drive systems. This paper proposes a

dynamic process model using a closed loop structure to simulate the …

An Intelligent Linear Actuator and Its Control SystemYves Boulenger, Erich Krämer, Hong Liu, Nikolaus Seitz, Gerd Hirzinger, DLR, Germany

This paper presents a very compact multisensory linear actuator and its control system. The key element of this linear actuator system is the DLR patented planetary roller spindle drive(PRSD)®. With a volume of 50×50×104mm (length×width×height) it can output more than 100kg force and achieve a displacement of 50mm with a resolution of 2µm. A compact microcontroller based stand-alone system enables the actuator only need 3 cables for RS232 and 5 cables for RS422 serial communication with any commercial PC in addition to 2 cables for power supply.

10:30―10:50

Remote Monitoring and Inspection of Robotic Manufacturing CellsJ. Norberto Pires, University of Coimbra, Portugal

This paper is presented in a system integrator perspective by a university researcher and professor. That means that we focus on operational problems felt by

system integrators, presenting a tool for system monitoring and inspection, taking our own experience from application work with industrial companies. In the paper a monitoring and inspecting tool for manufacturing setups is presented and explored.

This work was first developed for monitoring robotic manufacturing cells. The objective was to be able to define a set of system events that could be fired to users attention when they actually happen. For that purpose there was the need for some kind of warning mechanism, and a program or server responsible for monitoring the

installation and firing the requested events. It was decided to use electronic mail protocols (SMTP and POP3 services were included in the application) to …

Adaptive Robust Repetitive Control of a Class of Nonlinear Systems in Normal Form with Applications to Motion Control of Linear MotorsLi Xu, Bin Yao, Purdue University, USA

In this paper the idea of adaptive robust control (ARC) is integrated with a repetitive control algorithm to construct a performance oriented control law for a class of nonlinear systems in the presence of both repeatable and non-repeatable uncertain nonlinearities. All the uncertainties are assumed to be bounded by certain known bounding functions. The repetitive control algorithm is used to learn and approximate the unknown repeatable nonlinearities but with physically intuitive discontinuous projection modifications ensuring that all the function estimates are within the known bounds. Robust terms are constructed to attenuate the effect of various uncertainties including non-repeatable uncertainties effectively for a guaranteed transient performance and a guaranteed final tracking accuracy in …

10:50―11:10

A Multi-Axis SLA Prototype ApparatusChad A. Moore, Thomas R. Kurfess, Georgia Institute of Technology, USA

One of the most common Rapid Prototyping (RP) technologies, the stereolithography apparatus (SLA) fabricates 3-dimensional parts using a layer-

based, additive fabrication processes by tracing part cross-sections on the top surface of a vat of liquid photopolymer. Up to now, usage of the SLA process has

been limited to piece parts. We are interested in building fully functional prototypes containing various types of hardware while greatly increases the complexity of parts

being produced. To accomplish this, we are investigating methods for building around embedded components, where these components are motors, circuit boards, bushings, etc. While it is possible to fabricate such assemblies using conventional SLA technology, we believe that much greater functionality and

flexibility can be achieved if the architecture of typical SLA machines is modified …

T2ARobot Dynamics and Control Vibration Control I

T2BSALA PLATEA 11:30―13:10 SALA PASTAGerd Hirzinger, Germany CHAIR Giuseppe De Maria, Italy

Vincenzo Parenti Castelli, Italy CO-CHAIR Lilong Cai, PRC

Dynamic Models for the Re-Engineering of a High-Speed Cartesian RobotMassimo Callegari, Ferdinando Cannella, Sergio Monti, Claudio Santolini, Università di Ancona, Paolo Pagnanelli, Campetella Robotics Center, Italy

High-speed robotics is growing fast as a new research and application field with more and more demanding requirements actually posed to robots' builders; sometimes the design of brand new mechanical architectures is needed (e.g. lightweight parallel machines) but if possible re-engineering of existing models will provide more economical solutions. This is presently the case of the CO2 High Speed Cartesian robot produced by Campetella Robotic Center that is already characterised by good dynamic performances but has been chosen by the producer for a re-engineering that should allow it to meet even more advanced targets. First experimental tests showed that some important interventions were needed for …

11:30―11:50

Vibration Control of Rotating Machinery Using Active Tilting-Pad Bearings

Rodrigo Nicoletti, UNICAMP, Brasil, Ilmar Ferreira Santos, DTU, Denmark

An active hybrid tilting-pad bearing together with the rotor and the hydraulic system is modeled and simulated. The main objective of the active device is the reduction of

vibration amplitude in rotating machinery. The active action is based on injecting pressurized oil into the bearing gap through orifices machined in the pads.

Numerical results show an effective vibration reduction in unbalance and frequency response analyses by applying a PI controller. The active system managed to

eliminate instability phenomena (whirl) which appeared at high Sommerfeld number operational conditions.

Dynamics Based Control of Mechanical SystemsKoichi Osuka, Kyoto University, Japan

In designing a control law for mechanical systems there are at least two methods. One is so called 'Model Based Control Approach(MBC)' and the other is so called 'Dynamics Based Control Approach(DBC) '. Basically the author claim that the control system designed based on DBC is robust against modelling error behaves naturally and becomes friendly for human. In case of DBC of manipulator the fact that manipulator has a property of passivity is well known as a very important feature. In case of legged robot passive dynamic walking is important. In this paper at first we show the property of passivity of manipulator is robust in some sense. Next we introduce a design method of controller for a legged robot based on passive dynamic walking sense. Through these topics we would like to say that the DBC is important for controlling mechanical systems.

11:50―12:10

A Linear Coupling Controller for Plate VibrationB. Liu, Menasco Aerospace Ltd., F. Golnaraghi, G.R. Heppler, University

of Waterloo, Canada

A means of designing linear coupling controllers (LCCs) for multi-degree of freedom systems is developed. An LCC is applied to a thin plate partially clamped on one

edge and free on all other edges. The LCC developed here is compared to an LCC designed using the energy monitoring algorithm and to a quadratic non-linear

controller. The comparison of the frequency responses for an uncontrolled plate and for the three different controlled cases shows that the design algorithm presented

here provides control over a wider frequency range.

Robust Control of Robots by Using a Linear ObserverMarco A. Arteaga, UNAM, Mexico

Most robust control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately sometimes it is desirable to estimate joint velocities through an observer. This paper presents a robust scheme designed in conjunction with a linear observer. Uniform ultimate boundedness for the tracking and observation errors are guaranteed.

12:10―12:30

An Approach to Vibration Control by Stereo Vision System in Mobile Manipulator

Goh Hitaka, Toshiyuki Murakami, Kouhei Ohnishi, Keio University, Japan

A mobile manipulator is composed of the vehicle and manipulator part to expand the workspace area. In case of the rough terrain however the tip motion of the mobile

manipulator oscillates. To obtain the stable motion by the manipulator it is necessary to suppress the oscillation. To address the above issue this paper describes a novel

strategy to estimate the oscillation of the mobile manipulator by the stereo camera mounted on the vehicle. To recognize the oscillation of the mobile manipulator a landmark point fixed in the workspace coordinate is utilized. Then the landmark

point is detected by the stereo camera. From the motion of the landmark points on the image plane of the camera the motion of the mobile manipulator can be

estimated. Here to describe the vibration of the mobile …

Adaptive Friction Compensation for Industrial Robot ControlAntonio Visioli, Riccardo Adamini, Giovanni Legnani, Università di Brescia, Italy

In this paper we deal with the friction compensation in the model-based trajectory tracking control of an industrial robot manipulator. First it is shown that the variations of the friction term might significantly affect the control performances during the robot operations. Then a simple adaptive scheme is proposed to solve the problem allowing to keep the trajectory tracking errors at a constant low level. Experimental results obtained in a typical industrial environment show the effectiveness of the method and how it is comparable with known neural-network-based techniques.

12:30―12:50

Constraints Identification for Vibration Control of Time-Varying Boundary Conditions Systems

B. Allotta, Scuola Sant’Anna, F. Angioli, M. Rinchi, Univ. Firenze, Italy

The focus of this paper is on modal identification and updating techniques for a mechanical system characterized by time-varying boundary conditions. In these systems it is very difficult to develop effective robust controllers in reason of the large variations of the dynamic model parameters. In most mechanical systems,

such as NC machines, model parametric variations are due to changes in the position of a physical constraint. This fact determines continuous changes in system

dynamics (system natural frequencies and vibration modes) while we may assume that constraint properties (such as stiffness and damping coefficients) remain

unaltered. Nevertheless constraint properties can't be determined analytically so it is essential to perform experimental tests. Assuming that a FEM model of the …

Advanced Model-Based Robot Control in Reis ROBOTstarVManfred Dresselhaus, Reis Robotics, Andreas Kuczynski, ATB Institute for Applied Systems Technology Bremen, Germany

In a research project that was funded by the Ger-man Federal Government Department of Research an advanced robot control method was conceived and realised, in which a dynamic robot model is integrated in the joint control of the robot Reis RV6. By this model-based control method the path deviations are substantially reduced. This leads to a decrease of actuator input values and thus to lower loads at the actuators and to an improved control behaviour of the robot. As a result, both significant improvements in the path accuracy at high path dynamics and substantially reduced loads of motors and gears have been achieved. The new control method gives an important contribution to higher quality and productivity and also to higher service lives in many application cases.

12:50―13:10

Mechatronics Design of Vibration Rejection of the Feed Supporting System for the Square Kilometer Array

Y.X. Su, B.Y. Duan, Q. Wei, Xidian University, R.D. Nan, B. Peng, Chinese Academy of Sciences, PRC

The modified optomechatronics design of the feed supporting system for next generation large radio telescope-Square Kilometer Array (SKA) consisting of two

parallel manipulators Stewart fine tuning platform is connected to the parallel cable manipulator with the so called cabin structure. Because the cabin structure is driven

by six large span cables large vibration will induced resulting from the reaction forces of Stewart fine tuning platform. A mechatronics design strategy is proposed to

achieve the vibration rejection and the basic idea is to use the damping force of electrorheological damper to counteract the reaction force of Stewart fine tuning

platform. The reaction forces acted on the cabin structure is derived …

T2CHydraulic Actuators Manufacturing Systems II

T2DSALA BIANCA 11:30―13:10 SALA TURCABin Yao, USA CHAIR Yousef Ibrahim, Australia

Roberto Oboe, Italy CO-CHAIR Carlo Cloet, USA

Computational and Experimental Investigation on Solenoid Valve DynamicsViktor Szente, János Vad, Budapest University of Technology and Economics, Hungary

A generally applicable, synthetic simulation model and computational tool has been elaborated for dynamic simulation of solenoid valves (SVs) applied as control elements in fast-response pneumatic fluid power systems. The SV of case study has been modeled as a system consisting of coupled magneto-dynamic and mechanical subsystems. At the present state of investigation, fluid dynamic effects are not considered in the model. The appropriateness of the model has been verified by experimental data. The simulation model resolves the valve body motion and the solenoid current at a high accuracy. It has been pointed out in the concerted numerical and experimental studies that the valve body performs repetitive …

11:30―11:50

Coordinated Robots in a Flexible Manufacturing Work CellDevendra P. Garg, Clayton D. Poppe, Duke University, USA

Flexible manufacturing work cells provide excellent opportunities for enhancing both efficiency andproductivity in an automated manufacturing environment. Such cells

typically integrate robots, a wide varietyof machinetools, material handling equipment, packaging devices,sensors, actuators, controllers, and similar other hardware. The coordinated control of robots in flexible manufacturing work cells presents a particularly challenging problem since ithas to respond to a need for

adaptability for product changeand minimization of on-line setup time and costs. The major emphasis of this paper is on machine toolsand related hardware operating in

flexible manufacturing work cells. It includes a discussion of motivation for flexible automation, past problems and recent advances, and guidelines forwork cell design.

Problems associated with complicated automated …

Integrated Direct/Indirect Adaptive Robust Motion Control of Single-Rod Hydraulic Actuators with Time-Varying Unknown InertiaFanping Bu, Bin Yao, Purdue University, USA

This paper studies the precision motion control of single-rod hydraulic actuators with accurate parameter estimations. An integrated direct/indirect adaptive robust controller (DIARC) is proposed to take into account the inherent nonlinearity, parametric uncertainties and uncertain nonlinearities associated with the hydraulic systems. Compared with existing direct ARC controller designs, the proposed DIARC controller not only achieves a better output tracking performance, but also provides better parameter estimations, which can be used for other purposes such as the higher level trajectory planning and the system and component health monitoring. These stronger theoretical results are made possible through the use of the new design philosophy of separating parameter estimation dynamics from the …

11:50―12:10

Study on High Precision Winding of Toroidal Coil and Automation of Its Process

Takashi Kawamura, Masayasu Shimaru, Masaru Nakazawa, Shinshu University, Masakatsu Sasahara, Kiyoto Kobayashi, Takayuki Kojima,

Hermonic Drive Systems Inc., Japan

This paper deals with high precision coil winding machine for toroidal cores. This winding machine has new winding mechanism which consists of new shape winding

ring and wire save ring proposed in this study. The mechanism gives the machine ability of tension control. Kink prevention equipment is designed to avoid kinks while winding. These improvements make high precision winding possible. This machine

is better than machines currently in use specially for small size core and automation of its process.

Dynamic Model of a Pneumatic Proportional Pressure ValveMassimo Sorli, Politecnico di Torino, Giorgio Figliolini, Università di Cassino, Stefano Pastorelli, Politecnico di Torino, Italy

A dynamic non linear model of a commercial proportional pressure valve, type Lucifer Honeywell EPP3 J-21-U-100-10, is formulated in order to simulate its behavior in time-domain under several operating conditions. The mechatronic design of the valve and its static and dynamic characteristics are analyzed carefully. Then, the modeling of the valve is carried out by taking into account its main internal devices, which are integrated all together inside the valve in order to allow the pressure control through an input electric signal. Finally, some diagrams given by a computer simulation confirm the validity of the proposed dynamic non linear model for this type of proportional valve.

12:10―12:30

Selection of Linear Motors for High-Speed Packaging MachinesF. Lotti, Università di Bologna, M. Salmon, MS Automation, G. Vassura, A.

Zucchelli, Università di Bologna, Italy

Specific design issues for automatic packaging machines are discussed, concerning the possible application of electric linear motors, the expected benefits and the main

drawbacks. A purposely-defined software tool for the selection of these motors is then illustrated. This tool leads the designer to a systematic definition of all the

parameters related to the application on high speed packaging machines and allows a step-by-step choice of the proper actuator, by means of a database where the

motors available on the market have been classified and parameterized. Two application cases are then presented and discussed, related to a lifting device in a

wrapping machine for home paper-products and to a mobile hot-melt glue dispenser in a box-forming machine.

Motion Synchronization for Multi-Cylinder Electro-Hydraulic SystemHong Sun, George T.C. Chiu, Purdue University, USA

This paper presents a nonlinear control algorithm to address the motion synchronization problem for a 2-cylinder electro-hydraulic (EH) system. A 2-step design approach is applied such that it utilized linear MIMO robust control technique to design an outer loop motion synchronization controller. A nonlinear SISO perturbation observer based pressure/force controller is designed for each of the lift cylinder as the inner loop controller to handle the nonlinearities associated with the EH actuators. Experimental results on a 2-cylinder system are presented to verify the effectiveness of the proposed approach.

12:30―12:50

SICOMAT: A system for SImulation and COntrol analysis of Machine Tools

M. Gautier, M.T. Pham, W. Khalil, Ph. Lemoine, IRCCyN, Ph. Poignet, LIRMM, France

This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol

analysis of MAchine Tools) provides a large variety of toolboxes to analyze the behavior and the control of the machine. The software takes into account several

elements such as the flexibility of bodies the interaction between several axes the effect of numerical control and the availability to reduce models.

Reducing Stick-Slip Friction in Hydraulic ActuatorsWilliam S. Owen, Elizabeth A. Croft, University of British Columbia, James R. McFarlane, International Submarine Engineering Ltd., Canada

Stick-slip friction in hydraulic actuators is a problem for accuracy and repeatability. Friction compensation has been approached through various control techniques. This work presents an alternative solution, namely, friction avoidance. By rotating the piston and rod the Stribeck region of the friction-velocity curve is avoided and the axial friction opposing the piston movement is linearized, making control more accurate and robust. Simulation results are presented to validate this approach and identify the operating limits for the rotational velocity.

12:50―13:10

A Structured Framework for the Modeling and Control of Modular Machining Centers

Luca Ferrarini, Politecnico di Milano, Giuseppe Fogliazza, MCM SpA, Italy

In the paper, the problem of defining a structured methodology for the modeling and design of the control system for machining centers is addressed. In particular, it is

shown how object-oriented modeling technique can be usefully exploited for the definition of two basic reference models, one for the plant to be controlled and one

the control functions. The proposed framework includes proper hierarchical composition, formal representations, and compliance with international control standards, which are useful in the perspective of design. The paper shows the

application of such concepts to an industrial large machining center for prismatic workpieces.

T3AManipulation and Control Vibration Control II

T3BSALA PLATEA 14:30―16:10 SALA PASTASauro Longhi, Italy CHAIR Paolo Rocco, Italy

Koichi Koganezawa, Japan CO-CHAIR Marco Antonio Arteaga, Mexico

Flexible Rope Manipulation by Dual Manipulator System Using Vision SensorTakayuki Matsuno, Toshio Fukuda, Fumihito Arai, Nagoya University, Japan

We propose a method of the parameter identification of flexible object. We proposed the method to recognize the shape of the rope by using model of the flexible object and visual information. However in this method accurate recognition and compensation using the visual information are not possible when the flexural rigidity of model is greatly different from that of the actual rope. Here we propose the identification method of the rigidity coefficient of object with experiment results.

14:30―14:50

Synchronous Disturbance Compensation in Active Magnetic Bearings using Bias Current Excitation

Joga D. Setiawan, Ranjan Mukherjee, Michigan State University, Eric H. Maslen, University of Virginia, USA

This paper proposes a new approach for simultaneous compensation of two synchronous periodic disturbances in active magnetic bearings; sensor runout and

mass unbalance. Using Lyapunov's method, a novel adaptive algorithm is developed to uniquely determine the harmonic components of both disturbances

and guarantee asymptotic stability of the rotor geometric center about the origin. By varying magnetic stiffness through excitation of the bias currents, the system

achieves a persistently exciting condition that ensures exponential convergence of estimated parameters to the true values. The algorithm is superior to existing

techniques since the identfication process can be performed without changing …

Adaptive Control and Impedance Control for Dual Robotic Arms Manipulating a Common Heavy LoadA. Nagchaudhuri, University of Maryland Eastern Shore, D.P. Garg, Duke University, USA

Impedance control provides a convenient framework for designing control algorithms for robotic applications that involve interaction with the environment. Passive impedance control was utilized in the early days of robotic applications, when the peg-in-hole type of tasks were performed using remote center compliance. Active impedance control using digital measurements of contact forces for deburring and assembly operations have been attempted using single robots. The uncertainty associated with the robot dynamics and the contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots …

14:50―15:10

Tracking Performance of an H Position Controller for Current-Fed Induction Motors Under Mechanical Loads Variations

Giuseppe Fusco, Università di Cassino, Italy

This paper describes a systematic procedure to design a position tracking H

controller for current-fed induction motors actuating mechanical loads which ensures robustness with respect to load torque disturbances. This feature is very important in

many industrial applications; in fact during normal operating conditions if variations of the mechanical load driven by the induction motor appear the tracking

performance achievable by the controller can degrade. These variations are seen by the H controller as if they were load torque disturbances. Due to the good

disturbance rejection capability exhibited by the robust controller a satisfactory dynamic performance is achieved. A numerical simulation study in which an

induction motor drives a one-link robot manipulator shows the tracking …

Proposal of Open-Network-Interface for Industrial Robots (ORiN) and its Experimental EvaluationMakoto Mizukawa, Shibaura Institute of Technology, Toshihiko Koyama, Toshihiro Inukai, Denso Corp., Akio Noda, Mitsubishi Electric Corporation, Naoyoshi Kanamaru, Nippon Telegraph and Telephone Corp., Yasuhiko Noguchi, Yaskawa Electric Corp., Nobuyuki Otera, Kobe Steel Ltd., Japan

Since 1999, the Japan Robot Association (JARA) has been conducting the standardization activities (ORiN: Open Robot Interface for the Network) in which main subject is the network interface for the robot controller. In the 1999 international robot exhibition, our activities and results were opened and demonstrated to the public. In this demonstration, industrial robots from 13 Japanese domestic robot manufacturers, that had different specifications and structures, were connected each other with communication network using ORiN … applications for production

15:10―15:30

Experimental Evaluation of Evolutionary Predictive Input Shaping Applied to a Flexible Structure

Mario Luca Fravolini, Antonio Ficola, Michele La Cava, Univ. Perugia, Italy

This work reports the results of an experimental study which has been carried out to evaluate the applicability of nonlinear Model Predictive Control for the reduction of

vibrations in flexible structures. Reference was made to a clamped flexible beam on the tip of which a controlled pendulum is attached. The control strategy consists of

two stages: in the first one a PD controller is employed to ensure the accurate tracking of the pendulum position with respect to a reference shaped signal; in the

second one the shaped trajectory is generated by a model based predictive controller. For the online nonlinear constrained optimization a new Evolutionary

Algorithm is proposed. The results of some experiments are reported comparing the performance of a pure feedforward scheme with others that employ either …

Internet-Based Remote Sensing and Manipulation in Micro EnvironmentCarmen K.M. Fung, Wen J. Li, Chinese University of Hong Kong, PRC, Imad Elhajj, Ning Xi, Michigan State University, USA

Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote micro-environments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro-automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidence fluoride (PVDF) sensors that can be …

15:30―15:50

Second Order Sliding Manifold Approach for Vibration Reduction via Output Feedback: Experimental Results

Alberto Cavallo, Università del Sannio, Ciro Natale, Giuseppe De Maria, Seconda Università di Napoli, Italy

In this paper a second order sliding manifold control approach is adopted as a technique to effectively reduce the vibrations of a flexible beam. A novel theoretical

result for a MIMO output feedback control law is presented to show how the singular perturbation theory can be used to tackle the problem of active vibration control. The

theory is supported both by simulations and by the results of a number of experiments performed on a brass beam with piezoelectric patches attached on it

and used in self-sensing configuration in order to have a collocated control system.

Sensitivity to Parametric Uncertainty in Robot ImpactCarlos Carreras, Universidad Politécnica de Madrid, Spain, Ian D. Walker, Clemson University, USA

In this paper, we introduce a novel interval-based methodology for evaluating the sensitivity of robot manipulator impacts to variations in manipulator and environmental constraints. The approach is intuitive and straightforward, and simpler to perform than traditional methods. It is illustrated using an example of a three link manipulator.

15:50―16:10

Experiments on Robust Vibration Suppression in Mechatronic Systems Using IIR Digital Filters

D. Economou, National Tech. Univ. Athens, Greece, C. Mavroidis, Rutgers University, USA, I. Antoniadis, National Tech. Univ. Athens, Greece

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is

based on the preconditioning of the arbitrary inputs to the system using Infinite Impulse Response (IIR) digital filters. To ensure robust behavior, the filter stop band

is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they

are properly designed.

T3CActuator Design Software Design for Manufacturing

T3DSALA BIANCA 14:30―15:50 SALA TURCAKenneth Waldron, USA CHAIR George Chiu, USA

Gianantonio Magnani, Italy CO-CHAIR Fakhreddine Karray, Canada

Pleated Pneumatic Artificial Muscles: Actuators for Automation and RoboticsFrank Daerden, Dirk Lefeber, Björn Verrelst, Ronald Van Ham, Vrije Universiteit Brussel, Belgium

This contribution reports on a type of pneumatic artificial muscles (PAMs) that was recently developed at the Vrije Universiteit Brussel department of Mechanical Engineering. Its distinguishing feature is its pleated design. Due to this it has a very high contraction force and an equally high travel. The weight of these pleated PAMs is very low: a muscle of only 60 gr can pull up to 3500 N and contract by an amount of 42%. Furthermore dry friction and associated hysteresis typical of many other designs is avoided by the folding-unfolding action. This significantly simplifies positionControl using these actuators. Although the force-displacement characteristics of our actuator are non-linear they can be effectively controlled using basic linear PI …

14:30―14:50

Creating Reusable, Hardware Independent Motion Control Applications via IEC 61131-3 and PLCopen Motion Control Profile

Eelco van der Wal, PLCopen, The Netherlands

Motion integration issues have emerged to the forefront, along with maintainability and connectivity to automation solutions. For this standards are needed. PLCopen

has generated such a standard. A standard in programming language, to harmonize the access of motion control functionality across platforms. In this way, the

generated application program is much more hardware independent, and re-usable across platforms. The provided standard, the PLCopen Motion Control Profile, is

based on IEC 61131-3 Function Blocks. With the standardization of the interfaces and the functionality, and implementation on multiple platforms, it provides a

programming standard that is widely supported by the industry. The stated goals of this standardization are simplicity, efficiency, consistency, universality, flexibility …

Modelling and Compensation of Hysteresis for Magnetostrictive ActuatorsC. Natale, F. Velardi, Seconda Università di Napoli, C. Visone, Università del Sannio, Italy

The paper proposes the compensation of the hysteretic behaviour of an actuator constituted by a Terfenol-D magnetostrictive material to enhance the performance of a typical control scheme for vibration suppression. Hysteresis is modelled by the application of the classical Preisach model whose dentification procedure is performed by the adoption of fuzzy approximators. This allows to reconstruct analytically either Everett integrals and the Preisach distribution function without any special smoothing of the measured data thanks to the filtering capabilities of the fuzzy interpolators. Moreover the idea of compensator for operators with memory is also described in detail and the concept of pseudo-compensator is introduced …

14:50―15:10

PLC Software Modularity and Co-operative DevelopmentFlavio Bonfatti, Università di Modena e Reggio Emilia, Gianni Gadda, DemoCenter, Paola Daniela Monari, Università di Modena e Reggio

Emilia, Italy

The paper introduces a software design method to pursue modularity of PLC-based system control code. Modularity is a critical condition to support co-operative

development of complex systems, where components supplied by a number of subcontractors are integrated to realize the envisaged plant. The method proposes a disciplined use of the SFC, FBD and ST languages of the IEC 61131-3 standard.

Vibration Condition Monitoring of Rotors on AMB Fed by Induction MotorsNicola Amati, Eugenio Brusa, Politecnico di Torino, Italy

The presence of induction driver motors in rotors on AMB can affect significantly the vibration monitoring operation because of the effect of the so-called unbalanced magnetic pull (u.m.p.) on the rotor whirling cage. A sort of beat appears in monitored radial displacements caused by the interaction between the unbalance response of the rotor and the u.m.p. depending on the slip occurring in the induction motor. This effect is herewith preliminary analysed in the range of spin speeds where the rotor behaves as a rigid body. The equations of motion of the system include the negative stiffness provided by the motor in presence of non uniform air gap and are written under the assumptions of linearized forces for the AMB and rotor axis-symmetry. Some experiments have been performed to validate the …

15:10―15:30

Continuous Testing as a Strategy of Improving the PLC Software Development Cycles

Ulrich Kramer, Bielefeld University of Applied Sciences, Germany

An appropriate simulation environment for testing real-time software applications, especially PLC (PLC: Programmable Logic Controller) programs, is demanded in

recent time for many reasons. One of the them might be found in the altered conditions of cooperation (teamwork, teleworking, etc.) under which PLC software

projects have to be carried out. Most areas of automation engineering lack for largely formalizable procedures, in particular within the specification and testing

phase, and almost no tools are available for the development of real-time software. The consequence is that PLC programs are usually not developed before the facility

to be controlled is installed, and putting it into operation is often the only test. The results are unacceptable waste of time during the installation phase, …

Identification with Blended Multi-Model Approach in the Frequency Domain: an Application to a Servo Pneumatic ActuatorH. Schulte, H. Hahn, Universität Kassel, Germany

By means of an real world application a system identification method was investigated for nonlinear systems from input-output measurements. This approach based on an blended multiple model structure which describes the global behaviour of the system over the whole operating range. At different operating points twenty local linear black-box models were identified in the frequency domain from a finite number of measurements of the input and output signals. A comparative study was made of a grey-box model which have been derived using physical laws and measurements of several process states to estimate unknown parameters.

15:30―15:50

Object―Oriented Approach to PLC Software Design for a Manufacture Machinery Using IEC 61131-3 Norm Languages

Marcello Bonfè, Cesare Fantuzzi, Università di Ferrara, Italy

This paper presents an application of object – oriented methodology to the development of Programmable Logic Controller (PLC)programs. PLC is widely used

as computer controller of manufacturing machinery, principally because its robustness and programming simplicity. During the last years, IEC 61131-3 norm

has been introduced aiming to provide standard languages and structure to the development environments of PLC programmes, that are instead strictly bound up to now to proprietary languages. Following IEC 61131-3 prescription, is it also possible

to develop well structured, object–oriented control software, which was hardly possible with the former vendor–speci .c low–level languages. This paper describes

an application of the novel standard IEC 61131-3 to the development …

Dynamically Compensated Cams for Rigid Cam-Follower Systems with Fluctuating Cam Speed and Dominating Inertial ForcesB. Demeulenaere, J. De Schutter, KU Leuven, Belgium

Traditionally cam-follower systems are designed by assuming a constant camshaft speed. Nevertheless all cam-follower systems especially high-speed systems exhibit some camshaft speed fluctuation (despite the presence of a flywheel) which causes the follower motions to be inaccurate. This paper therefore proposes a novel design procedure that explicitly takes into account the camshaft speed variation. The design procedure assumes that (i) the cam-follower system is conservative and (ii) all forces are inertial. The design procedure is based on a single design choice i.e. the range of camshaft speed variation and yields (i) cams that compensate for the inertial dynamics for any period of motion and (ii) a camshaft flywheel whose (small) inertia is independent of the period of motion. A design example shows …

15:50―16:10

Development of a Distribution VR-Based Complex Graphics Design System

Wen-Tsai Sung, Shih-Ching Ou, National Central University Taiwan, ROC

This study attempts to apply the principle of Distributed Virtual Environments (DVE) and virtual reality (VR) technologies to Complex Graphics Design System (CGDS)

by integrating network computer graphics and VR into a web-based learning environment. VR system especially multi-user systems can benefit from and often

require a distributed realization. This study develops a multi-user sculpture graphics system for learning and design. These features of the CGDS system are real-time

dynamic flexible and portables. This investigation describes an empirical study that investigated the effect of Complex Graphics Design. The system using the OpenGL

is due to the important feature that the system can run at different operate system such as Windows 2000 98 NT Linux Mac…etc. It is necessary to learn and …

T4ARobot Force Control Control of Mechatronics Systems

T4BSALA PLATEA 16:30―18:10 SALA PASTATorgny Brogårdh, Sweden CHAIR Jacob Apkarian, Canada

I-Ming Chen, Singapore CO-CHAIR Ning Xi, USA

A Realization of Compliant Motion by a Decentralized Control in Redundant ManipulatorHideaki Hattori, Kouhei Ohnishi, Keio University, Japan

This paper presents a realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided into several subsystem and each subsystem has virtual impedance in partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from tip side subsystem. The control system becomes independent from the degree of freedom(DOF) of total system. Furthermore to realize the adaptation against environment the compliant motion of subsystem is introduced. When external force applied to subsystem the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force compliance motion of …

16:30―16:50

Loop Shaping Issues in Hard Disk Drive Servo System DesignAlessandro Beghi, Roberto Oboe, Paolo Capretta, Università di Padova,

Francesco Chrappan Soldavini, STMicroelectronics, Italy

In this paper, the design of Hard Disk Drive (HDD) servo systems based on statespace techniques is considered. In particular, we analyze the performances of discretetime controllers obtained by means of LQG optimal control theory. The key control design issue we address is related to the need of achieving sufficiently high close-loop bandwidth while granting adequate disturbance rejection in the loop gain crossover frequency region. It turns out that the shaping of the sensitivity function is a critical issue, in particular when Run Outs compensation schemes are introduced

(e.g., repetitive control schemes). The effectiveness of discrete-time loop transfer recovery techniques (LTR) in achieving a satisfactory loop shaping design starting

from an LQG regulator is discussed. The proposed control algorithms are …

A Multi-fingered Hand Control Structure with On-line Grasping Force OptimizationConstant Remond, Véronique Perdereau, Michel Drouin, Université Pierre et Marie Curie, France

Grasp stability in a multi-fingered hand requires an appropriate force distribution between fingers taking into account contact conditions. The optimal solution with either recursive or non linear programming methods usually involves many computations and is very often not suitable for on-line implementation. This paper describes the transformation of this constrained problem into an unconstrained one so that the optimization algorithm finds the optimal solution within a few iterations. Force determination is then included in a hybrid position/force controller to prove the effectiveness of such a solution for updating force references during the grasped object motion.

16:50―17:10

On-line Identification of Hysteresis Functions with Nonlocal MemoryV. Lampaert, J. Swevers, KU Leuven, Belgium

This paper shows that the on-line identification of hysteresis functions with nonlocal memory boils down to a well understood recursive least squares estimation problem if the hysteresis function is modeled as a weighted superposition of extended linear

stop operators with fixed parameters. Simulation results show that this technique can be applied to model hysteresis functions in static as well as dynamic systems. In

addition this technique has been successfully applied to model the hysteresis behaviour of a piezoelectric actuator. In future work the adaptive compensation of

the friction force for micro-displacements will be experimentally validated.

Combined Vision/Force Control at Corners in Planar Robotic Contour FollowingJohan Baeten, Joris De Schutter, KU Leuven, Belgium

The accuracy and execution speed of a force controlled contour following task is limited if the shape of the workpiece is unknown. This is even more true when the workpiece contour contains corners. This paper shows how a combined vision/force control approach at corners in planar contour following results in a more accurate and faster executed task. The vision system is used to measure on-line the contour and to watch out for corners. The edge is correctly located by incorporating the compliance of the tool/camera set-up in the contour measurement. A simple corner detection algorithm is presented. Once a corner is detected, the finite state controller is activated to take the corner in the best conditions. Experimental results are presented to validate the approach.

17:10―17:30

Control of the Secondary Mirror Unit for the SOFIA TelescopeJoseph Moerschell, HEVS, Emmanuel Onillon, CSEM, Switzerland

SOFIA is a 2.5-m telescope to be carried on a special Boeing 747 for astronomic observations at altitudes of about 15'000 m. The paper describes the main features

of the secondary mirror unit. The SOFIA secondary mirror needs active control for alignment along five degrees of freedom as well as for very fast chopping with a frequency up to 20 Hz. The SOFIA secondary mirror chopping mechanism and

control system will be described in the following. A state space model derived from the mechanical and electrical equations of the system will then be introduced. This

model will be used for the design of a state space controller based on a pole placement algorithm, to make the system behave as a fourth order Bessel filter. To avoid overshoots due to current and voltage limitation, a variable speed limitation,

which is function of the position error, will be added to the controller.

Environment-Contacting Task by Position-Controlled Manipulator using Free-Joint StructureYasumichi Aiyama, University of Tsukuba, Japan

In general environment-contacting manipulation task such as assembly requires a force-controlled manipulator. In this paper a method is introduced to achieve environment-contacting task with a position-controlled manipulator. Additional mechanism with some free-joint mechanism on wrist of a manipulator reduces excessive inner force. We show conditions to reduce excessive inner force and to keep high rigidity of object. An experiment of graspless manipulation with free-joint mechanism is shown as an example of this research.

17:30―17:50

Robustness Evaluation of New Practical Control for PTP Positioning Systems

Wahyudi, K. Sato, A. Shimokohbe, Tokyo Institute of Technology, Japan

This paper presents robustness evaluation of the new practical control for point-to-point (PTP) positioning systems. The proposed controller consists of a nominal

characteristic trajectory as an intended motion trajectory and PI elements which are used to restrict the plant motion along the trajectory. The nominal characteristic

trajectory is determined with measured open-loop responses of the plant and is also used to determine the PI coefficients. So the proposed controller does not require an

exact model of the plant and its parameters and is easily applicable to practical systems. The robustness of the proposed controller is evaluated and compared

experimentally with conventional PID controllers using an experimental rotary positioning system. It is proved that the proposed controller is better than the …

Grinding Force Models in Finishing ProcessesYin-Tien Wang, Yann-Jyi Jan, Tamkang University Taiwan, ROC

Force models and control for a robot-assisted surface finishing system are presented in this paper. These models are based on two different concepts, the theory of a linear observation and Grey theory. Integrated with an automated surface finishing system, these force models are designed as force observers to sense the grinding contact force based on the driving current and output position of the motor. In order to test the function of the force models, a robot-assisted finishing system is constructed and tested on a Tatung A530 robot. Also, we utilize Taguchi's method for experimental design to determine an ideal grinding condition. Four grinding conditions are chosen, namely, path pattern, grinding contact pressure, tool diameter, and feed rate. Tendencies of these factors can be found from the experiments. The experimental results show that the robot-assisted finishing …

17:50―18:10

GA-Based Evolutionary Design of Robust Compensator for Mechatronic Systems

Makoto Iwasaki, Kazuaki Itoh, Nobuyuki Matsui, Nagoya Institute of Technology, Japan

This paper presents an evolutionary algorithm for the robust motion controller design in mechatronic systems using a Genetic Algorithm. The motion control system is

composed of a robust 2-Degrees-Of-Freedom compensator based on the coprime factorization description. Conventional controller design approaches to the

optimization for the compensator free parameters essentially require complicated numerical procedures under the given control specifications. In this research a

simple and practical algorithm for the compensator design for mechatronic systems has been proposed. Using the optimization ability of the Genetic Algorithm the

proposed algorithm is able to autonomously tune the optimal combination of the …

T4CRobot Actuation Mechatronics System Design

T4DSALA BIANCA 16:30―18:10 SALA TURCAHami Kazerooni, USA CHAIR Thomas Kurfess, USA

Giovanni Legnani, Italy CO-CHAIR Yoshio Yamamoto, Japan

Control Problems in Underactuated ManipulatorsAlessandro De Luca, Stefano Iannitti, Raffaella Mattone, Giuseppe Oriolo, Università di Roma "La Sapienza", Italy

We discuss some recent control techniques for underactuated manipulators,a special instance of mechanical systems having fewer input commands than degrees of freedom.This class includes robots with passive joints,elastic joints,or .exible links.Structural system properties are investigated showing that robots with passive joints are the most di .cult to control.With reference to these,solutions are proposed for the typical problems of trajectory planning and tracking,and of set-point regulation.The relevance of nonlinear control techniques such as dynamic feedback linearization and iterative state steering is clari .ed through illustrative examples.

16:30―16:50

Conceptual Design of Mechatronic Systems Supported by Semi-formal Specification

Jürgen Gausemeier, Martin Flath, Stefan Möhringer, Heinz Nixdorf Institute, Germany

Mechatronics - the synergetic integration of different engineering domains can create new products and stimulate innovative solutions. In order to yield this

potential experts from different engineering domains need a common method to specify results during the early stage of product conceptualisation. This method

could create the base for cross-domain communication and efficient cooperation. In this way the potential of mechatronics can be realized. The article presents an

integrated method for the conceptual design of mechatronic products. It comprises a new semi-formal specification language for the modelling of functions. This

language is closely related to the semi-formal modelling of principle solutions …

Stabilization and Output Tracking for Underactuated Mechanical Systems with Inequality State ConstraintsHerbert G. Tanner, Kostas J. Kyriakopoulos, National Technical University of Athens, Greece

The paper presents a method to determine the feasibility of stabilization to an equilibrium manifold or exact ouput tracking for underactuated mechanical systems that are subject to inequality state constraints. Even for minimum phase systems internal dynamics may evolve in an unacceptable way and has to be confined within certain limits. Such restrictions arise in deformable object manipulation tasks. It is shown that the problem of output tracking under inequality state constraints is equivalent to ouput tracking with bounded input. The paper provides sufficient conditions for exact ouput tracking and stabilization to an equilibrium manifold that guarantee that internal dynamics is bounded with adjustable bounds.

16:50―17:10

Alternatives in Precise Load Motion Control of Two-Mass Servomechanisms

Gianni Ferretti, Gianantonio Magnani, Paolo Rocco, Polit. Milano, Italy

Load motion control in high precision elastic servo systems is addressed in this paper. It is assumed that only the motor position measurement is available to close

control loops. Four controllers are compared: a conventional PID; a state space plus feedforward controller with integral action on the motor position measure; a second

state space plus feedforward controller with integral action on the estimate of the load position; a pole assignment controller designed based on input-output models.

The essential elements for the design of the controllers are given. Detailed simulation analysis is used to compare the controllers from several points of view (setpoint tracking, robustness, disturbance rejection, friction induced limit cycles).

Experiments performed on a prototype servo will be discussed as well.

Massively Parallel ActuationPo-hua Yang, Ohio State Univ., Kenneth J. Waldron, Stanford Univ., USA

The objective of the work described in this paper is the examination of the design and control opportunities presented by systems with large numbers of small, two-state actuators acting in parallel. An array of two-state actuators, i.e. a bundle of binary actuators, can be regarded as a simplified model of biological muscle. In recent years, the development of MEMS (Micro-Electromechanical Systems) has shown a great potential for building mechanical elements in a very small scale. However, there are some other issues for integrating a parallel array system that cannot be solved by advances of material research alone. From the mechanical designer’s point of view, large numbers of active elements have to be deployed at appropriate locations in the system. For control purposes, if a binary system is intended, the mathematical model can be very different from that of ….

17:10―17:30

Modeling, Design and Control of a Portable Washing Machine during the Spinning Cycle

Evangelos Papadopoulos, Iakovos Papadimitriou, National Technical University of Athens, Greece

This paper presents a simplified three-dimensional dynamic model of a horizontal-axis portable washing machine. This model is used to predict the verge of walking

instability during the spinning cycle. Next, two novel methods of stabilization are presented. The design-based method reduces the instability and is cost effective. The control-based method eliminates instability and vibrations and is associated

with active balancing. Both methods satisfy the current trend towards portable, lightweight full-feature washing machines.

SCID — A Non-actuated Robot for Walls ExplorationDomenico Longo, Giovanni Muscato, Università di Catania, Italy

In this paper a control methodology applied to a passive mechanical system is described. The SCID (Sliding Climbing Inspection Device) has been designed to slide down over a ferromagnetic vertical surface, using two electromagnets; the on-board electronics and the control algorithm used, allow the system to control its velocity and trajectory. The system has been experimentally tested and a simplified mathematical model has been computed.

17:30―17:50

A Personal Robot for Mechatronic Application Programmers—The Role of Automatic Storage Reclamation and Programming Languages

in the Lifetime of a Safe Mechatronic SystemRoberto Brega, Felix H. Wullschleger, ETHZ, Switzerland

A software system can be called a safe-system with respect to dynamic memory,when it supports only strong-typing and it doesn’t allow for the manual

disposal of dynamic memory.The first aspect guarantees that untyped,potentially dangerous operations are caught by the compiler or by run-time checks.The second

issue is solved by the utilisation of an automatic memory reclamation scheme,i.e.a garbage collector. In this paper we present the implementation of these strategies in

the real-time operating system XO/2,and how they have contributed to the realisation of the Mobile Mail Distribution System MoPS,developed at the Institute of

Robotics of the ETH Zürich,Switzerland.

Novel Smart Connector for Modular RoboticsMircea Badescu, Constantinos Mavroidis, Rutgers University, USA

This paper presents the concept, design, analytical modeling and experimental prototype for a new "smart connector", which provides electrical and mechanical connection between components of a system, specifically robotic modules. The connector includes plug and receptacle components. The plug has a central pin surrounded by a plurality of lamellae. The lamellae have an end connected to the base and a free end. A Shape Memory Alloy (SMA) actuator is positioned about the lamellae of the plug for controlling the movement of the free end of the lamellae. The receptacle has a pin housing corresponding to the central pin of the plug. Additionally, the receptacle includes a plurality of lamellae for mating with the plug lamellae. Like the plug, the receptacle includes an SMA actuator for controlling movement of the receptacle lamellae. The plug lamellae and the receptacle …

17:50―18:10

Design Requirements and Reference Trajectory Generation for a Copier Paperpath

Carlo Cloet, Masayoshi Tomizuka, Roberto Horowitz, UC Berkeley, USA

This paper presents a new approach to introducing closed loop control in a copier paperpath in order to achieve robust high-speed media handling. The basic idea

exploits periodicity in the relative position of correctly fed sheets and their corresponding images. It is shown that the periodic behavior allows to design

polynomial position reference trajectories for sheets as a function of their initial position error. Only longitudinal position errors are considered. By measuring sheet

positions and using closed loop control to track the reference trajectories position errors can be successfully removed. In addition to the reference trajectories the

paper also offers a design strategy that minimizes the required paperpath length while satisfying given bounds on sheet velocities and accelerations. Two …

W1AFlexible Manipulators Walking Machines

W1BSALA PLATEA 09:30―11:10 SALA PASTAJurek Sasiadek, Canada CHAIR Michael McCarthy, USA

Luigi Villani, Italy CO-CHAIR Raffaele Di Gregorio, Italy

Rest-to-Rest Motion of a One-link Flexible ArmAlessandro De Luca, Giandomenico Di Giovanni, Università di Roma "La Sapienza", Italy

We present a solution to the problem of finding the torque command that provides rest-to-rest motion in a given time for a one-link flexible arm. The basic idea is to design an auxiliary output such that the associated transfer function has no zeros. Planning a smooth interpolating trajectory for this output imposes a unique rest-to-rest motion to the whole arm with automatically bounded link deformation. The nominal torque is then obtained by inverse dynamics computation in the time domain. The method is presented for a linear model based on the Euler-Bernoulli beam description of the flexible link with dynamic boundary conditions. This approach lends itself to nonlinear extensions and feedback solutions.

09:30―09:50

Dynamically Stable Trajectory Synthesis for a Biped Robot during the Single-Support Phase

S. Marchese, G. Muscato, Università di Catania, Italy, G.S. Virk, University of Portsmouth, UK

The aim of this paper is to develop an algorithm to generate dynamically stable walking trajectories for a biped robot during the single-support phase, which can be

used as reference trajectories for control. The biped is modeled as an anthropomorphic planar mechanical system of 7 links connected by 6 actuated

rotoidal joints. We want the biped robot to move with a human-like behavior. In order to achieve this goal the kinematics and dynamics aspects have been treated separately. To obtain a human-like motion the biped has been regarded as a

redundant manipulator, under the assumption that the supporting foot was fixed to the floor. In particular, the concept of task priority in relation to the inverse …

Rest-to-Rest Motion of a Two-link Robot with a Flexible ForearmAlessandro De Luca, Giandomenico Di Giovanni, Università di Roma "La Sapienza", Italy

We consider the problem of finding the torque commands that provide rest-to-rest motion in a given time for the FLEXARM a two-link planar manipulator with a flexible forearm and nonlinear dynamics. The basic idea is to design a set of two outputs with respect to which the system has no zero dynamics. Planning smooth interpolating trajectories for these outputs imposes a unique rest-to-rest motion to the whole robot with bounded link deformations. The nominal rest-to-rest torque is obtained by standard inverse dynamics computation. In the multi-input nonlinear case this approach requires in general the use of a dynamic linearizing extension. Numerical results are presented and possible extensions discussed.

09:50―10:10

Locomotion of LAURON III in Rough TerrainBernd Gaßmann, Kay-Ulrich Scholl, Karsten Berns, Forschungszentrum

Informatik, Germany

In particular the advantages of legged compared to wheeled locomotion arise in unstructured, uneven and rough terrain. Based on the sensor system the behaviour control of LAURONIII for walking in rough terrain is presented in this paper. To cope

with terrain irregularities local behaviours like collision reaction and searching for ground are realised by an adaptation of the basic leg trajectories. Several global

behaviours like the control of the body height and the centre of gravity influence the trajectories of all legs simultaneously.

End-Point Control of a Flexible-Link via Optimal Dynamic InversionAurelio Piazzi, Università di Parma, Antonio Visioli, Università di Brescia, Italy

In this paper we propose a new method for the end-point control of a single flexible link. As a distinguished feature the methodology relies on an exact stable dynamic inversion analytically performed on a family of output functions. In this context the choice of ``transition polynomials'' as output functions permits to optimize the motion time subject to limits on the velocity and acceleration of the motor. Furthermore the technique is robust to unmodelled dynamics. Simulation results show the effectiveness of the approach.

10:10―10:30

Biomimetic and Smart Technology Principles of Humanoid DesignDarwin G. Caldwell, N. Tsagarakis, P. Artrit, J. Canderle, S. Davis, G.A.

Medrano-Cerda, University of Salford, UK

Humanoid and bipedal robots are complex mechatronic systems requiring developments in mechanical/kinematic design, sensory systems, Artificial

Intelligence, computing, control, communications and actuation/power systems. This complexity makes their onstruction a substantial challenge for workers in many

branches of science and engineering and has prompted research inspired by the success of biological creations. Traditionally such mechanism design has avoided

the use of flexible materials and structures because of the difficulties associated with operation and control. However, it is clear that the light flexible structures and

designs common in nature, might offer many advantages if they could be used effectively. This paper will initially study the actuation requirements for a …

Adaptive Open-Loop Control Method for a Hydraulically Driven Flexible ManipulatorJanne Kovanen, Heikki Handroos, Lappeenranta University of Technology, Finland

A novel method applicable for the open-loop control of hydraulic driven flexible manipulators is presented. By using a new kind of adaptive control function instead of the traditional open-loop control strategies the dynamic behaviour of such systems can be significantly improved. The adaptive control function is developed for the open-loop control of a log crane equipped with an electrically controlled proportional directional valves and digital control system. The proposed method utilizes the existing hydraulic components and control hardware of commercially used log crane. In addition to this, the cylinder position and pressure transducers are used. The dynamics of manipulator can be determined by studying the …

10:30―10:50

Biomimetic Small Walking MachineN. Kagawa, H. Kazerooni, University of California at Berkeley, USA

The goal is to design and construct a biologically inspired, small, robust, and fast walking machine. This paper explains how two important observations from

cockroaches can be employed as design guidelines to design and build small walking machines. The first observation is the fact that cockroaches use very little

feedback and control results from the properties of their parts and their morphological arrangement. This observation leads to our hypothesis that a robust

and simple electromechanical walking machine should have implicit feedback control only within its hardware. The second observation is that the optimal walking

frequency of a cockroach is close to the natural frequency of the cockroach. This observation leads us to hypothesize that the walking frequency of an

electromechanical cockroach also needs to be the natural frequency of the …

Gradient-Descent Based Trajectory Planning for Regulation of a Two-Link Flexible Robotic ArmGülay Öke, Yorgo İstefanopulos, Boðaziçi University, Turkey

In the control of flexible manipulators most work in the literature concentrates on the suppresion of link deformations. In this study the aim is not to suppress the deflections but to calculate joint angles to minimize the tip position error. A gradient descent method is utilized off-line for the trajectory planning of a two-link flexible manipulator under gravity. Fuzzy logic control with gravity compensation is applied for the position control of the manipulator where the reference inputs are the values of the joint angles as determined by the trajectory planning procedure. Simulations have been carried out to show the performance of both the trajectory planning method and of the fuzzy controller in a regulation problem. Results are illustrated both in the joint space and in the operational space.

10:50―11:10

An Integrated Approach for Locomotion and Visual Control of a Service Hexapod via CNNs

P. Arena, Università di Catania, M. Branciforte, R. Caponetto, STMicroelectronics, A. Rizzo, G. Peschiera, Università di Messina, Italy

In this paper Cellular Neural Networks (CNN’s) are widely used, both for imaging processing (classical application) and for generation of locomotion patterns. In particular, a hexapod walking robot is presented. The locomotion patterns are generated by a RD-CNN and a visual serving approach exploiting an external

camera is adopted to control the trajectory.

W1CMechatronics Curricula DES’s in Automated Transportation

W1DSALA BIANCA 09:30―11:10 SALA TURCAWayne Book, USA CHAIR Bart De Schutter, The Netherlands

Paolo Dario, Italy CO-CHAIR Luca Ferrarini, Italy

The Role of Mechanical Design in Mechatronics EducationJohn F. Gardner, Boise State University, USA

A survey of Mechatronics course offerings around the United States shows a rich variety of approaches to this topic. Indeed, it appears that a majority of Mechanical Engineering programs across the country offer some formal offering in this area and it seems clear that the vast majority of Mechatronics courses are offered through Mechanical Engineering departments. With the traditional emphasis on design skill in mechanical engineering, it would seem obvious that mechatronics courses would feature a major design component. Surprisingly, very few existing mechatronics courses (at least those reported in the literature) feature a strong emphasis on mechanical design. That’s is not to say that the creative process of design is not featured in Mechatronics courses, because it clearly is. It seems equally clear, however, that that accepted definition of mechatronics (“…the synergistic …

09:30―09:50

Modeling and Specification of Discrete Event Systems using Combined Process Algebra and Petri Nets

Petter Falkman, Bengt Lennartson, Michael Tittus, Chalmers University of Technology, Sweden

A modeling framework for general routing and resource booking problems is presented. The task is to specify desired routes for individual objects (products data

packets vehicles) which are to be served by a number of shared resources (machines computers communication links). Based on simple booking models for

the resources and routing specifications for the objects a controller that synchronizes the objects utilization of the available resources is automatically

generated. A high level language is presented in order to simplify the specification of desired routes. This modeling language combines Petri nets and process algebra.

Process operators are introduced for specification of alternative and …

Mechatronics and Early Mechanical DesignThomas R. Kurfess, Georgia Institute of Technology, USA

The issue targeted in this paper is the development of a set of studio projects for a sophomore level course that integrate mechanical and electrical systems. The paper discusses the types of projects that can be run and how they are used to foster mechanical and electronic design. For example issues such as sensor specification are critical and teach the students how important and sometimes difficult «specing out» a design can be. From an electronics perspective a simple and an inexpensive micro-controller (the BASIC Stamp) is used. A variety of pre-designed modules are supplied to the students as well as code snippets to run these devices. The most interesting part of the paper is the design challenges that are afforded to the student. These challenges are in the form of mechanical system design and implementation in our small scale machine shop located in the studio …

09:50―10:10

Deadlock Avoidance in Automated Guided Vehicle SystemsMaria Pia Fanti, Biagio Turchiano, Politecnico di Bari, Italy

Automated Guided Vehicle Systems (AGVSs) are the most flexible means to transport pieces among workstations of an Automated Manufacturing System

(AMS). The control of such systems must be in charge of avoiding collisions and deadlock conditions. The paper formulates a control scheme to face this problem. In particular, some algorithms are proposed to control in real time path assignments to

the vehicles and their moves from zone to zone in the system. A final discussion compares the proposed approach to other methods offered by the recent literature.

Postgraduate and Undergraduate Mechatronics' Courses at the University of WollongongC.D. Cook, F. Naghdy, F. DeBoer, University of Wollongong, Australia

This paper outlines the University’s involvement with Industry based manufacturing projects, and how this has lead to the recent establishment of postgraduate and undergraduate Mechatronics degrees. The nature of the industrial projects will be described with examples of specific problems, test equipment and experimental rigs given. This work will be used to explain the reasons for the design of the mechatronics courses at Wollongong. A new teaching methodology particularly suitable for mechatronc’s education is also discussed.

10:10―10:30

Modelling Automated Material Handling in Intermodal TerminalsCristiana Degano, Angela Di Febbraro, Politecnico di Torino, Italy

A model of an intermodal terminal in which freight only arrives and departs stored intocontainers is presented in this paper. The container terminal is thought of as divided

into areas each one associated with a kind of container handling operation. The complexity of the system to represent is further increased by the fact that the

material transportation system inside the terminal is (at least) partially automated. For such a transportation system made up of different kinds of (unmanned) vehicles

a Petri-net model is proposed with the objective of regulating its faulty behaviours. An example relevant to a case study is reported to show a practical application of

the proposed model.

Development of Mechatronics Tertiary Education in Six Different Thai UniversitiesM. Yousef Ibrahim, Monash University, Australia

This paper presents the experience gained from Mechatronics course development in both Australia and Thailand. It also presents the educational philosophy adopted to produce a new breed of engineers. The educational philosophy was based on engaging industry in course development and subjects delivery. This was to meet the new Millennium's demands for more intelligent products. This paper outlines the mechanism adopted to achieve the course objectives through close industrial collaboration.

10:30―10:50

Modeling of AS/RS via Coloured Petri NetsF. Basile, C. Carbone, P. Chiacchio, Università di Napoli Federico II

In this paper a colored timed Petri net approach to automated storage/retrieval systems (AS/RSs) modeling is presented. The AS/RS considered here consists in a

number of rack structures with cranes and shuttles used to transfer pallets from main buffer stations to rack locations. The model is designed so that it can be used not only for off-line evaluation of a given management strategy based on simulation

but also for on-line system monitoring and dynamic dispatching control. The plant model has been decomposed in six modules which communicates via fusion places.

Token colors has been properly defined in order to include information which completely characterize the pallet and the mission in which it is involved so as to

take into account the communication with a higher level mission dispatcher. In addition this fact allow us to render completely local any decision about …

A New Approach to Mechatronics Systems Design Using Hardware in the Loop SimulationDevdas Shetty, Univ. of Hartford, Richard A. Kolk, United Technologies Corp., Jun Kondo, Claudio Campana, Univ. of Hartford, USA

This paper presents an approach to mechatronics system design course, which is primarily based on a combination of mechanical, electrical and software elements along with the design and construction of an intelligent mechatronics technology demonstrator. Topics covered in this course are principles of transducers and sensors and how to interface them with an external process in a computer environment. Methods of system modeling, real time interfacing and rapid prototyping are addressed. Computer interfacing work includes signal conversation, interface components, and real time application of computer systems to problems in manufacturing. The goals of this paper are to describe (1) the University of …

10:50―11:10

Machine Layout Problem in FMS DesignImen Chaieb, Ouajdi Korbaa, Jean-Claude Gentina, Ecole Centrale de

Lille, France

This paper deals with the transport system design in automated FMS. We describe the different phases for the design of such a system and explain more in details the step consisting in laying out machines in a manufacturing cell. The machine layout

problem was treated under several assumptions in the literature, and our contribution consists in introducing flexibility in the production system illustrated by

the consideration of transformation resources existing in many exemplars. The positioning of machines is evaluated by the criterion of the minimization of

transportation tasks duration, and formulated as a mixed quadratic problem resolved by a mathematical solver (CPLEX).

W2AService Robots Human―Machine Interfaces I

W2BSALA PLATEA 11:30―13:10 SALA PASTAAlessandro De Luca, Italy CHAIR Akitoshi Itoh, Japan

Peter Putz, The Netherlands CO-CHAIR Darwin Caldwell, UK

CleaningAssistant — A Service Robot Designed for Cleaning TasksFabrizio Marrone, Matthias Strobel, FAW Ulm, Germany

A new service robot designed for cleaning tasks in home environments is introduced. Robot systems will work directly with people in these areas thus placing a central importance on making interactions between people and machines as natural as possible. The main focus of this paper is twofold: First an introduction to the system's design and to an intuitive programming approach which allows the robot to be easily used by non-experts is given. The approach is based on human gesture recognition and context sensitive interpretation. Second in order to transform full coverage paths planned in workspace to paths in the robot's configuration space a closed form solution of the robot's inverse kinematics

11:30―11:50

Dynamic Modeling of Primary Commands for a Car SimulatorA. Frisoli, C.A. Avizzano, M. Bergamasco, Scuola Superiore Sant’Anna, S.

Data, C. Santi, Centro Ricerche Fiat, Italy

Simplified dynamic analytical models of primary commands of a car i.e. steer wheel and gearshift are identified and developed in the paper. The dynamic models are

used to design the control law of force feedback devices which will be integrated in a car simulator. The model simulation results match satisfactorily with the

experimental available data. An experimental partial assessment of control law for the gearshift simulation has been performed with a commercially available force-feedback joystick. The gearshift simulation control is implemented with an hybrid

model based on a state machine. The results are presented and discussed.

A Robotic System for Total Knee ReplacementAndrea Malvisi, Maurilio Marcacci, Sandra Martelli, Istituti Ospedalieri Rizzoli, Gianni Campion, Paolo Fiorini, Università di Verona, Italy

This paper describes a new robot developed specifically for invasive orthopedic surgery. The design has been a cooperative development among physicians and engineers to achieve the necessary functionality. Target surgery is total knee replacement and the procedure is integrated with computerized data acquisition and path planning for off-line pre-operative planning, and with on-line intra-operative real-time controls for adjustments during surgery. The paper describes the main features of the robotic system in terms of me chanical, programming and functional characteristics. The rationale of the design decisions is presented and current experimental plans are discussed.

11:50―12:10

Modeling of Drivers' Longitudinal BehaviorJohan Bengtsson, Rolf Johansson, Lund Institute of Technology, Agneta

Sjögren, Volvo Technological Development Corporation, Sweden

In the last years, many vehicle manufacturers have introduced advance driver support in some of their automobiles. One of those new features is Adaptive Cruise

Control (ACC), which extends the conventional cruise control system to control of relative speed and distance to other vehicles. In order to design an ACC controller it

is suitable to have a model on drivers’ behavior. Our approach to find dynamical models of the drivers’ behavior was to use system identification. Basic data analysis

was made by means of system identification methodology, and several models of drivers’ longitudinal behavior are proposed, including both linear regression models

and subspace based models. Detection when a driver is changing his behavior in various situations to a deviant behavior is useful. To that purpose a GARCH …

Mental Commit Robot and its Application to Therapy of ChildrenTakanori Shibata, Teruaki Mitsui, AIST, Kazuyoshi Wada, Tsukuba Univ., Akihiro Touda, Sankyo Aluminum Industry Co.,Takayuki Kumasaka, Kazumi Tagami, Tsukuba Univ., Kazuo Tanie, AIST, Japan

This paper describes research on mental commit robot that seeks a different direction that is not so rigidly dependent on such objective measures as accuracy speed and cost. The main goal of this research is to explore a new area in robotics with an emphasis on human-robot interaction. In the previous research we categorized robots into four categories in terms of appearance. Then we introduced a cat robot and a seal robot and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover a priori knowledge of a subject has much influence into subjective interpretation and evaluation of robot. In this paper 785 subjects evaluated the seal robot and the …

12:10―12:30

A Novel Interactive Robot Soccer SystemDong-Soo Kwon, Jun-Ho Oh, YoonKeun Kwak, Ju-Jang Lee, Jung-Hoon Hwang, Hyung-Rock Kim, Jin-Woo Lee, Suk-Kwan Hong, Sun-Gi Hong,

KAIST, Korea

A new robot soccer system has been proposed to increase the interaction between the operator and the robot soccer system. The multiple robots are commanded by a teleoperation function. When a robot is commanded with a joystick other robots are

running by the preprogrammed cooperating strategies. To develop the interactive robot soccer system robust position/orientation sensing techniques have been

developed. In order to make the teleoperation of the soccer robots more intuitive it is proposed to use a joystick control w.r.t. ground-based coordinates. To allow wireless

and isolated teleoperation for each playground an infrared communication system has been adopted. To minimize maintenance a continuous power supply …

Development and Structuring of Mechatronic Systems, Exemplified by the Modular Vehicle X-mobileM. Zanella, T. Koch, F. Scharfeld, Universität Paderborn, Germany

This paper presents an approach to a function-oriented structuring of mechatronics systems, exemplified by means of an autonomous vehicle, the X-mobile, including an active wheel suspension. This vehicle is a fine example of the design methodology of mechatronic systems conceived at the MLaP (Mechatronics Laboratory Paderborn). The design methodology centers around a holistic, interdisciplinary consideration of all system components involved. The development of the X-mobile, from early stages to the simulation to the implementation, is also described. Furthermore, this paper includes more detailed technical information.

12:30―12:50

VGT Turbocharger Controlled by Means of an Adaptive Control Technique

L. Dambrosio, G. Pascazio, S. De Robertis, B. Fortunato, Politecnico di Bari, Italy

This paper provides an adaptive technique for the control of a variable geometry turbine in a turbocharged compression ignition engine. The adaptive control is based on a one-step-ahead technique and a least square parameter estimator algorithm. In order to test the performance of the proposed control technique a numerical model of

the engine has been used which employs a zero-dimensional approach. The paper will show that the one-step-ahead technique is able to improve dramatically the

control performance with respect to that provided by a commonly applied PID control technique.

X-Ray Guided Robotic Radiosurgery for Solid TumorsR.M.C. Bodduluri, Accuracy Inc., J.M. McCarthy, UC Irvine, USA

This paper presents an verview of the x-ray guided robotic radiosurgery system that has been developed for the ablation of solid tumors. A robot mounted linear accelerator is directed through a sequences of positions and orientations designed to deliver high radiation dosages at specific locations.Patient movement during treatment is identified by stereo x-ray measurements and the robotic system adjusts the linear accelerator prior to the delivery of radiation at each location.The result is precise delivery with rigid registration of the tumor relative to the treatment system.

12:50―13:10

A Service Robot for Peopled Environments — Finding Lined People by Stereo Vision and Standing in Line —

Y. Nakauchi, National Defense Academy, Japan, R. Simmons, Carnegie Mellon University, USA

Recent research results on mobile robot navigation systems make it promising to utilize them in service fields. But in order to utilize the robot in a peopled

environment, it should recognize and respond to people's social behaviors. In this paper, we describe a social robot that stands in line as people do. Our system uses

the concept of personal space for modeling a line of people and we have experimentally measured the actual size of the personal space when people form

lines. The system employs stereo vision to recognize lines of people. We demonstrate our ideas with a mobile robot navigation system that can purchase a

cup of coffee, even if people are waiting in line for service.

W2CTechnology Enhanced Teaching Data Storage Systems

W2DSALA BIANCA 11:30―13:10 SALA TURCAJohn Gardner, USA CHAIR Maurizio Zuffada, Italy

Cesare Fantuzzi, Italy CO-CHAIR Winncy Du, USA

Graduate Mechatronics Education in the Department of Mechanical Engineering at the University of UtahSanford Meek, Robert Roemer, Mark Minor, University of Utah, USA

The Department of Mechanical Engineering at the University of Utah has been a leader in the development and delivery ofmechatronics education. Firstly we have developed a basic course that is arequired class for all mechanical engineering students. Secondly we offeran undergraduate Certificate of Mechatronics which provides a recognitionfor the student of more advanced work in the area. We are now implementing a graduate certificate program. There are two motivations for a graduate certificate program. First it is intended to be an outreach to working engineers who do not have the time or need for a full graduate degree. Second it is part of several graduate certificates that in combination can become the major part of a Master's Degree. The anticipated result of this approach will be an increase …

11:30―11:50

High-Bandwidth Servo Control Designs for Magnetic Disk DrivesMasahito Kobayashi, Shinsuke Nakagawa, Takenori Atsumi, Takashi

Yamaguchi, Hitachi Ltd., Japan

In order to attain high track density a head must accurately follow position information recorded on a disk. To achieve high accuracy head positioning disk

drives require increased servo bandwidth. However servo bandwidth is restricted by the main resonance frequency of an actuator and by the sampling frequency. In this paper we discuss several servo technologies for high TPI. First we present the limit

of the servo bandwidth of digital loop-shaping servo methods to the mechanical resonance at which the main resonance frequency of a VCM actuator is 5 kHz and

the sampling time is 30 us. We show that the 1.5 kHz servo bandwidth can be attained by using a phase stabilized compensation method. It is also shown that by using the main resonance pole zero compensation method drawn from H-infinity …

Mechatronics Training on Source Separation Analysis Using a Gyroscopic Motion of a LEGO’s RobotCaroline Deltheil, Didier Leandri, Eric Moreau, ISITV, France, Yousef Ibrahim, Monash University, Australia

This paper demonstrates the educational effectiveness through Mechatronics experimental setup using recently-made robot by LEGO. The paper also explains the experimental setup and the Mechatronics educational experience gained by both students and academic staff. Project-based learning of this exercise proved to be a successful vehicle to motivate students and achieve the desired educational objectives.

11:50―12:10

Dynamic Model of a Multiple Disk and Spindle AssemblyGianni Ferretti, Politecnico di Milano, Alberto Furlan, STMicroelectronics,

GianAntonio Magnani, Politecnico di Milano, Giuseppe Maiocchi, STMIcroelectronics, Paolo Rocco, Politecnico di Milano, Italy

A simplified dynamic model of a multiple disk and spindle assembly is discussed in this paper. The model is particularly focused at describing the coupling between spindle and disk motion, therefore it is suitable for the design of a spindle motion

control aimed at minimizing the vibrations of the disks. The model has been validated by comparison of the resonance frequencies obtained by simulation with

experimental results, available in the literature

Remotely Operated Experiment for Mechatronics: Monitoring of DCS on the InternetK.K. Tan, T.H. Lee, C.Y. Soh, National University of Singapore, Singapore

This paper presents the development of an internet-based system to allow monitoring of important process variables from a distributed control system (DCS). The system is formulated as an add-on to an undergraduate experiment on the development of a desktop DCS. This paper describes the hardware and software design considerations which facilitate the users to access the process variables on the DCS, remotely and effectively, using only a commonly available web browser.

12:10―12:30

Track-following and Seek/settle Control Schemes for High Density Disk Drives with Dual-stage Actuators

Lin Guo, JyeKai Chang, Xiaoping Hu, Maxtor Corporation, USA

Advanced track following and seek/settle schemes for high density hard disk drives with dual-stage actuators are presented. A decoupled master-slave loop structure

has been designed for a dual loop system with suspension based piezoelectric micro-actuators. Experiments show significant performance improvements of the

dual-actuator system over the conventional single loop servo system. A new settle scheme for dual-stage servo system is also designed using a dual-loop initial value compensation (DIVC) scheme. Experimental results shown dramatic improvement

of settle time using this new scheme.

Internet Access to a Fluid Power Mechatronics LaboratoryWayne J. Book, Matthew D. Rouse, Kyle Koeppen, Georgia Institute of Technology, USA

System dynamics is a course that needs physical experiments to realistically represent behaviors of mechatronic systems to students. This paper describes how experiments in fluid power for motion control can be provided over the internet. A hydraulic system was chosen because this important example is absent from hands on experiments in traditional laboratories. Internet access allows the equipment to be fully utilized without the expense, hazards or scheduling conflicts otherwise encountered. The system and its software are described and representative results from experiments are shown.

12:30―12:50

Use of MEMS Based Accelerometers in Hard Disk DrivesRoberto Oboe, Università di Padova, Italy

In this paper we describe the use of MEMS based accelerometers for the compensation of the effects of self-induced and external vibrations in commercial

Hard Disk Drives (HDDs). Using a formal analysis on the HDD mechanics, the effects of a generic roto-translation of the HDD on the head position are evaluated. It

is also shown that such effects can be compensated by using a feed forward compensation which makes use of a weighted sum of the signals provided by a pair

of linear and one rotational accelerometer, properly placed on the HDD's body. As for the rotational acceleration, this has been obtained by using a recently developed

MEMS-based, low cost rotational accelerometer. Experimental results presented here show that a 20 dB reduction on a commercial HDD can be achieved with a

simple, variable gain feedforward compensator. Effective reduction is achieved …

An Integrated Studio Approach to Teaching Basic Electronics to First Year Mechatronics Degree StudentsRobin Sarah Bradbeer, City University of Hong Kong, PRC

The introduction of studio teaching at City University of Hong Kong allowed for a comparative study of the benefits of this form of teaching. A four-year longitudinal study was carried out using the Introductory Electronics courses designed for First Year Mechatronic Engineering degree students. A similar group in the same department studying Manufacturing Engineering was used as a control. It has been shown during preliminary analysis of the data that students using the teaching studio approach acquire a deeper understanding of the subject as well as achieving better grades than those students using the more traditional approaches.

12:50―13:10

Simulator for Single Stage and Dual Stage Hard Disk DrivesRoberto Oboe, Alessandro Beghi, Paolo Capretta, Università di Padova,

Francesco Chrappan Soldavini, STMicroelectronics, Italy

In this paper we describe a simulator for the evaluation of the performance of different control algorithms and strategies, applied to Hard Disk Drives (HDD) with Single Stage (SSA) and Dual Stage Actuators (DSA). In order to perform realistic

simulations, each part of the HDD must be described with high level of detail. As for the mechanics, the usual inertia plus resonance model of the Voice Coil Motor

(VCM) has been enriched with non-linear friction modeling and, in case of DSA, with the dynamic coupling between primary and secondary actuator. The non-linear

friction model has been tuned on experimental data, using an experimental system presented in the paper. As for the electronics, the VCM driver model is included and

quantizations in Position Error Signal (PES) measurement and computation …

W3ARobotic Manipulation in Space Human―Machine Interfaces II

W3BSALA PLATEA 15:30―16:50 SALA PASTASteven Dubowsky, USA CHAIR Tzyh-Jong Tarn, USA

Véronique Perdereau, France CO-CHAIR Dong-Soo Kwon, Korea

Space Robotics — Driver for a New Mechatronic Generation of Light-Weight Armas and Multifingered HandsG. Hirzinger, J. Butterfaβ, M. Grebenstein, M. Hähnle, I. Schäfer, N. Sporer, DLR, Germany

Based on the longterm goal «robonauts for space» the paper describes recent design and development efforts in DLR`s robotics lab towards a new generation of «mechatronic» ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved.

15:30―15:50

Obstacle Avoidance Methods for a Passive Haptic DisplayDavin K. Swanson, Wayne J. Book, Georgia Institute of Technology, USA

An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to

control the velocity direction of the display's handle in order to guide the user around obstacles. The other controller selectively kinematically constrains the device to a

single degree of freedom. The inherent passivity constraint of the haptic display imposes performance limitations on the two controllers.

Fuzzy and Optimal Control of Two-Link Flexible ManipulatorAnthony Green, Jurek Z. Sasiadek, Carleton University, Canada

A Linear quadratic Gaussian (LQG) strategy control a two-link flexible robot manipulator tracking a two-dimensional square trajectory 12.6m x 12.6m. Slew angles together with Gaussian white process and white or non-white measurement noise are fed into an LQG regulator (Kalman filter). The FLC strategy incorporates two fuzzy controllers substituted for the LQR state-space dynamics equations. Trajectories were obtained for the LQG strategy with Gaussian white and non-white measurement noise. The trajectory obtained for white measurement noise closely approaches a perfect square while those obtained for non-white measurement noise deviate. The trajectory obtained with the FLC strategy is similar to that for LQG with white measurement noise. Fuzzy control is found to provide robustness in operation and be constructed with less mathematical complexity than LQG. The deviation …

15:50―16:10

A Motion Base with 6 Degrees of Freedom by Parallel Cable Drive Architecture

Satoshi Tadokoro, Rie Murata, Toshiyuki Matsushima, Kobe University, Yoshio Murao, Hideaki Kohkawa, Taiyo Ltd., Japan, Manfred Hiller,

Gerhard-Mercator-Universität Duisburg, Germany

This paper proposes a new type of motion base for virtual sensation of acceleration. Its architecture is the parallel cable-driven mechanism. It expresses outstanding

advantages in comparison with conventional Stewart plarform architecture especially on duration of virtual acceleration sensation. Optimal mechanism design

is performed from the viewpoint of kinematics. Simulation results show that the WARP mechanism consisting of 3-3-2 cable configuration is one of the best designs

as a motion base. The prototype developed has the maximum motion range of translation +-0.45m x +-0.4m x 1.1m and of rotation +-45 deg in roll angle …

Position/Force Control of an Arm/Gripper System for Space ManipulationL. Biagiotti, C. Melchiorri, G. Vassura, Università di Bologna, Italy

In advanced robotics applications,as those foreseen in space,some degree of dexterity and autonomy is necessary in order execute tasks in unstructured environments.For this purpose besides the kinematic con .guration of the device other basic issues are the sensorial equipment and proper control trategies. This paper present an experimental activity for the validation of a robotic gripper for space applications. In particular the project foresees the compatibility of the gripper with the EUROPA arm,developed by ASI and Tecnospazio. Main key points of the gripper design are the wide working pace compared with its physical dimensions and the capability to deal with free-flying objects in no-gravity conditions.This capability i achieved by using proximity and force/torque ensor and by properly …

16:10―16:30

Adaptive Image Servo Controller for Robot-assisted Diagnostic Ultrasound

P. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean, W.H. Zhu, University of British Columbia, Canada

A robot-assisted system for medical diagnostic ultrasound has been developed by the authors. An ultrasound image servo controller has already been proposed and

implemented in [1, 2] to automatically compensate, through robot motions, unwanted motions in the plane of the ultrasound beam. This paper presents an adaptive image servo controller to enhance the performance of the ultrasound

image servo controller. To increase safety, the control is shared between the operator and the image controller. The stability and accuracy of the system is

illustrated through different experiments.

Synthesis of Impedance Control for Complex Co-operating Robot Assembly TaskDragoljub Surdilovic, IPK, Germany, Francesco Grassini, Maurizio De Bartolomei, Tecnospazio SpA, Italy

This paper describes the algorithms for the synthesis of the impedance control in industrial robots at servo and higher motion planning and programming control levels. These algorithms are realized in the SPARCO control system, providing a powerful impedance control framework for executing various contact tasks with industrial robots. For new contact tasks, the SPARCO provides the possibility to adjust the impedance control gain to the specific robot and control task (environment), as well as to combine elemental commands and high-level contact control actions in order to program a new robot application. The paper describes an automatic procedure for the reliable robust impedance control design ensuring …

16:30―16:50

Force Detectable Surface Covers for Humanoid RobotsHiroyasu Iwata, Hayato Hoshino, Toshio Morita, Shigeki Sugano, Waseda

University, Japan

In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various

tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First, a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed.

Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the

characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is

accomplished. In addition, from an application …

W3CMechatronics Applications Fault Detection

W3DSALA BIANCA 15:30―16:50 SALA TURCARoland Siegwart, Switzerland CHAIR Rolf Joahnasson, SwedenJean-Claude Gentina, France CO-CHAIR Francesco Basile, Italy

Automated, Integrated Modules for Fluid Handling, Thermal Cycling and Purification of DNA Samples for High Throughput Sequencing and AnalysisDeirdre R. Meldrum, University of Washington, William H. Pence, Stephen E. Moody, David L. Cunningham, Orca Photonic Systems, Mark Holl, University of Washington, Peter J. Wiktor, Engineering Arts, Mohan Saini, Matthew P. Moore, Ling-Sheng Jang, Molly Kidd, Charles Fisher, Andrew Cookson, University of Washington, USA

Over the past 5 years the Genomation Laboratory at the University of Washington has developed an automated fluid handling system called "Acapella" to prepare microliter reactions for genome analysis. Reactions such as restriction enzyme digests, polymerase chain reactions (PCRs), and sequencing reactions are …

15:30―15:50

Coulomb and Viscous Friction Fault Detection with Application to a Pneumatic Actuator

W.B. Dunbar, R.A. de Callafon, J.B. Kosmatka, UC San Diego, USA

Generally fault detection is the process of monitoring a physical dynamic system accompanied by confirmation and assessment of any degradation of system

performance. These systems are modelled and terms that are representative of a specific fault are identified and monitored for detection. In this paper a fault detection

algorithm is developed to isolate and detect friction changes in a high precision positioning mechanism. The designed fault detection algorithm addresses dynamic

model estimation dynamic filtering and recursive parameter estimation techniques to monitor on-line friction changes. The procedure is illustrated on a high precision

servo pneumatic cylinder that drives a translational air bearing apparatus designed to permit the addition of friction. Side loading of the cylinder rod …

Control of Bioconvection and Its Mechanical ApplicationAkitoshi Itoh, Hideki Toida, Tokyo Denki University, Japan

High-density culture medium of protozoa autonomously generates bioconvection because of its property of negative gravitaxis and of its density heavier than the culture medium. Many species of protozoa also have the property of negative galvanotaxis. Therefore, this study aims to control bio-convection by applying the electrical field and to apply bioconvection for the energy source or the mechanical power source. In this study, downward flow of bio-convection was controlled by the negative electrode allay installed on the top plate. The results show that the position of the downward flow can be controlled by this system. As an example of the mechanical application, small seesaw was continuously driven by the controlled downward flow.

15:50―16:10

Fault Detection for Wheeled Mobile Robots with Parametric Uncertainty

W.E. Dixon, Oak Ridge National Laboratory, I.D. Walker, D.M. Dawson, Clemson University, USA

In this paper we develop a new method for Wheeled Mobile Robot (WMR) fault detection. Specifically we develop kinematic and dynamic models of the WMR in the

presence of faults such as a change in the wheel radius (e.g. deformation broken spoke flat tire) or general kinematic disturbances that model slipping or skidding

faults. Utilizing the WMR models we employ a torque filtering technique to develop a prediction error based fault detection residual. The structure of the prediction error

allows for fault detection despite parametric uncertainty in the WMR model.

In-Pipe Inch-Worm Pneumatic Flexible RobotA. Manuello Bertetto, M. Ruggiu, Università di Cagliari, Italy

A pneumatic flexible robot prototype for pipes inspection was built. A dynamic model which takes into account the flexibility, damping and friction was developed. Numerous experiments were carried out in order to characterize the robot and in order to provide the input for the numerical model. The model was validated by comparing the experimental and numerical robot gait in time. The robot motion for different pipes network geometry is presented.

16:10―16:30

Minimal Resource Allocating Networks for Aircraft SFDIAMario L. Fravolini, Università di Perugia, Italy, Giampiero Campa, Marcello

Napolitano, West Virginia University, USA, Yongkyu Song, Hankuk Aviation University, Korea

This paper presents an on-line learning approach for the problem of sensor failure detection, identification and accommodation (SFDIA) for aircraft systems using

Neural Networks (NNs). The SFDIA scheme exploits the analytical redundancy of the system to provide sensor validation capability to a measurement device by

employing learning NNs as on-line non-linear approximators. In the context of online learning some issues are of critical importance as learning speed, number of

parameters to be updated, and stability of the learning algorithm. To address these problems a Minimal Resource Allocating Network (MRAN) is proposed featuring a

fully tuned Radial Basis Functions (RBF). The purpose of this study is to evaluate …

A Time-Delayed Dynamic Inversion Scheme for Mechatronic Control of Hydraulic SystemsKlaus Six, Ty A. Lasky, Bahram Ravani, University of California at Davis, USA

A method is presented for robust control of hydraulic systems. Hydraulic systems with high-fidelity electronic control are considered as a special class of mechatronic systems where mechanical motion is achieved using hydraulic actuation. In this paper such systems are referred to as hydrotronic systems. A control system is presented for such systems consisting of hybrid position/force control where the outer-loop position control is based on Time-Delay Control for robust and simplified dynamic inversion for a nonlinear system. Simulation results are presented that show advantages of the new method as compared to other methods reported in the literature.

16:30―16:50

Fault Diagnosis for Nonlinear Mechanic SystemsVladimir V. Filaretov, Alexey N. Zhirabok, Sergey A. Usoltsev, Far Eastern

State Technical University, Russia

The problem of observer-based fault diagnosis in mechatronic systems is studied. To solve this problem, the following approach is suggested: replacing the initial

nonlinear system by certain linear logic-dynamic system, obtaining the bank of linear logic-dynamic observers, and transforming these observes into the nonlinear ones.

W4AVehicles and Space Exploration Mobile Robots

W4BSALA PLATEA 17:10―18:30 SALA PASTAClaudio Melchiorri, Italy CHAIR Tim Salcudean, Canada

Evangelos Papadopoulos, Greece CO-CHAIR Giovanni Muscato, Italy

Advanced Mechatronics in ESA's Space Robotics DevelopmentsG. Visentin, M. Van Winnendael, P. Putz, European Space Technology Center, The Netherlands

Space robots are driven by requirements for high performance and versatility under extreme constraints of low mass, low energy consumption, and few interaction possibilities with supervising humans. This necessitates high degrees of miniaturisation and autonomy. The paper gives an overview of advanced mechatronic solutions for novel space robot systems in a variety of applications: small robot arms for operation on a Space Station or on planets; various concepts of mobility on the Moon, Mars, or Mercury; penetrating or drilling systems for subsurface investigations; micro satellites circling a Space Station and flying robots exploring extreme topologies on Mars.

17:10―17:30

Optimal Flow Control for AUV NetworksJoseph T. Napoli, T.J. Tarn, Washington University in Saint Louis, USA

This paper presents a procedure for constructing controllers that limit and route information flow in Autonomous Underwater Vehicle (AUV) networks. Particular

attention is paid to the objectives of maximizing throughput and bandwidth efficiency while minimizing power consumption. Both a finite and infinite time horizon problem

are formulated and solved for unique, piecewise continuous optimal controllers. In the infinite time case, a receding horizon system is adopted and a stability result for

it is presented.

Development of a Multiagent Robotic System With Application to Space ExplorationE.J.P. Earon, T.D. Barfoot, G.M.T. D'Eleuterio, University of Toronto, Canada

A concept network of autonomous mobile robots intended to carry out tasks related to planetary space exploration is described. Many aspects of the system have been fashioned to make the transition from simulation to hardware as seamless as possible. Representative space exploration tasks are outlined followed by brief descriptions of the hardware and control. One specific task deploying an array of sensors for network science is used as an example. Technical challenges and preliminary experimental results are discussed. The benefits of using a simulator and hardware to develop controllers are found to be complementary.

17:30―17:50

Detection of Stair Dimensions for the Path Planning of a Bipedal Robot

Amos Albert, Michael Suppa, Wilfried Gerth, Univ. Hannover, Germany

This paper deals with the detection of the characteristics of stairs i.e. the number of steps the step height and the step width for online path planning of a bipedal robot.

For the construction of a multi purpose mobile platform for service robot applications with special respect to the human environment a biped seems to be more

advantageous than a wheel based robot. In the framework of our studies the bipedal robot BARt-UH has been built and walking as well as the climbing of stairs have

been realized. The environment of the robot is assumed to be structured consisting of flat surfaces and stairs but not known in advance. Therefore a state transition algorithm for intelligent path planning of the robot is suggested. Further a stereo

vision module with a line laser is considered in order to detect the stair …

Lightweight Hyper-redundant Binary Elements for Planetary Exploration RobotsVivek A. Sujan, Matthew D. Lichter, Steven Dubowsky, MIT, USA

This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID element is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom and a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.

17:50―18:10

Modeling of Mobile Manipulators on Irregular Terrain and Evaluation of Disturbance Torques

Masatoshi Hatano, Toyama University, Mamoru Minami, Fukui University, Tsuyoshi Ohsumi, Haruki Obara, Toyama University, Japan

In the present research we propose a model of a dynamic mobile manipulator traveling on irregular terrain and evaluate disturbance torques caused by irregular

terrain. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is required to operate

precisely while traveling on irregular terrain it is subject to disturbance torques caused by traveling across such terrain. Therefore a compensation method of

decreasing control errors caused by disturbances due to terrain must be considered. In this paper a model of a dynamic mobile manipulator traveling on irregular terrain

is formulated with traveling states and constraint conditions …

Model Predictive Control of an Autonomous VehicleB. Kim, D. Necsulescu, University of Ottawa, J. Sasiadek, Carleton University, Canada

This paper presents model predictive control of an autonomous vehicle. Simulation and experimental results have been shown and compared with input-output linearization method. The results obtained show that the MPC is an efficient method that allows for accurate control and navigation of an autonomous vehicle. Model based predictive control is tested in simulations for motion on an inclined plane. This is done to prepare future work regarding the avoidance of the violation of the smoothness condition for exact linearization, while at the same time by modifying the input commands the geometric path planning results are conserved. The approach is presented for the wheel-ground slippage and tip-over avoidance of the three-wheeled vehicle for inclined plane motion. A complete three-dimensional …

18:10―18:30

Robot Motion Control in Dynamic EnvironmentsI.V. Miroshnik, K.A. Sergeev, State Institute of Fine Mechanics and Optics,

Russia

The paper concerns trajectory problems for stationery, platform-mounted or mobile robots interacting with moving external objects. A new task oriented model of spatial

motion in mobile environments is obtained and nonlinear control lawas based on geometric methodologies of the theory of nonlinear and MIMO systems are

designed.

W4CMicro Technology Planning and Navigation

W4DSALA BIANCA 17:10―18:30 SALA TURCABahram Ravani, USA CHAIR Ian Walker, USA

Gabriele Vassura, Italy CO-CHAIR Norberto Pires, Portugal

Object Conveyance System ″Magic Carpet″ Consisting of 64 Linear Actuators — Object Position Feedback Control with Object Position Estimation —Hichirousai Oyobe, Yoichi Hori, University of Tokyo, Japan

A novel object transfer system named Magic Carpet composed of linear actuator array and driven by autonomous decentralized type control algorithm is proposed. An object is manipulated by a large number of contact points with many actuators which differs from conventional systems like belt conveyor. In this paper the control algorithm for such distributed manipulation is proposed. Due to recent development of micromachine technology distributed manipulation becomes more important. This system has a big advantage in its fault tolerance because it has a lot of actuators with poor performance to move a large heavy object. However it has a serious wiring problem to be solved and homogeneous structure should be introduced …

17:10―17:30

Building an Environment Map Using a Sweeping System Based on a Single Ultrasonic Sensor

Nouara Achour, Redouane Toumi, Algiers Univ. of Technology, Algeria

In this paper, we present an efficient and cheap approach to build a sonar based mapping for autonomous mobile robot in indoor environments. The system uses one

ultrasonic sensor (Emitter and receiver are separated) mounted on a motorization constituted by two motors allowing a horizontal and vertical scanning. The reading is

modelled as probability profiles projected on a two-dimensional map. These readings provide information’s concerning empty and occupied areas in the sensor

cone. The world is modelled as a grid of cells. Using raster-based approach to computer graphic, we determine the cells of the area occupied by the sensor cone.

The map can be used to plan paths and for landmark recognition. Results from actual runs are presented at the end.

Coarse/Fine Motion Control of a Teleoperated Autonomous Piezoelectric Nanopositioner Operating under a MicroscopeAntoine Ferreira, Jean-Guy Fontaine, ENSIB, France

A small “intelligent” autonomous multidegree of freedom mobile nanopositioner is presented. It is controlled and operated remotely through a graphical user interface for coarse and fine positioning under a microscope. The motion principle of the mobile piezoelectric platform actuated by ultrasonic piezo-legs is presented. Its on-board control architecture comprises power, motion controllers, sensors and IR communication interface. In order to operate under the field of view of a microscope, a motion strategy based on on-board controllers and remote semi-automatic operation has been adopted in order to provide coarse and fine positioning. The closed-loop position schemes are theoretically considered and their results are demonstrated and evaluated in practice. Evaluations of experimental …

17:30―17:50

The Agoraphilic Algorithm: A New Optimistic Approach for Mobile Robot Navigation

M. Yousef Ibrahim, L. McFetridge, Monash University, Australia

This paper presents a summary of research which is recently conducted at Monash University - Gippsland Campus. The objective of this research project is to develop

a new efficient methodology for mobile robot navigation. The new optimistic algorithm is based on free space attraction rather than looking for obstacles to

avoid. It utilizes a single attractive force generated by the surrounding local free-space as opposed to the classical APF whereby attractive and repulsive forces are employed. Adaptive Fuzzy Logic is then utilized to limit the `free-space' force so as

to promote the movement toward the goal. To demonstrate the algorithms ability several simulations plus some preliminary experimental results are presented.

Study on Turning Motion of Micro Robot Driven by Cyclic Force Kiyoshi Ioi, Kinki University, Japan

This paper deals with the turning motion mechanism of a brush-type micro robot using cyclic centrifugal forces. Many wheeled robots usually turn along the tangential velocity generated by their rolling wheels. The micro robot studied here has a turning property different from usual wheeled mobile robots. To realize the micro mobile robot, the mechanism accompanied with many brush legs has been often applied so far. However, the turning motion mechanics has not been clarified. This paper clarifies the mechanics. First, We derive a two-dimensional rolling model of the brush-type robot driven by cyclic centrifugal forces, and indicate the existence of the lateral force acting toward the robot by the computer simulation and the simple mathematical analysis. Next, to confirm the turning motion mechanics caused by the lateral force, we obtain many experimental results of the circular …

17:50―18:10

New Concept of Visibility Tetrahedra for Fast Robot Motion PlanningMiguel Hernando, Ernesto Gambao, Universidad Politécnica de Madrid,

Spain

Currently new applications of robots outside the known and fixed environment of a factory will increase the need for these planners. In this situations it will be

necessary to cope with very variable and complex environments and with the direct human interaction. A new approach for n degrees of freedom robot motion planning based on the concept of the Visibility Tetrahedra and the use of Genetic Algorithms

combined with local search methods is presented in this paper. The proposed approach has been successfully tested over several selected experiments obtaining

fast planning even for complex situations.

In-contact Dynamics of Atomic Force MicroscopesOsamah M. El Rifai, Kamal Youcef-Toumi, MIT, USA

This paper demonstrates and explains the great impact scan parameters and cantilever properties have on the dynamics of atomic force microscopes (AFM) and hence its performance. Results show that when operating in Air and in-contact with hard samples modal damping is a strong function of contact force set-point and amplitude of disturbance i.e. sample surface topography. Small amplitudes and large set-points result in lower damping. In addition a large contact force can result in damage to the sample and increase friction force between probe and sample. Further cantilevers with long probes result in pole-zero flipping possibly due to the compliance of the probe being comparable to that of the cantilever. These large changes in the dynamics of the AFM impose a challenge on its feedback system. It requires a controller that provides robust performance to ensure high-fidelity of …

18:10―18:30

An Outdoor Navigation System Using GPS and Inertial PlatformS. Panzieri, Università di Roma Tre, F. Pascucci, Università di Roma "La

Sapienza", G. Ulivi, Università di Roma Tre, Italy

The use of Global Positioning System (GPS) in outdoor localization is a quite common solution in large environments where no other references are available and positioning requirements are not so pressing. Of course fine motion without the use

of an expensive differential device is not an easy task even now that available precision has been greatly improved as the military encoding has been removed. In this paper we present a localization algorithm based on Kalman filtering that tries to

fuse information coming from an inexpensive single GPS with inertial and sometimes uncertain map based data. The algorithm is able to produce an estimated configuration for the robot that can be successfully fed back in a

navigation system leading to a motion whose precision is only related to current … information quality.

AUTHORS INDEX

AAbolmaesumi, P. ...................................... W3BAchour, N. ................................................ W4DAdamini, R. .............................................. T2AAgbanhan, J. ........................................... M2BAicardi, M. ................................................ M4A,M4AAiyama, Y. ............................................... T4AAlbert, A. .................................................. W4BAllotta, B. ................................................. M2D,M2D,T2BAmati, N. .................................................. T3CAndo, N. ................................................... M1B,M3BAngeles, J. ............................................... M1AAngioli, F. ................................................. T2BAntonelli, G. ............................................. T1AAntoniadis, I. ............................................ T3BArai, F. ..................................................... T3AArai, T. ..................................................... M2B,M3AArao, M. ................................................... T1BArena, P. .................................................. W1BArras, K. ................................................... M3BArteaga, M.A. ........................................... T2AArtrit, P. .................................................... W1BAsakura, T. .............................................. M2BAsama, H. ................................................ M4CAtsumi, T. ................................................ W2DAvizzano, C.A. ......................................... W2B

BBadescu, M. ............................................. T4CBaeten, J. ................................................ T4ABaidyk, T.N. ............................................. T1BBarfoot, T.D. ............................................ W4ABasile, F. .................................................. W1DBeghi, A. .................................................. T4B,W2DBengtsson, J. ........................................... W2BBergamasco, M. ....................................... W2BBerns, K. .................................................. W1BBertram, T. ............................................... M3DBiagiotti, L. ............................................... W3ABielecki, T. ............................................... M3DBisogni, M. ............................................... T1BBodduluri, R.M.C. .................................... W2ABok, S.H. ................................................. M2CBona, B. ................................................... M4ABonfatti, F. ............................................... T3DBonfè, M. ................................................. T3DBook, W.J. ............................................... M1B,W2C,W3BBoulenger, Y. ........................................... T1CBradbeer, R.S. ......................................... W2CBranciforte, M. ......................................... W1BBrega, R. ................................................. M3B,T4DBreglio, G. ................................................ M4CBruni, S. ................................................... M2DBrusa, E. .................................................. T3CBu, F. ....................................................... T2CBurton, R. ................................................ M4DButterfaβ, J. ............................................. W3A

CCaccavale, F. ........................................... M4ACai, L. ...................................................... T1BCalabrò, A. ............................................... M4CCaldwell, D.G. .......................................... W1BCallegari, M. ............................................ M4D,T2ACampa, G. ............................................... W3DCampana, C. ........................................... W1CCampion, G. ............................................ W2ACanderle J. .............................................. W1BCanelli, N. ................................................ M3ACannella, F. ............................................. T2ACaponetto, R. .......................................... W1BCapretta, P. ............................................. T4B,W2DCarbone, C. ............................................. W1DCarreras, C. ............................................. T3ACarrozza, M.C. ........................................ M3ACasalino, G. ............................................. M4A,M4ACavallo, A. ............................................... T3BCeccarelli, M. ........................................... M2AChaieb, I. ................................................. W1DChang, J. ................................................. W2DCharalambides, P.G. ............................... M3CChen, C.L.. .............................................. M1CChen, I-M. ................................................ M1AChen, J.H. ................................................ M1BChen, Y. ................................................... T1BCheng, C.C. ............................................. M1BChiacchio, P. ........................................... W1DChiaverini, S. ........................................... T1AChiu, G.T.-C. ........................................... M1C,T2CChoudhuri, S. ........................................... M3CChrappan Soldavini, F. ............................ T4B,W2DChung,Y.-H. ............................................. M2ACloet, C. ................................................... T4DColla, V. ................................................... M2DCollina, A. ................................................ M2DCook, C.D. ............................................... W1CCookson, A. ............................................. W3CCroft, E.A. ................................................ T2CCucè, A. ................................................... T1BCunningham, D.L. ................................... W3CCusano, A. ............................................... M4CCutolo, A. ................................................. M4C

DDaerden, F. .............................................. T3CDambrosio, L. .......................................... W2BD’Amico, A. .............................................. T1BDario, P. ................................................... M3AData, S. .................................................... 1070Davis, S. .................................................. W2BDawson, D.M. .......................................... W3DDe Bartolomei, M. .................................... W3ADeBoer, F. ............................................... W1Cde Callafon, R.A. ...................................... W3DDegano, C. .............................................. W1DDe Kruif, B.J. ........................................... M3B

D’Eleuterio, G.M.T. .................................. W4A Furlan, A. ................................................. W2D

Delli Colli, V. ............................................ T1CDeltheil, C. ............................................... W2CDe Luca, A. .............................................. T4C,W1A,W1ADe Maria, G. ............................................ T3BDe Meter, E.C. ......................................... M3CDemeulenaere, B. .................................... T3CDeng Z.-G. ............................................... M3BDe Robertis, S. ........................................ W2BDe Schutter, B. ........................................ M1DDe Schutter, J. ......................................... T3C,T4Ade Silva, C.W. .......................................... M4B,M4B,M4BDe Vries T.J.A. ........................................ M3BDiana, F. .................................................. M1DDi Febbraro, A. ........................................ W1DDi Giovanni, G. ........................................ W1A,W1ADi Gregorio R. .......................................... M2A,T1ADing, H. .................................................... M2CDi Stefano, R. .......................................... T1CDixon, W.E. .............................................. W3DDouglas, P.L. ........................................... M4BDresselhaus, M. ....................................... T2ADrouin, M. ................................................ T4ADu, W. ...................................................... M1CDuan, B.Y. ............................................... T2BDubowsky, S. ........................................... W4ADunbar, W.B. ........................................... W3DDyllong, E. ............................................... T1A

EEaron, E.J.P. ........................................... W4AEconomou, D. .......................................... T3BEjiri, M. ..................................................... PL1Elhajj, I. .................................................... T3AEl Rifai, O.M. ........................................... W4CEzaki, H. .................................................. M2B

FFalkman, P. ............................................. W1DFanti, M.P. ............................................... W1DFantuzzi, C. ............................................. T3DFerrarini, L. .............................................. T2DFerreira, A. ............................................... W4CFerreira, P.M. ........................................... M3CFerreira Santos, I. .................................... T2BFerretti, G. ............................................... T4D,W2DFicola, A. .................................................. T3BFigliolini, G. .............................................. T2CFilaretov, V.V. .......................................... W3DFiorini, P. ................................................. W2AFisher, C. ................................................. W3CFlath, M. ................................................... T4DFogliazza, G. ........................................... T2DFontaine, J.-G. ......................................... W4CFortunato, B. ............................................ W2BFossati, F. ................................................ M2DFravolini, M.L. .......................................... T3B,W3DFreudenberg, H. ....................................... M2AFrisoli, A. .................................................. W2BFröhleke, N. ............................................. T1CFukuda, T. ............................................... T3AFung, C.K.M. ........................................... T3A

Fusco, G. ................................................. T1A,T3B

GGadda, G. ................................................ T3DGaldi, V. ................................................... M4DGambao, E. ............................................. W4DGardner, J.F. ........................................... W1CGarg, D.P. ................................................ T2D,T3AGarner, H. ................................................ M1CGaßmann, B. ........................................... W1BGausemeier, J. ........................................ T4DGautier, M. ............................................... T2DGentina, J.-C. .......................................... W1DGerth, W. ................................................. W4BGhigliazza, R. .......................................... M4DGiordano, M. ............................................ M4CGiua, A. .................................................... M1DGolnaraghi, F. .......................................... T2BGonda, K. ................................................ M1BGoodall, R. ............................................... M2DGrassini, F. .............................................. W3AGrebenstein, M. ....................................... W3AGreen, A. ................................................. W3AGu, C.E. ................................................... M4BGu, L. ....................................................... M4BGuccione, S. ............................................ VIGuo, L. ..................................................... W2D

HHa, I. ........................................................ T1AHabibi, S. ................................................. M4DHahn, H. .................................................. T3CHähnle, M. ............................................... W3AHandroos, H. ........................................... W1AHanke, O. ................................................ M3DHannan, M.W. .......................................... M1AHashimoto, H. .......................................... M1B,M3BHashimoto, T. .......................................... M4CHatano, M. ............................................... W4BHattori, H. ................................................ T4AHeppler, G.R. ........................................... T2BHernando, M. ........................................... W4DHestermeyer, T. ....................................... M1DHiguchi, M. ............................................... M1DHiller, M. .................................................. M3D,W3BHiramatsu, S. ........................................... M1AHirzinger, G. ............................................ T1C,W3AHitaka, G. ................................................. T2BHoll, M. .................................................... W3CHolnicki-Szulc, J. ..................................... M3DHong, S.-G. .............................................. W2BHong, S.-K. .............................................. W2BHori, Y. ..................................................... W4CHorowitz, R. ............................................. T4DHoshino, H. .............................................. W3BHu, Hong ................................................. T1CHu, Huosheng .......................................... M1B,M3BHu, X. ....................................................... W2DHung, S. ................................................... PL2Hurtado, J.F. ............................................ M2CHwang, J.-H. ............................................ W2B

IIannitti, S. ................................................. T4CIbrahim, M.Y. ........................................... M3D,W1C,W2C,W4DInamura, T. .............................................. M2B

Kosmatka, J.B. ........................................ W3DKosuge, K. ............................................... M2BKovanen, J. .............................................. W1AKoyama, T. .............................................. T3AKramer, U. ............................................... T3D

Indiveri, G. ............................................... M4A,M4AIndri, M. .................................................... M4AInoue, K. .................................................. M2B,M3AInukai, T. .................................................. T3AIoi, K. ....................................................... W4CIppoliti, G. ................................................ T1BIppolito, L. ................................................ M4Dİstefanopulos, Y. ...................................... W1AItoh, A. ..................................................... W3CItoh, K. ..................................................... T4BItoh, T. ..................................................... M4CIwasaki, M. ............................................... T4BIwata, H. .................................................. W3B

JJan, Y.-J. ................................................. T4AJang, L.S. ................................................ W3CJensen, B. ................................................ M3BJeon, B.-H. ............................................... T1AJezequel, L. ............................................. M3DJohansson, R. .......................................... W2B

KKagawa, N. .............................................. W1BKagoshima, T. ......................................... M3BKallenbach, E. ......................................... M2AKanamaru, N. .......................................... T3AKarray, F. ................................................. M4BKato, N. .................................................... M1BKawaji, S. ................................................. T1BKawamura, T. .......................................... T2DKazerooni, H. .......................................... W1BKesavadas, T. .......................................... M1DKhalil, W. ................................................. T2DKhawaja, K.A. .......................................... T1DKhetan, R.P. ............................................ M3CKidd, M. ................................................... W3CKikuchi, K. ................................................ M1DKim, B. ..................................................... W4AKim, H.-R. ................................................ W2BKim, I. ...................................................... T1AKinoshita, T. ............................................. M1AKlement, M. ............................................. M1CKlopčar, N. ............................................... M3AKobayashi, H. .......................................... M1DKobayashi, K. .......................................... T2DKobayashi, M. .......................................... W2DKoch, T. ................................................... W2AKoeppen, K. ............................................. W2CKoganezawa, K. ....................................... M1AKohkawa, H. ............................................ W3BKojima, T. ................................................ T2DKolk, R.A. ................................................. W1CKomainda, A. ........................................... T1AKondo, J. ................................................. W1CKonno, A. ................................................. M1BKorbaa, O. ............................................... W1D

Krämer, E. ............................................... T1CKroeker, P. ............................................... M4DKuczynski, A. ........................................... T2AKuhlbusch, W. ......................................... M2AKumar, A.S. ............................................. M2CKumar, R.K. ............................................. M2CKumasaka, T. .......................................... VI,W2AKurfess, T.R. ............................................ T1D,W1CKwak, Y. .................................................. W2BKwon, D.-S. ............................................. W2BKyriakopoulos, K. ..................................... T4C

LLa Cava, M. ............................................. T3BLampaert, V. ............................................ T4BLanni, C. .................................................. M2ALasky, T.A. ............................................... W3CLazzarini, R. ............................................. M3ALeandri, D. ............................................... W2CLee, E.C. .................................................. M3CLee, J. ...................................................... T1A,T1ALee, J.-H. ................................................. M3BLee, J.-J. .................................................. W2BLee, Jae-Won .......................................... M2ALee, Jin-Woo ........................................... W2BLee, K.-M. ................................................ M1C,M2CLee, M.F.R. .............................................. M4BLee, T.H. .................................................. M4B,W2CLefeber, D. ............................................... T3CLegnani, G. .............................................. T2ALemoine, Ph. ........................................... T2DLenarčič, J. .............................................. M3A,M3ALenart, L. ................................................. T1DLennartson, B. ......................................... W1DLi, H. ........................................................ M2CLi, W.J. ..................................................... T3ALichter, M.D. ............................................ W4ALiégeois, A. .............................................. M2BLiu, B. ...................................................... T2BLiu, H. ...................................................... T1CLiu, W. ..................................................... M4BLiu-Henke, X. ........................................... M1DLonghi, S. ................................................ T1BLongo, D. ................................................. T4CLotti, F. ..................................................... T2DLucidarme, P. .......................................... M2BLückel, J. ................................................. M1D,M2A

MMae, Y. .................................................... M2B,M3AMagnani, G. ............................................. T4D,W2DMaiocchi, G. ............................................. W2DMaißer, P. ................................................ M2AMalvezzi, M. ............................................. M2DMalvisi, A. ................................................ W2AManuello Bertetto, A. ............................... W3CMarcacci, M. ............................................ W2A

Marchese, S. ........................................... W1BMarignetti, F. ............................................ T1CMarin, R.A. ............................................... M3CMarrone, F. .............................................. W2AMartelli, S. ................................................ W2AMaslen, E.H. ............................................ T3BMassa, B. ................................................. M3AMatsui, N. ................................................ T4BMatsumoto, T. .......................................... M2B

Nakamura, Y. ........................................... M2BNakauchi, Y. ............................................ W2BNakazawa, M. .......................................... T2DNan, R.D. ................................................. T2BNapoli, J.T. .............................................. W4BNapolitano, M. ......................................... W3DNatale, C. ................................................. T3B,T3CNecsulescu, D. ........................................ W4ANee, A.Y.C. .............................................. M2C

Matsuno, T. .............................................. T3AMatsushima, T. ........................................ W3BMattone, R. .............................................. T4CMavroidis, C. ............................................ T3B,T4CMcCarthy, J.M. ........................................ W2AMcFarlane, J.R. ....................................... T2CMcFetridge, L. .......................................... W4DMedrano-Cerda, G.A. .............................. W1BMeek, S. .................................................. W2CMei, T.X. .................................................. M2DMelchiorri, C. ........................................... W3AMeldrum, D.R. ......................................... W3CMelkote, S.N. ........................................... M2CMenegatti, E. ........................................... M1CMicera, S. ................................................ M3AMichelini, R.C. ......................................... M4DMichielen, M. ........................................... M3DMinami, M. ............................................... M2B,W4BMinor, M. .................................................. W2CMiroshnik, I.V............................................ W4BMitsui, T. .................................................. VI,W2AMitsuya, Y. ............................................... M1BMizukawa, M. ........................................... T3AMochiyama, H. ......................................... M1AMoerschell, J. .......................................... T4BMöhringer, S. ........................................... T4DMoita, F. ................................................... M4CMolfino, R.M. ........................................... M4DMonari, P.D. ............................................. T3DMonti, S. .................................................. T2AMoody, S.E. ............................................. W3CMoore, C.A. ............................................. T1DMoore, M.P. ............................................. W3CMoreau, B. ............................................... M3BMoreau, E. ............................................... W2CMori, Y. .................................................... M1AMorino, T. ................................................ VIMorita, T. ................................................. W3BMoritz, W. ................................................ M2AMorselli, R. ............................................... M4DMrad, R.B. ............................................... T1CMukherjee, R. .......................................... T3BMunir, S. .................................................. M1BMurakami, T. ............................................ T2BMurao, Y. ................................................. W3BMurari B. .................................................. PL1Murata, R. ................................................ W3BMuscato, G. ............................................. VI,T4C,W1B

NNagchaudhuri, A. ..................................... T3ANaghdy, F. ............................................... W1CNakagawa, S. .......................................... W2DNakajima, K. ............................................ M3B

Nicolais, L. ............................................... M4CNicoletti, R. .............................................. T2BNoda, A. ................................................... T3ANoguchi, Y. .............................................. T3ANunes, U. ................................................. M4C

OObara, H. ................................................. W4BOboe, R. .................................................. T4B,W2D,W2DOh, J.-H. .................................................. W2BOhnishi, K. ............................................... T2B,T4AOhsumi, T. ............................................... W4BOhta, M. ................................................... M1BÖke, G. .................................................... W1AOkubo, T. ................................................. M4COnillon, E. ................................................ T4BOriolo, G. ................................................. T4COsuka, K. ................................................. T2AOtera, N. .................................................. T3AOu, S.-C. .................................................. T3DOwen, W.S. ............................................. T2COyobe, H. ................................................ W4C

PPagello, E. ............................................... M1CPagnanelli, P. .......................................... T2APanzieri, S. .............................................. W4DPapadimitriou, I. ....................................... T4DPapadopoulos, E. .................................... T4DPapi, M. ................................................... M2DParenti-Castelli, V. ................................... M3AParker, G. ................................................ M3DParker, J.M. ............................................. M1CParomtchik, I.E. ....................................... M4CPascazio, G. ............................................ W2BPascucci, F. ............................................. W4DPastorelli, S. ............................................ T2CPeel, G. .................................................... M3DPegoraro, R. ............................................ T1BPelinescu, D. ........................................... M2CPence, W.H. ............................................ W3CPeng, B. ................................................... T2BPerdereau, V. .......................................... T4APersson, J. ............................................... M3BPeschiera, G. ........................................... W1BPham, M.T. .............................................. T2DPiazzi, A. .................................................. W1APiccolo, A. ................................................ M4DPires, J.N. ................................................ T1DPoignet, Ph. ............................................. T2DPoppe, C.D. ............................................. T2DPugi, L. .................................................... M2DPugliese, F. .............................................. M2APutz, P. .................................................... W4A

QQin, W. ..................................................... T1B

RRauf, A. .................................................... M2ARavani, B. ................................................ W3CRemond, C. ............................................. T4AResta, F. .................................................. M2D,M2DRinchi, M. ................................................. T2BRizzo, A. .................................................. W1BRocco, P. ................................................. T4D,W2D

Sugano, S. ............................................... W3BSugiuchi, H. ............................................ VISujan, V.A. ............................................... W4ASun, C.J. .................................................. M4BSun, H. ..................................................... T2CSung, W.-T. ............................................. T3DSuppa, M. ................................................ W4BSurdilovic, D. ........................................... W3ASuzuki, H. ................................................ M2BSwanson, D.K. ......................................... W3BSwevers, J. .............................................. T4BSzente, V. ................................................ T2C

Roemer, R. .............................................. W2CRongier, P. ............................................... M2BRouse, M.D. ............................................. W2CRovetta, A. ............................................... T1BRuggiu, M. ............................................... W3CRyu, J. ..................................................... M2A

SSaffert, E. ................................................. M2ASaini, M. ................................................... W3CSalcudean, S.E. ....................................... W3BSalmon, M. .............................................. T2DSandoni, G. .............................................. M4DSanti, C. ................................................... W2BSantolini, C. ............................................. T2ASarma, S.E. ............................................. M3CSasahara, M. ........................................... T2DSasiadek, J.Z. .......................................... W3A,W4ASato, K. .................................................... T4BScarano, M. ............................................. T1CSchäfer, I. ................................................ W3AScharfeld, F. ............................................ M2A,W2AScholl, K.-U. ............................................. W1BSchulte, H. ............................................... T3CSchulte, T. ............................................... T1CSeatzu, C. ................................................ M1DSeitz, N. ................................................... T1CSeneviratne, L. ........................................ T1DSergeev, K.A. .......................................... W4BSetiawan, J.D. ......................................... T3BShen, B.-H. .............................................. VIShetty, D. ................................................. W1CShibata, T. ............................................... VI,W2AShimaru, M. ............................................. T2DShimokohbe, A. ....................................... T4BSiegwart, R. ............................................. M3BSimmons, R. ............................................ W2BSirouspour, M.R. ...................................... W3BSix, K. ...................................................... W3CSjögren, A. ............................................... W2BSmaldone, N. ........................................... M4ASoemers, H.M.J.R. .................................. M1ASoh, C.Y. ................................................. M4B,W2CSong, Y. ................................................... W3DSorli, M. ................................................... T2CSpark, I.J. ................................................ M3DSporer, N. ................................................ W3AStrobel, M. ............................................... W2ASu, Y.X. ................................................... T2BSudhir, A. ................................................. M1D

TTadokoro, S. ............................................ W3BTagami, K. ............................................... VI,W2ATan, K.C. ................................................. M4BTan, K.K. .................................................. M4B,W2CTang, K.Z. ................................................ M4BTanie, K. .................................................. VI,W2ATanner, H.G. ............................................ T4CTarn, T.J. ................................................. W4BTasch, U. ................................................. M3CTittus, M. .................................................. W1DToepper, S. .............................................. M2AToida, H. .................................................. W3CTomatis, N. .............................................. M3BTomizuka, M. ........................................... T4DToni, P. .................................................... M2D,M2DToshima, I. ............................................... M2BTouda, A. ................................................. W2AToumi, R. ................................................. W4DTsagarakis, N. ......................................... W1BTsai, M.-C. ............................................... VITsui, P.W. ................................................ M1BTurchiano, B. ........................................... W1D

UUchiyama, M. ........................................... M1BUlivi, G. .................................................... W4DUmetani, T. .............................................. M2BUsoltsev, S.A. .......................................... W3D

VVaccaro, A. .............................................. M4DVad, J. ..................................................... T2CVallapuzha, S. ......................................... M3CVan den Boom, T. .................................... M1D van der Wal, E. ........................................ T3DVan Eijk, J. ............................................... PL4Van Ham, R. ............................................ T3CVan Winnendael, M. ................................ W4AVassura, G. .............................................. T2D,W3AVelardi, F. ................................................ T3CVenanzi, S. .............................................. M3AVerrelst, B. ............................................... T3CVillani, L. .................................................. M4AVioli, A.G. ................................................. M2DVirk, G.S. ................................................. W1BVisconti, A. ............................................... M4DVisentin, G. .............................................. W4A

Visioli, A. .................................................. T2A,W1AVisone, C. ................................................ T3C

WWada, K. .................................................. VI,W2AWahyudi ................................................... T4BWaldron, K.J. ........................................... T4CWalker, I.D. .............................................. M1A,T3A,W3DWang, M.Y. .............................................. M2CWang, X.G. .............................................. M4BWang, Y.-T. ............................................. T4AWardak, K. ............................................... M3CWatanabe, S. ........................................... VIWei, Q. ..................................................... T2BWiktor, P.J. .............................................. W3CWright, M. ................................................ M1C

YYakushi, T. ............................................... M3BYamaguchi, T. ......................................... W2DYamamoto, Y. .......................................... M4CYang, G. .................................................. M1AYang, P. ................................................... T4CYao, B. ..................................................... T1C,T2CYin, X. ...................................................... M2CYoshida, H. .............................................. M3AYoucef-Toumi, K. ..................................... W4CYu, L. ....................................................... M1BYusof, K.M. .............................................. M4B

ZZäh, M.F. ................................................. T1D

Wu, Q.M.J. ............................................... M4BWullschleger, F.H. ................................... T4D

XXi, N. ........................................................ T3AXu, L. ....................................................... T1C

Zanasi, R. ................................................ M4DZanella, M. ............................................... W2AZecca, M. ................................................. M3AZentner, J. ............................................... M2AZhirabok, A.N. .......................................... W3DZhou, Q. ................................................... M1BZhu, W.H. ................................................ W3BZhu, X. ..................................................... M2CZucchelli, A. ............................................. T2D

CHAIRS INDEX

AAicardi, M. ............................................................................. M2BAllotta, B. ............................................................................... M3AAngeles, J. ............................................................................ M2AApkarian, J. ........................................................................... T4BArteaga, M.A. ........................................................................ T3B

BBasile, F. ............................................................................... W3DBertram, T. ............................................................................ M2DBook, W. ................................................................................ W1CBrogårdh, T. .......................................................................... T4A

CCai, L. .................................................................................... T2BCaldwell, D. ........................................................................... W2BCallegari, M. .......................................................................... T1ACarrozza, M.C. ...................................................................... M2CChen, I-M. ............................................................................. T4AChiu, G. ................................................................................. T3DCloet, C. ................................................................................ T2DCutolo, A. .............................................................................. M1C

DDario, P. ................................................................................ W1CDe Luca, A. ........................................................................... W2ADe Maria, G. .......................................................................... T2BDe Meter, E. .......................................................................... M2CDe Schutter, B. ...................................................................... W1Dde Silva, C. ............................................................................ M2BDi Febbraro, A. ...................................................................... M1DDi Gregorio, R. ...................................................................... W1BDu, W. ................................................................................... W2DDubey, R. .............................................................................. VIDubowsky, S. ........................................................................ W3A

FFanti, M.P. ............................................................................. M3DFantuzzi, C. ........................................................................... W2CFerrarini, L. ............................................................................ W1DFerretti, G. ............................................................................. M4BFigliolini, G. ........................................................................... T1CFusco, G. ............................................................................... M1A

GGardner, J. ............................................................................ W2CGarg, D. ................................................................................. T1DGentina, J.-C. ........................................................................ W3CGlielmo, L. ............................................................................. M3DGoodall, R. ............................................................................ M4D

HHamel, W. ............................................................................. PL3Hashimoto, H. ....................................................................... M4CHiller, M. ................................................................................ M1DHirzinger, G. .......................................................................... T2A

IIbrahim, Y. ............................................................................. T2DItoh, A. ................................................................................... W2B

JJohansson, R. ....................................................................... W3D

KKarray, F. .............................................................................. T3DKazerooni, H. ........................................................................ T4C

Parenti Castelli, V. ................................................................. T2AParker, J. ............................................................................... M4CPerdereau, V. ........................................................................ W3APiccolo, A. ............................................................................. M2DPires, N. ................................................................................ W4DPutz, P. .................................................................................. W2A

RRavani, B. .............................................................................. W4CRocco, P. ............................................................................... T3BRovetta, A. ............................................................................ M1B

SSalcudean, T. ...................................................................... W4BSasiadek, J. ......................................................................... W1AShibata, T. ........................................................................... M1CSiegwart, R. ......................................................................... W3CSoemers, H. ........................................................................ M3C

Kesavadas, T. ....................................................................... VIKobayashi, H. ........................................................................ M4DKoganezawa, K. .................................................................... T3AKonno, A. .............................................................................. T1BKosuge, K. ............................................................................. M1BKurfess, T. ............................................................................. T4DKwon, D.-S. ........................................................................... W3B

LLee, K.-M. .............................................................................. M3CLegnani, G. ............................................................................ T4CLenarčič, J. ............................................................................ PL2Longhi, S. .............................................................................. T3A

MMagnani, G. ........................................................................... T3CMavroidis, C. ......................................................................... T1AMcCarthy, M. ......................................................................... W1BMelchiorri, C. ......................................................................... W4AMeldrum, D. ........................................................................... M3AMelkote, S. ............................................................................ T1DMolfino, R. ............................................................................. M2AMukherjee, R. ........................................................................ T1BMuscato, G. ........................................................................... W4B

NNatale, C. .............................................................................. T1C

OOboe, R. ................................................................................ T2COkuma, S. ............................................................................. PL4

PPapadopoulos, E. .................................................................. W4A

Sugano, S. ........................................................................... PL1Surdilovic, D. ....................................................................... M1A

TTarn, T.-J. .............................................................................. W3BTomizuka, M.. ........................................................................ M4B

UUlivi, G. .................................................................................. M4A

VValigi, P. ................................................................................ M4AVassura, G. ........................................................................... W4CVillani, L. ................................................................................ W1A

WWaldron, K. ........................................................................... T3CWalker, I. ............................................................................... W4DWang, G. ............................................................................... M3BWu, J. .................................................................................... M3B

XXi, N. ..................................................................................... T4B

YYamamoto, Y. ....................................................................... T4DYao, B. .................................................................................. T2C

ZZuffada, M. ............................................................................ W2D

AIM '01c/o Professor Bruno SicilianoDipartimento di Ingegneria dell’Informazione e Ingegneria ElettricaUniversità degli Studi di SalernoVia Ponte Don Melillo, 84084 Fisciano (SA), ItalyTel: +39 089-96-4306 Fax: +39 089-96-4218bsiciliano@unisa.it