The 8th IEEE International Workshopon Advanced Motion Control

AMCf04-Kawasaki, Japan

March 25 - 28, 2004

Proceedings

Sponsors:

IEEE Industrial Electronics Society

Institute of Haptics Engineering Society

Keio University

Technical Sponsors:

Kawasaki City

IEEJ Industry Applications Society

The Society of Instrument and Control Engineers

The Japan Society of Mechanical Engineers

UB/TIB Hannover 89124 980 945

Table of Contents

PL Plenary

PL-01 Sliding Mode Framework in Motion Control - What it Offers? 1Asif Sabanovic (Sabanci University)

PL-02 Animal Inspired Motion Control Mechanism. 11Minayori Kumamoto (Professor Emeritus of Kyoto University)

PL-03 Multi-Rate Control for Motion Control Applications 21Masayoshi Tomizuka (University of California at Berkeley)

ACV Advanced Control in Vehicle Motion

Organizer : Yoichi Hori (The University of Tokyo)

ACV-01 Yaw Rate Control of Electric Vehicle using Steer-by-Wire System 31

Motoaki Hosaka and Toshiyuki Murakami (Keio University)

ACV-02 Motion Stabilization Control of Electric Vehicle under Snowy Conditions Based 35on Yaw-Moment ObserverHiroshi Fujimoto, Takeo Saito and Toshihiko Noguchi (Nagaoka University of Technology)

ACV-03 Robust Design of Gain Matrix of Body Slip Angle Observer for Electric Vehicles 41and its Experimental DemonstrationYoshifumi Aoki, Tomoko Inoue and Yoichi Hori (The University of Tokyo)

ACV-04 Motion Control of Micro-Scale Electric Vehicle by DYC Considering Lane Marker 47InformationPongsathorn Raksincharoensak (Tokyo University of Agriculture and Technology)Motoki Shino (The University of Tokyo)Masao Nagai (Tokyo University of Agriculture and Technology)

ACV-05 Motion Analysis of Motorcycles - A Study on DCT Mechanism - 53Junji Hirasawa (Ibaraki National College of Technology)Masayoshi Kakikura (Tokyo Denki University)

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ACP Advanced Control of Propulsion Actuators

Organizer : Yoichi Hori (The University of Tokyo)

ACP-01 New IM Torque Control with Implicit Rotor Field Tracking and Efficiency 59MaximizationBojan Grcar, Peter Cafuta and Gorazd Stumberger (University of Maribor)Aleksandar M. Stankovic (Northeastern University Boston)

ACP-02 Instantaneous Torque Regulation for Switched Reluctance Motors for the Use in 65EVsHiroki Ishikawa, Yoshinobu Kamada and Haruo Naitoh (Gifu University)

ACP-03 Analysis on the Two Axis Motor (Super Motor) for Electric Vehicles 71Atsuo Kawamura, Tomohiko Okubora and Takahiro Sugawara (Yokohama NationalUniversity)Masaki Nakano and Minoru Arimitsu (Nissan Motors)

ACP-04 Skid Prevention for EVs based on the Emulation of Torque Characteristics of 75Separately-wound DC MotorShinya Kodama, Lianbing Li and Yoichi Hori (The University of Tokyo)

ACP-05 Realtime Generation of Smart Speed Pattern for EVs Taking Driver's Command 81Change into AccountTomoyuki Saitoh, Tai Chien Hwa and Yoichi Hori (The University of Tokyo)

PSS Power Supply Systems

Organizer : Miro MilanoviC (University of Mairbor)

PSS-01 Snubber Design Approach for DC-DC Converter Based on Differential Evolution 87MethodOto Te2ak, Drago Dolinar and Miro MilanoviC (University of Maribor)

PSS-02 Design of Feedback Laws for DC-TO-AC Conversion in Photovoltaic Systems 93Angel Cid-Pastor and Corinne Alonso (LAAS-CNRS)Jose F. Cugat-Curto (Westinghouse-lnitec Nuclear)Bruno Estibals and Luis Martinez-Salamero (LAAS-CNRS)

PSS-03 The Fuzzy State Space Controller for Buck Converter 99DuSan Gleich, Miro MilanoviC, Suzana Uran and Franc MihaliC (University of Maribor)

PSS-04 Novel AC-DC Converter Control Principle for Automotive BLDC Generator in 105Low-Speed RangePrimoz Bajec, Bostjan Pevec, Danijel Voncina, Damijan Miljavec and JanezNastran (University of Ljubljana)

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PSS-05 VHDL-AMS Modeling and Library Building for Power Electrical Engineering 111Fabien Legrand (Algo'Tech Informatique, Bidart)Nadine Couture (LIPSI/ESTIA, Bidart)Herve Levi (University of Bordeaux 1)Jean-Jacques Chariot (Electronic Software Setif)

PSS-06 Behavioral Modeling Methodology applied to Power Systems Thermal Analysis 117Elena Martin and Carles Ferrer (Universitat Autonoma de Barcelona)

FSI Flexible Systems I

Organizers : Hiroyuki Ukai (Nagoya Institute of Technology): Yoshifumi Morita (Nagoya Institute of Technology)

FSI-01 PDS Control of Macro-Micro Arm 123Motoyuki Kimata, Yoshifumi Morita, Hiroyuki Ukai and Hisashi Kando (Nagoya Instituteof Technology)Fumitoshi Matsuno (The University of Electro-Communications)

FSI-02 Passivity Based Control of a Magnetic Levitation System with Two 129Electromagnets for a Flexible BeamToshimi Shimizu, Minoru Sasaki and Kentarou Wajima (Gifu University)

FSI-03 Dynamics Based Control of Two-Link Flexible Arm 135Fumitoshi Matsuno (The University of Electro-Communications)Takahiro Endo (Tokyo Institute of Technology)

FSI-04 Pushing Operation by Flexible Manipulator Taking Environmental Information into 141AccountSeiichiro Katsura, Jun Suzuki and Kouhei Ohnishi (Keio University)

FSI I Flexible Systems II

Organizers : Yoshifumi Morita (Nagoya Institute of Technology): Hiroyuki Ukai (Nagoya Institute of Technology)

FSI 1-01 Control of a Micro-Actuator for Hard Disk Drives Using Self-Sensing 147Hiroyuki Yamada and Minoru Sasaki (Gifu University)Yoonsu Nam (Kangwon National University)

FSI 1-02 Control of a Z-axis MEMS Vibrational Gyroscope 153Roberto Oboe and Riccardo Antonello (University of Padova)Ernesto Lasalandra, Guido Spinola and Luciano Prandi (ST Microelectronics Sri)

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FSI 1-03 Neuro Sliding Mode Control of Timing Belt Servo-System 159Yildiray Yildiz and Asif Sabanovic (Sabanci University)

FSI 1-04 Control of Pushing Operation by a Redundant Manipulator 165Takanori Kawasa and Kouhei Ohnishi (Keio University)

ATC Advanced Traction Control

ATC-01 Modal State Control in the Frequency Domain for Active Damping of Mechanical 171Vibrations in Traction Drive-TrainsMichael Fleischer (University of Erlangen-Nuremberg)

ATC-02 Measurement of Tractive Force during Acceleration and Deceleration Periods 177Hiroyuki Ohsawa, Takemasa Furuya, Meifen Cao and Atsuo Kawamura (YokohamaNational University)

ATC-03 Tracking Control of a Compact Electrical Vehicle Trailer Based on Equivalent 183Dynamics ModelHiroki Ohara and Toshiyuki Murakami (Keio University)

ATC-04 Position Detection Method using Induced Voltage for Battery Charge on 187Autonomous Electric Power Supply System for VehiclesTomohiro Hata and Tutomu Ohmae (Chuo University)

ATC-05 Self Sustaining Bicycle Robot with Steering Controller 193Yasuhito Tanaka and Toshiyuki Murakami (Keio University)

MHI Motion Control in Haptics I

Organizer : Kouhei Ohnishi (Keio University)

MHI-01 Contact Stability Analysis Using Dynamic Control Model 199

Atsushi Kato and Kouhei Ohnishi (Keio University)

MHI-02 Friction Free Bilateral System Based on Twin Drive Control System Considering 205Resonant Frequency for HapticsYuzuru Ohba and Kiyoshi Ohishi (Nagaoka University of Technology)

MHI-03 The Transformation of Modified 4-channel Architecture 211Yasuhito Sumiyoshi and Kouhei Ohnishi (Keio University)

MHI-04 Reproducibility and Operationality in Bilateral Teleoperation 217Wataru lida and Kouhei Ohnishi (Keio University)

MHII Motion Control in Haptics II

Organizer : Kouhei Ohnishi (Keio University)

MHII-01 Analysis of the Knot-Tying Force in Dog Models 223Junya Oguma, Soji Ozawa, Yasuhide Morikawa, Toshiharu Furukawa, Masaki Kitajima,Kazuo Nakazawa and Kouhei Ohnishi (Keio University)

MHII-02 Development of Configuration Differing Master Slave Combined Forceps 227Takashi Suzuki, Kazuo Nakazawa, Toshiharu Furukawa, Soji Ozawa, Yasuhide Morikawaand Masaki Kitajima (Keio University)Makoto Jinno and Nobuto Matsuhira (Toshiba Corporation)

MHII-03 Robot Motion Control with a Controlled Supporting Point for Operator Aid 233Yuichi Matsumoto, Seiichiro Katsura and Kouhei Ohnishi (Keio University)

MHII-04 An Approach to a Haptics System Control by Mobile Manipulator 239Yasuaki Ise and Toshiyuki Murakami (Keio University)

MHII-05 Quarry of Environmental Information Based on Twin Robot System - Environment 243Quarrier -Seiichiro Katsura, Yuichi Matsumoto and Kouhei Ohnishi (Keio University)

MR Mobile Robots

MR-01 Load Distribution Control for Cooperative Transportation by Multiple Mobile 249RobotsKazuharu Tsuji and Toshiyuki Murakami (Keio University)

MR-02 Mobility of a Mobile Robot 253Hiromasa Takahashi, Mitsuharu Morisawa and Kouhei Ohnishi (Keio University)

MR-03 Motion Control in the Support Phase for a One-Legged Hopping Robot 259Eijiro Ohashi and Kouhei Ohnishi (Keio University)

MR-04 Constructing a Platform of Robust Position Estimation for Mobile Robot by ODR 263Michio Kondo and Kouhei Ohnishi (Keio University)

MR-05 Vehicle Steering Assist by Estimated Self Aligning Torque in Skid Condition 269Daisuke Sekiguchi and Toshiyuki Murakami (Keio University)

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SMC Smooth Motion Control

SMC-01 Hoc Control of the Magnetic Bearing Considering Initial State Uncertainties 275Toru Namerikawa and Wataru Shinozuka (Nagaoka University of Technology)

SMC-02 Hoo/n DIA Control of the Magnetic Suspension System 281Toru Namerikawa and Hiroki Seto (Nagaoka University of Technology)

SMC-03 Robust Coordinated Control of Multi-Axis Gantry Stages 287Kok-Kiong Tan and Tong-Heng Lee (National University of Singapore)Ser-Yong Lim (Singapore Institute of Manufacturing Technology)Twee-Seng Giam and Chek-Sing Teo (National University of Singapore)

SMC-04 Predictive Altitude Control of a Winged Body 293Marko LepetiC, Drago Matko and Igor Skrjanc (University of Ljubljana)Yasuhiro Morita (Japan Aerospace Exploration Agency)

DDI Advanced Disk Drive Control I

Organizers : Takashi Yamaguchi (Hitachi Global Storage Technologies): Hiroshi Fujimoto (Nagaoka University of Technology )

DDI-01 High-bandwidth Hard Disk Drive Tracking Using a Moving-slider MEMS 299MicroactuatorMatthew White, Toshiki Hirano, Henry Yang, Karen Scott, Surya Pattanaik and Fu-YingHuang (Hitachi Global Storage Technologies)

DDI-02 Rejection of Repeatable Runout for HDDs Using Adaptive Filter 305Motohiro Kawafuku, Makoto Iwasaki and Hiromu Hirai (Nagoya Institute of Technology)Masahito Kobayashi and Atsushi Okuyama (Hitachi STRC)

DDI-03 Head-Positioning Control Using Resonant Modes in Hard Disk Drives 311Takenori Atsumi, Toshihiro Arisaka, Toshihiko Shimizu and Hiromitsu Masuda (Hitachi,Ltd.)

DDI-04 High Speed Positioning Trajectory Design for TDOF Controller of Hard Disk 317Drives with Mechanical VibrationByung-hoon Chang and Yoichi Hori (The University of Tokyo)

DDI-05 Repetitive Control of Hard Disk Drives Based on Switching Scheme: Experimental 323Verification for Multiple Mode DisturbanceHiroshi Fujimoto, Fumihiro Kawakami and Seiji Kondo (Nagaoka University ofTechnology)

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DDII Advanced Disk Drive Control II

Organizers : Takashi Yamaguchi (Hitachi Global Storage Technologies): Hiroshi Fujimoto (Nagaoka University of Technology)

DDII-01 An Adaptive Resonant Mode Compensation for Hard Disk Drives 329Keitaro Ohno (Fujitsu Laboratories Limited)Takeyori Hara (Fujitsu Limited)

DDII-02 A New Two-Degree-of-Freedom Control System Design for Track Seeking Control 335of Hard Disk DrivesMitsuo Hirata and Kenzo Nonami (Chiba University)

DDII-03 Delay Compensation for Servo Systems Using State Prediction Control and 341Disturbance Observer, and Its Application to HDD Head Servo Control SystemFumiyasu Suzuki and Hiroaki Yada (Sony Corporation)

DDII-04 Comparison of Suspension-Based and Slider-Based Microactuators for Track 347Following PerformanceMahmut Karaman, Yan Lu and Mark Bedillion (Seagate Technology LLC.)

DDII-05 Robust Feedforward Tracking Control Based on Sudden Disturbance Observer and 353ZPET Control for Optical Disk Recording SystemToshimasa Miyazaki (Nagaoka National College of Technology)Kiyoshi Ohishi, Koichi Inomata and Kazuyoshi Kuramochi (Nagaoka University ofTechnology)Daiichi Koide and Haruki Tokumura (NHK Science and Technical Research Laboratories)

MC Manipulator Control

MC-01 A Study about the Posture and Joint Stiffness at Stationary Force Control of 359Human ArmSyugo Uchida, Satoshi Komada and Junji Hirai (Mie University)

MC-02 A Geometric Structure Based Self-Motion Control Algorithm for Redundant 363ManipulatorsXiang Luo and Atsuo Kawamura (Yokohama National University)

MC-03 Reachable and Stabilizable Area of an Underactuated Manipulator without State 369Feedback ControlTakashi Matsuda, Hiroshi Yabuno and Nobuharu Aoshima (University of Tsukuba)

MC-04 Human Interactive Motion of Redundant Manipulator by Virtual Nonholonomic 375ConstraintSatoshi Shibata and Toshiyuki Murakami (Keio University)

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BPI Motion Control of Biped Robots I

Organizer : Yasutaka Fujimoto (Yokohama National University)

BPI-01 A Dynamic Hybrid Control of Biped Robot in Supporting Area 381

Mitsuharu Morisawa and Kouhei Ohnishi (Keio University)

BPI-02 A Study of Flexible Shoe System for Biped Robot 387Hideaki Minakata (Chiba Institute of Technology)

BPI-03 Sensor System and Trajectory Control of a Biped Robot 393Sebastian Lohmeier, Klaus Loeffler, Michael Gienger, Heinz Ulbrich and FriedrichPfeiffer (Technical University of Munich)

BPI-04 Visual Walking for Biped Walking Robot MARI-2 399Yosuke Asano, Chi Zhu and Atsuo Kawamura (Yokohama National University)

BPI-05 3D Fast Walking Simulation of Biped Robot by Yaw Axis Moment Compensation 403Daisuke Hanamiya and Atsuo Kawamura (Yokohama National University)

BPI I Motion Control of Biped Robots II

Organizer : Yasutaka Fujimoto (Yokohama National University)

BPI 1-01 A Gait Adaptation Scheme for Biped Walking Robots 409

Ozkan Bebek (Case Western Reserve University)Kemalettin Erbatur (Sabanci University)

BPII-02 Minimum Energy Biped Running Gait and Development of Energy Regeneration 415LegYasutaka Fujimoto (Yokohama National University)

BPII-03 Kinematic Analysis of Human Lifting Movement for Biped Robot Control 421Nobutomo Matsunaga, Yutaka Okimura and Shigeyasu Kawaji (Kumamoto University)

BPII-04 Experimental Approach for High Speed Walking of Biped Robot MARI-1 427Chi Zhu, Mikio Okamura, Atsuo Kawamura and Yoshihito Tomizawa (Yokohama NationalUniversity)

BPII-05 Simulation Study on One Leg Jumping for Biped Running 433Atsuo Kawamura, Kenji Sugio, Kouji Suzuki and Chi Zhu (Yokohama National University)

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RT Real-time Applications and Their Basic Technologies

Organizer : Nobuyuki Yamasaki (Keio University)

RT-01

RT-02

RT-03

RT-04

A High-Speed Vision System with In-Pixel Programmable ADCs and PEs for Real- 439Time Visual SensingShingo Kagami, Takashi Komuro and Masatoshi Ishikawa (The University of Tokyo)

LifeMinder: A Wearable Healthcare Support System with Timely Instruction 445Based on the User's ContextKazushige Ouchi, Takuji Suzuki and Miwako Doi (Toshiba Corporation)

A Natural Feature-Based 3D Object Tracking Method for Wearable Augmented 451RealityTakashi Okuma (Columbia University / AIST)Takeshi Kurata (University of Washington / AIST)Katsuhiko Sakaue (AIST)

Responsive Multithreaded Processor for Distributed Real-Time ControlNobuyuki Yamasaki (Keio University)

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NMC Network-based Motion Control

Organizer : Takahiro Yakoh (Keio University)

NMC-01

NMC-02

NMC-03

NMC-04

Safety Control of Teleoperation System under Time Varying Communication Delay 463Toshiaki Tsuji, Atsushi Kato and Kouhei Ohnishi (Keio University)Ales' Hace and Karel Jezernik (University of Maribor)

Realization of "Law of Action and Reaction" by Multilateral ControlSeiichiro Katsura, Yuichi Matsumoto and Kouhei Ohnishi (Keio University)

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A Real-Time Network Based Bilateral Robot Control with Prioritized Transfer of 475State VariablesYutaka Uchimura (Kajima Technical Research Institute)Takahiro Yakoh and Kouhei Ohnishi (Keio University)

End-to-End Delay Evaluation on Multipath Routing IP NetworkShin'ichi Hakataya and Takahiro Yakoh (Keio University)

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SSF Sensor & Sensor Fusion

SSF-01 A Proposal of Sensor Fusion in Cooperative System 487Hitoshi Midorikawa and Kouhei Ohnishi (Keio University)

SSF-02 Study on High Accuracy Optical Encoder with 30 bits 493Takaomi Kojima, Yoshimi Kikuchi and Shigeo Seki (Tamagawa Seiki Co., Ltd)Hiroyuki Wakiwaka (Shinshu University)

SSF-03 Neural Network-based Correction and Interpolation of Encoder Signals for 499Precision Motion ControlKok-Zuea Tang, Kok-Kiong Tan, Tong-Heng Lee and Chek-Sing Teo (National Universityof Singapore)

SSF-04 Color Appearance Based Object Identification in Intelligent Space 505Kazuyuki Morioka and Hideki Hashimoto (The University of Tokyo)

RAC Robust and Accurate Control

RAC-01 Robust Fast and Precise Positioning of Ball Screw-Driven Table System on 511Machine StandKazuaki Itoh (Toyota National College of Technology)Makoto Iwasaki and Nobuyuki Matsui (Nagoya Institute of Technology)

RAC-02 Improved Design of VSS Controller for a Linear Belt-Driven Servomechanism 517Ales' Hace and Karel Jezernik (University of Maribor)Asif Sabanovic (Sabanci University)

RAC-03 Joint Design Method Based on Coprime Factrization of 2DOF Control System 523Tsuyoshi Hioki, Kazuhiro Yubai and Junji Hirai (Mie University)

RAC-04 Sliding Mode Control Based Disturbance Compensation and External Force 529Estimation for a Piezoelectric ActuatorKhalid Abidi, Asif Sabanovic and Serhat Yesilyurt (Sabanci University)

RAC-05 Motion Control for Articulated Robots Based on Accurate Modeling 535Yuhki Kosaka and Akira Shimada (Polytechnic University)

RAC-06 Development of Gel-structured Electro-rheological Fluids and their Application to 541Mechanical Damper ElementsYasuhiro Kakinuma, Takahiro Yakoh and Tojiro Aoyama (Keio University)Hidenobu Anzai (Fujikura kasei Co., Ltd.)Kazuyuki Isobe (Nippon Unicar Co., Ltd.)

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PMC Precision Motion Control for Mechatronic Systems

Organizers : Makoto Iwasaki (Nagoya Institute of Technology): Bin Yao (Purdue University)

PMC-01

PMC-02

PMC-03

PMC-04

PMC-05

PMC-06

High Performance Motion Control of Linear Motors Based on Multirate Adaptive 547Robust ControlHiroshi Fujimoto (Nagaoka University of Technology)Bin Yao (Purdue University)

Spacecraft High Precision Optimized Control for Free-falling Test Mass Tracking 553in Lisa-Pathfinder MissionDaniele Bortoluzzi, Mauro Da Lio, Roberto Oboe and Stefano Vitale (University of Trento)

Ultra-Precision Stage Control Based on Friction Model of Non-Resonant 559Ultrasonic MotorSeiji Hashimoto (Gunma University)Kiyoshi Ohishi (Nagaoka University of Technology)Takuya Ohishi and Takeo Ishikawa (Gunma University)Koji Kosaka and Yoshiya Egashira (Kumamoto Technology Inc.)Hiroshi Kubota (Kumamoto University)Tadahiro Ohmi (Tohoku University)

Advanced Motion Control: An Adaptive Robust Control FrameworkBin Yao (Purdue University)

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Residual Vibration Suppression Using Initial Value Compensation for Repetitive 571PositioningMakoto Iwasaki, Noriaki Hirose, Motohiro Kawafuku and Hiromu Hirai (Nagoya Instituteof Technology)

Backlash Vibration Suppression in Torsional System Based on The Fractional 577Order Q-Filter of Disturbance ObserverChengbin Ma and Yoichi Hori (The University of Tokyo)

FTS Fault Tolerant and Safety Motion Control

Organizer : Tatsuya Suzuki (Nagoya University)

FTS-01 Fault-tolerant Control System of Flexible Arm for Sensor Fault by Using Reaction 583Force ObserverYu Izumikawa, Kazuhiro Yubai and Junji Hirai (Mie University)

FTS-02 A Constructive Method for Designing Fault Detection Filter with Application to 589a Three-wheeled VehicleIchiro Jikuya, Naonobu Suzuki and Masayuki Suzuki (Nagoya University)

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FTS-03 Design of Controller Switching Scenario for Reusable Launch Vehicle with Elevon 595Jamming FailureHayato Komatsu, Tatsuya Suzuki and Shigeru Okuma (Nagoya University)

FTS-04 Sequence Generation of Discrete Event System and Logic Controller and Its 601Applicability to Fault DetectionTadanao Zanma, Tsukasa Miyabayashi and Muneaki Ishida (Mie Univerisity)

FTS-05 Anti-skid Re-adhesion Control Based on Disturbance Observer Considering Air 607Brake for Electric Commuter TrainSatoshi Kadowaki and Kiyoshi Ohishi (Nagaoka University of Technology)Shinobu Yasukawa and Takashi Sano (Toyo Electric MFG Co., Ltd)

PE Power Electronics for Motion Control

PE-01 Event-driven Approach to Control Design for Single Phase Inverter 613Ales' Polic and Karel Jezernik (University of Maribor)

PE-02 Sensorless Control of Permanent Magnet Linear Synchronous Motor Based on 619Nonlinear ObserverWang Limei and Guo Qingding (Shenyang University of Technology)

PE-03 Hybrid Current-Controlled VSI- IM Drive 6232arko F. CuCej, Peter Cafuta and Rajko SveCko (University of Maribor)

PE-04 Dynamic Model and Control of Six-Phase Spiral Motor 629Tsutomu Kominami and Yasutaka Fujimoto (Yokohama National University)

PE-05 FEM Analysis of High Thrust Spiral Motor 635Hyuk-jin Kwon and Yasutaka Fujimoto (Yokohama National University)

PE-06 Design of Bang-Bang Control for Dual Channel DC-DC Buck and Boost Converter 641Istvan Denes, Robert Barabas and Istvan Nagy (Budapest University of Technology andEconomics)Eisuke Masada (Science University of Tokyo)

VSC Visual Servo Control

Organizer : Masaaki Shibata (Seikei University)

VSC-01 Eye-to-hand Approach on Eye-in-hand Configuration within Real-time Visual 647ServoingAbdul Muis and Kouhei Ohnishi (Keio University)

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VSC-02 Tracking of Moving Object by Manipulator Using Estimated Image Feature and 653Its Error Correction on Image PlanesDai Nishio, Masaru Nakamura, Satoshi Komada and Junji Hirai (Mie University)

VSC-03 Shaft Inserting Task into Inclined Hole of Moving Object by Using One 659Dimensional PSDs SensorYuichi Yamada, Soichirou Hayakawa and Nuio Tsuchida (Toyota Technological Institute)

VSC-04 Solution for Stereo Correspondences on Active Stereo Vision Robot 665Masaaki Shibata and Hajime Kawasumi (Seikei University)

VSC-05 Motion Reconstruction of Somersaults Using Three Dimensional Model Matching 671Method from Its Silhouette ImageShuetsu Kikuchi and Kazuo Nakazawa (Keio University)

DS Drive System for Motion Control

DS-01 Use of Dynamic Emulation of Mechanical Loads in the Design of Adjustable Speed 677ApplicationsMiran RodiC, Karel Jezernik and Mladen Trlep (University of Maribor)

DS-02 Dynamics and Control of a Vehicle Propelled by a Rotating Unbalanced Mass 683Carlee A. Bishop and John Y. Hung (Auburn University)

DS-03 Field Oriented Control of Linear Induction Motor Taking Into Account End-Effects 689Ezio F. Silva and Charles C. Santos (Universidade Catolica de Goias)Jose W. Nerys (Universidade Federal de Goias)

DS-04 Control of Large Ship Motions in Harbor Maneuvers by Applying Sliding Mode 695ControlMinh-Duc Le (Vietnam Shipbuilding Industry Corporation)Quoc-Thong Tran, Tuyet-Nhan Nguyen and Van-Dong Giap (PHU BAO JSC.)Thi-Thuy Ho, Van-Dong Phan and Tien-Chung Nguyen (THE THAO Service Co., Ltd.)

DS-05 An Optimal Ship Autopilot Using a Multivariate Auto-Regressive Exogenous 701ModelManh-Minh Nguyen (Hoang Minh JSC Company)Thi-Phuong Nguyen, Duc-Luong Tran and Tran-Khoi Nguyen (Gia khanh Co., Ltd.)Quang-Trung Nguyen, Van-Phuong Dang and Van-Long Tran (Hai Dang JSC Company)Dac-Hai Nguyen, Thi-Minh-Nguyet Nguyen and Anh-Dung Mai (Dai Nghia JSCCompany)

DS-06 Study on an Effective Adaptive Ship Autopilot 707Van-Chung Nguyen, Thi-Oanh Le and Thi-Bich-Su Do (Thanh Xuan Trade and ServiceJSC)Manh-Minh Nguyen (Hoang Minh JSC)Thi-Mai Nguyen, Thi-Kim-Tuyen Dinh and Thanh-Nhan Man (Viet Due TradingInvestment Co., Ltd.)

Author Index

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