Proceedings of the
ASME International Design Engineering
Technical Conferences and
Computers and Information in
Engineering Conference
- 2009 -
VOLUME 3
ASME/IEEE International Conference on
Mechatronic and Embedded Systems and Applications
20th Reliability, Stress Analysis, and
Failure Prevention Conference
presented at
2009 ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND
COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE
AUGUST 30-SEPTEMBER 2, 20()'t
SAN DIEGO, CALIFORNIA USA
sponsored byTHE DESIGN ENGINEERING DIVISION, ASMf
THE COMPUTERS AND INFORMATION IN ENGINEERING DIVISION, ASME
TIB/UB Hannover 89
132 464 853
ASME
Three Park Avenue New York, N.Y. 10016
CONTENTS
2009 ASME/1EEE INTERNATIONAL CONFERENCE ON
MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS
Introduction , 1
AUTONOMOUS SYSTEMS AND AMBIENT INTELLIGENCE
DETC2009-86326 3
Non-Markovian Reinforcement-Based on Self-Optimizing Memory Controller
Hassab Elgawi Osman
DETC2009-86688 9
The Bio-Insect and Artificial Robots Interaction Based on Multi-Agent Reinforcement
LearningYoung-Cheol Choi and Hyo-Sung Ahn
DETC2009-86689 17
Fuzzy Reward-Based Cooperative Reinforcement Learning for Bio-Insect and
Artificial Robot Interaction
Ji-Hwan Son and Hyo-Sung Ahn
DETC2009-86986 27
Autonomous Robotic Vehicle (Robicle) With Ambient IntelligenceYoung-Jae Ryoo, Young-Hak Chang, Dae-Yeong Lim, and Yong-Jun Lee
DETC2009-87251 31
A New Method of Chaotic Anti-Control for Line Spectra Reduction of Vibration
Isolation SystemZhenhai Zhang, Shijian Zhu, and Shuyong Liu
DETC2009-87715 37
Immune System-Inspired Dynamic Multi-Robot Coordination
Muhammad Tahir Khan and Clarence de Silva
DETC2009-87750 45
Mobile Agent Based Autonomic Dynamic Parallel Computing
Yu-Cheng Chou, David Ko, and Harry H. Cheng
BIO-MECHATRONICS AND BIO-SENSORS
DETC2009-86217 53
Development of a Uniaxial Cyclic Stretch Apparatus for Tissue EngineeringQiming Pang, Jean W. Zu, Geoffrey M. Siu, and Ren-Ke Li
DETC2009-86425 61
Design and Preliminary Validation of a Rapid Automated Biodosimetry Tool for High
Throughput Radiological TriageYouhua Chen, Jian Zhang, Hongliang Wang, Guy Garty, Yanping Xu,
Oleksandra V. Lyulko, Helen C. Turner, Gerhard Randers-Pehrson, Nabil Simaan,Y. Lawrence Yao, and D. J. Brenner
vii
DETC2009-87075 69
Discriminating Ambulation Using a Smart Sensing Plate
Mark T. Elliott, Xianghong Ma, and Peter N. Brett
DETC2009-87186 77
Biometric Monitoring of Footstep and Heart Rate Using Wireless Inertial Sensors
Montserrat Ros, Matthew D'Souza, and Matthew Wallace
DETC2009-87252 85
Elaboration and Investigation of the Acoustic Method of Elimination of Colorado Beetle
Galyna I. Sokol and Tatyana A. Rybalka
DETC2009-87786 89
Design of a Tissue Resonator Indenter Device for Measurement of Soft Tissue Viscoelastic
Properties Using Parametric Identification
Alireza Hariri and Jean W. Zu
DETC2009-87803 99
Fuzzy Control of a Pneumatic Muscle Driven Parallel Robot for Ankle Rehabilitation
Prashant K. Jamwal, Shane Xie, and Jack Farrant
CYBER-PHYSICAL SYSTEMS (CPS)DETC2009-87509 109
Dynamic Formation Control Using Networked Mobile Sensors and Centroidal Voronoi
Tessellations
Shelley Rounds and YangQuan Chen
DETC2009-87613 119
A Secure Migration Process for Mobile Agent SystemsNajmus S. Malik, David Ko, and Harry H. Cheng
DETC2009-87627 127
Flexible Dynamic Task Allocation in Cooperative Mission-Based Robotic Systems
Stephen S. Nestinger, Bo Chen, and Harry H. Cheng
DETC2009-87822 135
Towards Haptic Microrobotic Intracellular InjectionBen Horan, Saeid Nahavandi, AH Ghanbari, XiaoQi Chen, and Wenhui Wang
EMBEDDED SOFT COMPUTING
DETC2009-87178 143
Precision Motion Control of Tubular Linear Motors With Neural Networks and Compact
Genetic AlgorithmsFrancesco Cupertino, David Naso, and Biagio Turchiano
DETC2009-87337 151
FPGA Implementation of a Soft Sensor for the Estimation of the Freezing Point of Kerosene
Riccardo Caponetto, Giovanni Dongola, Antonio Gallo, and Maria Gabriella Xibilia
viii
DETC2009-87841 159
A "Multisensor Guide System" to Assist Visually Impaired in Unfamiliar Environments
Bruno Andd, Salvatore Baglio, Salvatore La Malfa, and Vincenzo Marietta
EMBEDDED SYSTEM INFRASTRUCTURE AND THEORY
DETC2009-86108,
165
Design of an Automotive Gateway for In-Vehicle Networks
Suk-Hyun Seo, Jin-Ho Kim, SungHo Hwang, Key Ho Kwon, and Jae Wook Jeon
DETC2009-86109 175
Experience With Developing a High-Productivity Test Framework for Scalable
Embedded and Mechatronic Systems
Stephen P. Masticola and Rajesh Subramanyan
DETC2009-87373 185
Particle Clustering to Improve Omnidirectional Localization in Outdoor Environments
Primo Zingaretti, Andrea Ascani, Adriano Mancini, and Emanuele Frontoni
DETC2009-87769 193
Pre-Run-Time Scheduling of Asynchronous and Periodic Processes With Offsets,Release Times, Deadlines, Precedence and Exclusion Relations
Jia Xu
LEARNING CONTROL AND DIAGNOSIS IN MECHATRONIC SYSTEMS
DETC2009-86651 203
The Development of Neural Network Cepstrum Method for Bearing Fault Detection
Yean-Ren Hwang and Kuo-Kuang Jen
DETC2009-86837 209
The Intelligent Learning Control on Slide Position of Mechanical Crank Press
Hong Zhao and Shengdun Zhao
DETC2009-87326 215
Application of a Balancing Filter for Model-Based Fault Diagnosis on a Centrifugal Pump in
Active Magnetic BearingsPhilipp Beckerle, Norman Butzek, Rainer Nordmann, and Stephan Rinderknecht
MECHATRONIC AND EMBEDDED SYSTEM APPLICATIONS
DETC2009-86076 223
Adaptive Posture Advisory System for Spinal Cord Injury Patient During LongHaul Air Travel
CheeFai Tan, Wei Chen, Marcel Verbunt, Christoph Bartneck, and Matthias Rauterberg
DETC2009-86416 231
Simulation Based Design of Electromechanical Actuators With Modelica
Marc Budinger, Jonathan Liscouet, Yu Cong, and Jean-Charles Mare
ix
DETC2009-86656 241
Automatic Source Code Generator Based on AUTOSAR RTE for Vehicular Applications
Hyun Chul Jo, Shiquan Piao, Sung Ho Jin, and Woo Young Jung
DETC2009-86658 247
Adaptronic Precision Positioning TechnologyAchim Pahlke, Simon Rosen, Markus Kastner, Hans-Christian Mohring,
Eduard Reithmeier, and Berend Denkena
DETC2009-86802 255
A Virtual Vehicle Simulator Controlled by Networked Embedded Systems via
LIN, CAN,and FlexRaySuk-Hyun Seo, SungHo Hwang, Jin-Ho Kim, Key Ho Kwon, and Jae Wook Jeon
DETC2009-86954 263
Symbolic Model Reduction for Interval-Valued Scenarios
Lars Mikelsons and Thorsten Brandt
DETC2009-87033 273
Flatness Based Control and Model Predictive Trajectory Generation for Boom Cranes
Joerg Neupert, Eckhard Arnold, Klaus Schneider, Lukas Knierim, and Oliver Sawodny
DETC2009-87443 281
Vibration Analysis of 3-D Axisymmetric Multilayered Piezoelectric Circular Cylindrical Shell
Under Moving Load Using Finite Element Method
Alireza Payravi, Mehrdad Farid, and Elyas Mirzaei
DETC2009-87611 291
Low-Frequency Pulse Width Modulation Design for HVAC CompressorsWilliam Burke and David Auslander
DETC2009-87853 299
A New Deterministic Approach in Probabilistic Design OptimizationHami Golbayani and Kazem Kazerounian
MECHATRONICS AND EMBEDDED SYSTEMS EDUCATION
DETC2009-86442 305
EHK Index Method for Calculating Discrete Fourier Transform
Ethar H. Khalil
DETC2009-86930 313
Modeling and Simulation of Educational Linear Motion Module
Dian-sheng Chen, Yu-xin Chen, and Tian-miao Wang
DETC2009-87148 319
Remote Lab Infrastructure for Distance Learning Courses at the Undergraduate Level in
Embedded Systems DesignPeter Balog, Martin Horauer, and Peter Rossler
x
DETC2009-87351 325
FPGA Implementation of Self-Tuning RegulatorsR. Caponetto, G. Dongola, and A. Gallo
MECHATRONICS CONTROL AND ELECTRICAL VEHICLES
DETC2009-86569 335
Dynamic Emulation of Tire/Road Friction for Developing Electric Vehicle Control Systems
Chengbin Ma
DETC2009-86969 341
Lagrangian D'Alembert Modeled Maneuverable Autonomous Non-Holonomic Mobile
Robot Using a Closed Loop PD Controller
E. Georgiou and J. Dai
DETC2009-87023 347
A Moving Horizon Based Sensor Fusion and Load Estimation Concept for Driving Profile:
Based Operating Strategy Optimization in Hybrid Hydraulic Trucks
Martin Kaszynski and Oliver Sawodny
DETC2009-87100 357
3D Predictive Model for Controlled Resistance Welding of Composites for ManufacturingApplications
Imad Zammar, Iraj Mantegh, and Mojtaba Ahmadi
DETC2009-87204 365
Modeling of Highway Heights for Vehicle Modeling and Simulation
Hamid Khayyam, Abbas Z. Kouzani, Hamid Abdi, and Saeid Nahavandi
DETC2009-87354 371
About the System Design of a Fuel-Cell/SuperCap Hybrid Powertrain
Markus Ozbek and Dirk Soffker
ROBOTICS AND MOBILE MACHINES
DETC2009-86158 379
Tracking Control of Uncertain Nonholonomic Mobile Robots: Smooth Switching Approach
Jeng-Tze Huang and Chih-Hao Chang
DETC2009-86423 385
Self-Learning Control of Free-Floating Dual-Arm Space Robot Based on Fuzzy AdaptiveCompensator
Liang die and Chen Li
DETC2009-86451 397
Design and Reconfiguration Algorithm of HexBot: A Modular Self-ReconfigurableRobotic System
Hossein Sadjadi, Omid Mohareri, MohammadAmin Al-Jarrah, and Khaled Assaleh
xi
DETC2009-87048 405
An Environmental Cognition Method Based on 3D Laser Radar
Mingchen Gao, Weihai Chen, Jingmeng Liu, and Xiaoqi Chen
DETC2009-87500 411
Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their
Singular ConfigurationsMichael C. Frejek and Scott B. Nokleby
DETC2009-87508 419
PROMPT: A Small Walking Robot for Planetary ExplorationSimon G. Rocheleau, Vincent Duchaine, Pascal Bochud, and Clement Gosselin
DETC2009-87610 427
Rao-Blackwellized Particle Filter Approach to Monocular vSLAM With a Modified
Initialization Scheme
Morteza Farrokhsiar and Homayoun Najjaran
DETC2009-87647 435
Human Affective State Recognition and Classification During Human-Robot Interaction
Scenarios
Zhe Zhang and Goldie Nejat
DETC2009-87654 443
Forward Displacement Analysis and Singularity Analysis of a 2-DOF 5R Spherical
Parallel ManipulatorXianwen Kong
DETC2009-87761 449
Object Pose Estimation for Multi-Robot Cooperative Object Transportation
Pallege Gamini Dilupa Siriwardana, Muhammad Tahir Khan, and Clarence W. de Silva
SENSOR NETWORKS
DETC2009-86459 459
High Speed Portable Wireless Data Acquisition System for High Data Rate Applications
Emre I. Cosar, Maurizio Bocca, and Lasse M. Eriksson
DETC2009-87150 471
Robotic Networks in Applied Distributed Mechatronics Systems: Problems and Issues in
Developments and ApplicationsM. M. Sanaatiyan and Hamid Hassanpour
DETC2009-87772 479
Web-Based Data Inquiry and Real-Time Control of Structural Health Monitoring Sensor
Networks
Bo Chen, Wenjia Liu, Jinjiang Wang, and Justin Slepak
DETC2009-87813 487
The Development and Performance Study of a Two-Level Wireless Sensor Network for
Structural Health MonitoringJinjiang Wang, Bo Chen, and Chuanzhi Zang
xii
DETC2009-87834 495
Feasibility of Wireless Sensors for Health Monitoring in Large Induction Motors
Rafael Garcilazo, Xin Xue, and V. Sundararajan
SENSORS AND MEMS
DETC2009-86337 501
User-Oriented Simulation Models of Piezo-Bar Actuators: Part I —Linear ApproachAbdou-Fadel Boukari, George Moraru, Jean-Claude Carmona, and Francois Malburet
DETC2009-86510 511
Fabrication of Eyeball-Like Spherical Micro-Lens Array for Optical Fiber CouplingS. C. Shen, C. T. Pan, ft. F. Shyu, C. H. Chao, J. C. Huang, and C, Y. Yeh
DETC2009-86559 519
On the Measurement of the Overall Elastic Stiffness and Bulk Modulus in
Anisotropic Materials: Semiconductors
Mohamed S. Gaith and Imad Alhayek
DETC2009-87077 525
User-Oriented Simulation Models of Piezo-Bar Actuators:
Part II —Integration of Nonlinearities
Abdou-Fadel Boukari, George Moraru, Jean-Claude Carmona, and Francois Malburet
DETC2009-87254 535
Piezoelectric Generators as Battery Chargers in Mobile Devices
Matthew Davis, Venketesh N. Dubey, and Xavier Velay
SMALL UNMANNED AERIAL VEHICLE TECHNOLOGIES AND
APPLICATIONS (SUAVTA)DETC2009-86151 539
Design of "Figure-8" Spherical Motion Flapping Wing for Miniature UAV
Zohaib Rehmat, Jesse Roll, Joon S. Lee, Woosoon Yim, and Mohamed B. Trabia
DETC2009-86412 547
UAV Autopilot Design for the AUVSI, UAS International CompetitionMuhammad M. Mahmood, Md S. Chowdhury, Rizwan Ihsan, Umar M. Yousaf,Mohamed W. Afifi, and Imtiaz M. Chuwdhury
DETC2009-86456 557
Software Support for Ground Control Station for Unmanned Aerial Vehicle
Mladjan Jovanovic, Dusan Starcevic, and Zoran Jovanovic
DETC2009-86490 567
Microraptor: A Low-Cost Autonomous Quadrotor SystemOsamah A. Rawashdeh, Hong Chul Yang, Rami D. AbouSleiman, and Belal H. Sababha
DETC2009-86500 575
Team OSAM-UAV's Design for the 2008 AUVSI Student UAS CompetitionChristopher J. Hall, Daniel Morgan, Austin Jensen, Haiyang Chao, Calvin Coopmans,
Mitchel Humpherys, and YangQuan Chen
xiii
DETC2009-86547 585
Low Cost Rapidly Reconfigurable UAV Autopilot for Research and Development of
Guidance, Navigation and Control AlgorithmsM. I. Lizarraga, G. H. Elkaim, G. M. Horn, R. Curry, V. Dobrokhodov, and I. Kaminer
DETC2009-86725 595
Acquisition of High Quality Remote Sensing Data Using a UAV Controlled by an
Open Source AutopilotMarc Schwarzbach, Uwe Putze, Ursula Kirchgaessner, and Maria V. Schoenermark
DETC2009-871Q7 603
Quantifying Nitrogen Status of Rice Using Low Altitude UAV-Mounted System and
Object-Oriented Segmentation MethodologyJinxia Zhu, Ke Wang, Jinsong Deng, and Tom Harmon
DETC2009-87136 611
Performance Evaluation of Real-Time Kinematic GPS at Arctic Latitudes
Alessio Salerno, Tom Lamarche, and Erick Dupuis
DETC2009-87574 621
Fractional Order Flight Control of a Small Fixed-Wing UAV: Controller Design and
Simulation StudyHaiyang Chao, Ying Luo, Long Di, and YangQuan Chen
DETC2009-87586 629
Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D
Photogrammetry and Distributed Wind Measurement
Austin M. Jensen, Daniel Morgan, Shannon Clemens, Thomas Hardy, and
YangQuan Chen
DETC2009-87636 635
AggieNav: A Small, Well Integrated Navigation Sensor System for Small Unmanned
Aerial Vehicles
Calvin Coopmans
DETC2009-87671 -641
AggieAir: An Integrated and Effective Small Multi-UAV Command, Control and
Data Collection Architecture
Calvin Coopmans and Yiding Han
DETC2009-87675 649
Design and Implementation of Sensing and Estimation Software in AggieNav:A Small UAV Navigation Platform
Calvin Coopmans, Haiyang Chao, and YangQuan Chen
DETC2009-87741 655
Programmable Multispectral Imager Development as Light Weight Payload for Low Cost
Fixed Wing Unmanned Aerial Vehicles
Yiding Han, Austin Jensen, and Huifang Dou
xiv
20th RELIABILITY, STRESS ANALYSIS, AND
FAILURE PREVENTION CONFERENCE
Introduction 663
COMPUTATIONAL RELIABILITY AND APPLIED MECHANICS
DETC2009-86324 665
Gearbox On-Line Condition Monitoring Using Empirical Mode Decomposition
Qiang Miao, Dong Wang, Hong-Zhong Huang, Bin Zheng, and Xianfeng Fan
DETC2009-86836 671
Coupling Methods for a Flexible Adaptive Finite Element ModellingCorinna Barthel and Ulrich Gabbert
DETC2009-86995 679
A Systematic Approach to the Reliability Analysis of an n-Unit Warm Standby SystemWith k-Repair Facility
Yu Pang, Hong-Zhong Huang, Yu Liu, and Min Xie
DETC2009-87442 685
Finite Element Determination of Beam Surface Stresses Due to Multiple Delamination
Benjamin Dauda, S. Olutunde Oyadiji, and Prassad Potluri
COMPUTER-BASED (NUMERICAL/FEA ETC.) ANALYSES FOR RSAFP
DETC2009-86193 695
Optimized Simulation Method and Experimental Verification on Dynamic Analysis of a
Light Truck Frame
Feng Gao, Yonghua Xiong, Lei Tian, Farong Du, and Guoyan Xu
DETC2009-86441 703
Analysis of Fatigue Crack Growth in Friction Stir Welded Joints of 2024 AL AlloyM. Zadeh, Aidy Ali, A. F. Golestaneh, and B. B. Sahari
DETC2009-86585 711
Computations of SIFs for Non-Symmetric V-Notched Plates by the FFEM
Muhammad Treifi and S. Olutunde Oyadiji
DETC2009-87006 719
Psychological Information Entropy and Its Applications to Reliability EngineeringGuibao Wang, Liansheng Sun, Haiqing Li, and Hong-Zhong Huang
DETC2009-87097 725
Reliability of the Flexible Display STN LCD Based Environmental Test
Pan-Dong Fan, Qiang Miao, Ping Yang, Quayle Chen, Tom Xue, Leon Xu, and Antti Salo
RSAFP CONSIDERATIONS IN DESIGN PROCESS
DETC2009-86981 731
Reliability-Based Design of Future Highly Reliable SystemsMarco Junglas, Amir Kazeminia, Rudiger Eick, and Dirk Soffker
xv
DETC2009-86997 739
A Unified Optimization Design Model Under UncertaintyZhonglai Wang, Hong-Zhong Huang, Huanwei Xu, and Xiaoling Zhang
DETC2009-86998 745
Possibility-Based Multidisciplinary Design Optimization in the Framework of SequentialOptimization and Reliability Assessment
Xudong Zhang, Hong-Zhong Huang, Shengkui Zeng, and Zhili Wang
DETC2009-87003 751
Fuzzy Reliability Prediction Method Based on FMECAfor Diesel EngineHan-Liang Zhang, Hong-Zhong Huang, and Yu Liu
DETC2009-87103 759
Reliability Prediction Methods: A Survey and Selection for Mechanical Design-for-ReliabilityZhaofeng Huang and Yan Jin
DETC2009-87206 773
Reliability Analysis of the Crack Life on the Basis of Linear Regression Model With
Fuzzy WeightHaiqing Li, Li Du, and Qiming Ma
DETC2009-87615 777
An Approach to Determine the Test Intervals for CBM
Zhong-Zhe Chen, Hong-Zhong Huang, Yu Liu, Qiang Miao, and Pei-Yu Ren
DETC2009-87795 781
Distributed-Paramaters Base Modeling and Vibration Analysis of Microcantilevers Used in
Atomic Force MicroscopyA. A. Abouelsoud and J. Abdo Ahmed
DETC2009-87830 785
Natural Frequencies of Composite Cylindrical Helical Springs Manufactured UsingFilament Winding
Erol Sancaktar and Sunil Gowrishankar
STRESS AND FAILURE ANALYSIS AND MODELING
DETC2009-86086 791
Finite Element Analysis of the Effect of Oil Jet Peening Process in a Material
A. Sahaya Grinspon and R. Gnanamoorthy
DETC2009-86334 799
A Probabilistic Approach for Determining the Component's Dimension Under
Fatigue LoadingsXiaobin Le and Jahan Rasty
DETC2009-86371 805
Simulation of Deformation of Diaphragm Spring Grooved With Spiral Slits by FE Method
Yingxia Qi, Yinong Wu, Hua Zhang, and Xi Chen
xvi
DETC2009-86471 811
Bearing Fault Diagnosis Using Singular Value Decomposition and Hidden Markov ModelingDong Wang, Qiang Miao, Rui Sun, and Hong-Zhong Huang
DETC2009-86747 819
Numerical Modeling of Contact Pressure in Vane Seals
Liangxi Xie, Jianyi Kong, Li Qian, Gongfa Li, and Xiaohong Wan
DETC2009-86857 827
Reliability Mathematical Model of Continuous System Based on Segment-PartitionGuangbo Hao and Liyang Xie
DETC2009-87034 833
Damage Analysis and Prediction of Forming Limits for IF Steel
Jing Huang, Lijun Li, and Zhida Li
DETC2009-87164 839
The Tensile Strength Effects on Precipitation Heat Treatment of 6061-T6 Aluminium AlloyCheeFai Tan, Md Radzai Said, and Wei Chen
DETC2009-87200 847
Mechanical Test of FPCB and Failure Analysis by Simulation
Jian Zhong, Ping Yang, Jian-ping Li, Hai-bo Sun, Quayie Chen, Leon Xu, and Antti Salo
Author Index 853
xvii
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