CONFERENCE PROGRAM
The 6th IASTED International Conference on
Biomechanics (BioMech 2011)
&
nd
The 2 IASTED International Conference on
Robotics (Robo 2011)
November 7 - 9, 2011
Pittsburgh, USA
LOCATION
Wyndham Hotel - University Place
3454 Forbes Avenue
Pittsburgh, Pennsylvania 15213
USA
BIOMECHANICS (BioMech 2011)
M. Gudavalli – Palmer Center for Chiropractic Research,
USA
G.A. Holzapfel – Royal Institute of Technology (KTH),
Sweden
A. Imhoff – University of Munich, Germany
N. Inou – Tokyo Institute of Technology, Japan
K. Iqbal – University of Arkansas at Little Rock, USA
P.C. Ivancic – Yale University School of Medicine, USA
J. Jurvelin – University of Eastern Finland, Finland
R.D. Kamm – Massachusetts Institute of Technology, USA
A.B. Kesel – Biomimetics-Inovation-Centre, Germany
M.A. King – Loughborough University, UK
R. Kiss – Budapest University of Technology and
Economics, Hungary
S. Kleiven – Royal Institute of Technology, Sweden
M.L. Knothe Tate – Case Western Reserve University, USA
Y.H. Kwon – Texas Woman's University, USA
N. A. Langrana – Rutgers University , USA
E. Ledet – Rensselaer Polytechnic Institute, USA
C.T. Lim – National University of Singapore, Singapore
W. Liu – University of Kansas Medical Center, USA
I.C. Locke – University of Westminster, UK
M.A. Martinez – University of Zaragoza, Spain
A. Merkle – Johns Hopkins University Applied Physics
Laboratory, USA
B. Morrison – Columbia University, USA
E. Mueller – University of Salzburg, Austria
C.W. Oomens – Eindhoven University of Technology,
The Netherlands
V.E. Orel – National Cancer Institute, Ukraine
M. Pain – Loughborough University, UK
SPONSOR
The International Association of Science and Technology for
Development (IASTED)
CONFERENCE CHAIR
Prof. Barclay Morrison - Columbia University, USA
KEYNOTE SPEAKER
Prof. Susan Margulies - University of Pennsylvania, USA
INTERNATIONAL PROGRAM COMMITTEE
F. Amirouche – University of Illinois at Chicago, USA
J.M. Aznar – University of Zaragoza, Spain
A. Baca – University of Vienna, Austria
D. Bader – University of Southampton, UK
R. Bartlett – University of Otago, New Zealand
L. Bilston – Neuroscience Research Australia, Australia
C. Bir – Wayne State University, USA
L. Borbas – Budapest University of Technology and
Economics, Hungary
B. Coats – University of Utah, USA
D. Cronin – University of Waterloo, Canada
E. Cueto – University of Zaragoza, Spain
P. Diamantopoulos – University of Athens, Greece
A. Eriksson – Royal Institute of Technology, Sweden
M.W. Fahmy – University of Miami, USA
A. Gefen – Tel Aviv University, Israel
G.M. Genin – Washington University, USA
B. Glasmacher – Leibniz University of Hannover, Germany
V.K. Goel – University of Toledo, USA
P. Gorce – University of Toulon, France
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H.L. Ploeg – University of Wisconsin-Madison, USA
B.I. Prilutsky – Georgia Institute of Technology, USA
M.S. Sacks – University of Pittsburgh, USA
G. Shan – University of Lethbridge, Canada
C. Simms – Trinity College Dublin, Ireland
M. Staat – Aachen University of Applied Sciences, Germany
J. Sumec – Slovak University of Technology, Slovakia
H. Sveistrup – University of Ottawa, Canada
A. Sviridenok – National Academy of Sciences of Belarus,
Belarus
M. Tanaka – Osaka University, Japan
D. Tang – Worcester Polytechnic Institute, USA
K. Tanishita – Keio University, Japan
B.Q. Tran – The Catholic University of America, USA
G.A. Truskey – Duke University, USA
G. Van der Perre – Catholic University of Leuven, Belgium
B. Vanwanseele – Fontys University of Applied Science,
The Netherlands
N. Vyavahare – Clemson University, USA
B.A. Winkelstein – University of Pennsylvania, USA
S.Y. Woo – University of Pittsburgh, USA
D. Xiao – University of East London, UK
V. Zanchi – University of Split, Croatia
V.M. Zatsiorsky – The Pennsylvania State University, USA
ADDITIONAL PAPER REVIEWERS
G. Solitro – University of Illinois at Chicago, USA
ROBOTICS (Robo 2011)
X. Ding – Beihang University, PR China
J.M. Dolan – Carnegie Mellon University, USA
R.V. Dubey – University of South Florida, USA
A. Elnagar – University of Sharjah, UAE
N. Etani – Kobe Institute of Computing, Japan
R. Faglia – State University of Brescia, Italy
S. Feng – Imperial College London, UK
H. Gao – Harbin Institute of Technology, PR China
J.L. Gonzalez Sanchez – University of Valladolid, Spain
P. Gorce – University of Toulon, France
J. Gu – Dalhousie University, Canada
L. Guo – Beihang University, PR China
H. Hellbrück – Lübeck University of Applied Sciences,
Germany
P. Herman – Poznan University of Technology, Poland
M.K. Hor – National Chengchi University, Taiwan
J. Iqbal – Italian Institute of Technology, Italy
D. Isobe – University of Tsukuba, Japan
S. Kaitwanidvilai – King Mongkut's Institute of Technology
Ladkrabang, Thailand
D. Kong – Jilin Univeristy, PR China
E. Kongar – University of Bridgeport , USA
R. Kornbluh – Stanford Research Institute International,
USA
P. Kulvanit – Ministry of Science and Technology Thailand,
Thailand
B. Lantos – Budapest University of Technology and
Economics, Hungary
T.H. Lee – National University of Singapore, Singapore
W. Li – California State University, USA
SPONSORS
The International Association of Science and Technology for
Development (IASTED)
• Technical Committee on Robotics
• Technical Committee on Telecommunications
International Journal of Robotics and Automation
World Modelling and Simulation Forum
(WMSF)
TUTORIAL SESSION
Prof. Anthony A. Maciejewski - Colorado State University,
USA
INTERNATIONAL PROGRAM COMMITTEE
I. Al-Bahadly – Massey University, New Zealand
A. Alimi – University of Sfax, Tunisia
F. Arrichiello – University of Cassino, Italy
W. Assawinchaichote – King Mongkut's University of
Technology Thonburi, Thailand
A. Azad – Northern Illinois University, USA
V. Becerra – University of Reading, UK
N. Chalhoub – Wayne State University, USA
R. Chanchareon – Chulalongkorn University, Thailand
S. Chauhan – Global Robotics Institute, USA
X. Chen – Shibaura Institute of Technology, Japan
X. Dai – Southeast University, PR China
J. Dias – University of Coimbra Polo II, Portugal
R. Dillmann – Karlsruhe Institute of Technology - KIT,
Germany
2
H. Liu – Harbin Institute of Technology, PR China
P.X. Liu – Carleton University, Canada
R. Liu – Beihang University, PR China
G. López-Nicolás – The University of Zaragoza, Spain
A.A. Maciejewski – Colorado State University, USA
R.V. Mayorga – University of Regina, Canada
P. Mitrouchev – Joseph Fourier University, France
Y. Morita – Japan Aerospace Exploration Agency, Japan
F. Naghdy – University of Wollongong, Australia
M. Nahon – McGill University, Canada
H. Oya – The University of Tokushima, Japan
I. Paromtchik – The National Institute for Research in
Computer Science and Control, France
G. Parr – University of Ulster, UK
P. Payeur – University of Ottawa, Canada
G.R. Pennock – Purdue University, USA
S.G. Ponnambalam – Monash University, Malaysia
D. Popescu – University of Craiova, Romania
A. Roy – University of Maryland School of Medicine, USA
B.S. Ryuh – Chonbuk National University, Korea
A. Saad – Armstrong Atlantic State University, USA
T. Sanguankotchakorn – Asian Institute of Technology,
Thailand
M. Shiraishi – Ibaraki University, Japan
C. Shuang – University of Science and Technology of China,
PR China
B. Singh – Lakehead University, Canada
M. Sitti – Carnegie Mellon University, USA
T.M. Sobh – University of Bridgeport, USA
C.Y. Su – Concordia University, Canada
Q. Sun – University of Calgary, Canada
S. Sung – Konkuk University, South Korea
M. Tan – Institute of Automation, Chinese Academy of
Sciences, PR China
J. Tanha – Payame Noor, Iran
G. Tao – University of Virginia, USA
J. Tian – Chinese Academy of Sciences, PR China
M.O. Tokhi – University of Sheffield, UK
R. Toumi – The University of Science and Technology,
Algeria
M. Trabia – University of Nevada, USA
H. Wang – Chinese Academy of Sciences, PR China
T. Wang – Beihang University, PR China
S. Wilkinson – University of South Florida, USA
J.S. Yang – University of Minnesota, USA
J. Zhang – University of Hamburg, Germany
T. Zhang – Tsinghua University, PR China
Z. Zhang – University of Exeter, UK
D. Zhao – Chinese Academy of Sciences, PR China
ADDITIONAL PAPER REVIEWERS
A. A. Garza – Instituto Tecnologico de Tijuana, Mexico
M. Hamza – IASTED, Canada
M. A. Lopez – Instituto Tecnologico de Tijuana, Mexico
T. Podder – East Carolina University, USA
PLEASE NOTE
 Paper presentations are 15 minutes in length with an
additional 5 minutes for questions.
 Report to your Session Chair 15 minutes before the
session is scheduled to begin.
 Presentations should be loaded onto the presentation
laptop in the appropriate room prior to your session.
 End times of sessions vary depending on the
number of papers scheduled.
3
PROGRAM OVERVIEW
Monday, November 7, 2011
Tuesday, November 8, 2011
07:00 – Registration
(Foyer)
08:30 – BioMech Session 2 – Gait and Motion Analysis
(Forbes A Room)
08:30 – BioMech/Robo Welcome Address
09:00 (Carlow Room - 8th Floor)
08:40 – Robo Session 3 – Mobile Robots and Motion
Planning
(Carlow Room - 8th Floor)
09:00 – Robo Session 1 – Computer Visio and Robotics
Applications
(Carlow Room - 8th Floor)
10:00 – Coffee Break
10:30 (Foyer)
10:30 – Robo Session 3 Continued
(Carlow Room - 8th Floor)
09:00 – BioMech Session 1 – Computational Biomechanics:
Upper Body and Meso-Scale
(Forbes A Room)
10:30 – BioMech Session 3 – Applied Biomechanics
(Forbes A Room)
10:00 – Coffee Break
10:30 (Foyer)
12:30 – Lunch Break
(Self-Catered)
10:30– Robo Session 1 Continued
(Carlow Room - 8th Floor)
13:30 – Robo Session 4 – Autonomous Robots I
(Carlow Room - 8th Floor)
10:30– BioMech Session 1 Continued
(Forbes A Room)
14:30 – Coffee Break
15:00 (Foyer)
12:10 – Lunch Break
(Self-Catered)
15:00 – Robo Session 4 Continued
(Carlow Room - 8th Floor)
13:30 – BioMech/Robo Keynote Speaker – “Injury
Thresholds - it takes the whole biomechanics
toolbox” - Prof. Susan Margulies
(Forbes B Room)
15:00 – BioMech Session 4 – Kinematics Analysis
(Forbes A Room)
14:30 – Coffee Break
15:00 (Foyer)
19:00 – Dinner Banquet
(Forbes Ballroom)
15:00 – Robo Session 2 – Humanoid Robotics and Personal
Robots
(Forbes A Room)
4
Wednesday, November 9, 2011
Monday, November 7, 2011
09:00 – Robo/BioMech Tutorial Presentation – “Redundant
Robots: The Promise of Human-Like Dexterity” Prof. Anthony A. Maciejewski
(Chatham Room - 7th Floor)
07:00 – REGISTRATION
Location: Foyer
08:30 – 09:00 BioMech/Robo WELCOME ADDRESS
Location: Carlow Room - 8th Floor
10:00 – Coffee Break
10:30 (Foyer)
09:00 – Robo SESSION 1 – COMPUTER VISIO AND
ROBOTICS APPLICATIONS
Chairs: Dr. Ivan Buzurovic (USA) and Prof. Yangmin Li
(PR China)
Location: Carlow Room - 8th Floor
10:30 – Robo/BioMech Tutorial Presentation Continued
(Chatham Room - 7th Floor)
12:30 – Lunch Break
(Self-Catered)
752-005
Development of a Laboratory HILs Testbed System for Small
UAV Helicopters
Yi-Rui Tang and Yangmin Li and (Macau)
13:10 – Robo Session 5 – Human Robot Interaction
(Chatham Room - 7th Floor)
752-039
Calibration of Brachytherapy Robotic System for Permanent
Radioactive Seed Implants
Ivan Buzurovic, Tarun K. Podder, and Yan Yu (USA)
14:30 – Coffee Break
15:00 (Foyer)
15:00 – Robo Session 5 Continued
(Chatham Room - 7th Floor)
752-043
On Spatial Attention in Object Tracking using a Synthetic
Aperture Camera Array
Christoph Walter, Maik Poggendorf, Norbert Elkmann and
Felix Penzlin (Germany)
16:20 – Robo Session 6 – Autonomous Robots II
(Chatham Room - 7th Floor)
752-060
Machine Vision-based Motion Estimation of Flotation Froth
using Mutual Information
Anthony Amankwah and Chris Aldrich (South Africa)
752-064
Hammering Robot for Concrete Surface Inspection
Tomoyuki Yamaguchi, Anna Ariga, and Shuji Hashimoto
(Japan)
752-067
Teleoperation Control of Heterogeneous Multi-Robot
Systems for Multi-Task Multi-Target Pairing
Yushing Cheung, Jae H. Chung, and Ketula Patel (USA)
752-070
Haptic Support for Improved Task Guidance in a 3D Virtual
Aircraft Maintenance Environment based on an Intelligent
Assembly Planning Algorithm
Syed Hassan (Pakistan) and Jungwon Yoon (Korea)
5
751-014
Biomechanical Study on Interface Pullout Strength of
Vertebral Body Cages using FEA-based Neurogenetic
Approach
Ching-Chi Hsu and Yu-Rui Huang (Taiwan)
752-019
Design of Control Law and Control Allocation for
Autonomous Vessl Motion Control
Van Phuoc Bui, Dong Seok Lee and Young Bok Kim (Korea)
09:00 – BioMech SESSION 1 – COMPUTATIONAL
BIOMECHANICS: UPPER BODY AND MESOSCALE
Chairs: Dr. Brittany Coats (USA), Asst. Prof. Ching-Chi Hsu
(Taiwan) and Dr. Eng. Lukas Capek (Czech Republic)
Location: Forbes A Room
10:00 – 10:30 COFFEE BREAK
Location: Foyer
10:30 – Robo SESSION 1 CONTINUED
Location: Carlow Room - 8th Floor
751-037
Comparison of Detailed Sagittal and Transverse Finite
Element Head Models to Evaluate Blast Load Response
Dilaver Singh, Philip A. Lockhart, Tyler N. Haladuick, and
Duane S. Cronin (Canada)
10:30 – BioMech SESSION 1 CONTINUED
Location: Forbes A Room
12:10 – LUNCH BREAK
Self-Catered
751-038
Modelling of Global Head Kinematics Resulting from
Realistic Blast Loading
Tyler N. Haladuick, Philip A. Lockhart, Dilaver Singh and
Duane S. Cronin (Canada)
13:30 – BioMech/Robo KEYNOTE SPEAKER –
“INJURY THRESHOLDS - IT TAKES THE WHOLE
BIOMECHANICS TOOLBOX”
Presenter: Prof. Susan Margulies (USA)
Location: Forbes B Room
751-034
Prediction of Neck Response in Out of Position Impact
Scenarios
Hamed Shateri and Duane S. Cronin (Canada)
Cells within the body routinely tolerate deformations during
activities such as head turning and breathing, yet when cells
are deformed beyond a safe limit or injury threshold, function
and structure are altered temporarily or even permanently.
Our goal is to determine functional and structural injury
thresholds in the brain and lung, and use them to understand
mechanisms of traumatic brain and lung injury. In addition,
the lab's study of the biochemical and molecular biology of
injured cells facilitates the development of preventive and
therapeutic measures. Because human tissues tend to be
inhomogeneous, anisotropic and nonlinear, and the tissues of
interest undergo large strains, determining the complex
relationship between cellular and macroscopic responses
requires an integrated biomechanics approach consisting of
several simultaneous rigorous engineering experimental and
theoretical analyses. Tissue mechanical properties and injury
thresholds are measured and used to develop computational
models. These models are used to generalize our experimental
cell and tissue findings and determine macroscopic injury
mechanisms and injury thresholds. These studies parallel
clinical investigations regarding the treatment and detection
of traumatic injury.
751-015
Patient Specific Flow Analysis of Cerebral Aneurysm using
CFD
Rajanikanth Rao Vedula, Shah Mohammed Abdul Khader,
Raghuvir Pai, Anurag Ayachit (India), Kamarul Arifin Ahmad
and Ibrahim Lutfi Shuaib (Malaysia)
751-004
The Role of Graft to the Crush Resistance of the Stentgraph
Lukas Capek and Michal Ackermann (Czech Republic)
751-016
Comparisons of the Bending Strength of Cylindrical, Conical
and Dual Core Pedicle Screws: An Application of Finite
Element Analyses
Yongyut Amaritsakul, Ching-Chi Hsu, and Ching-Kong Chao
(Taiwan)
Susan Margulies is a Professor of Bioengineering in the
School of Engineering and Applied Science (SEAS) at Penn.
She received her BSE in Mechanical and Aerospace
6
752-044
Development of a Robot for Playing a Curved 3D Surface
Percussion Instrument
Prakash Persad, Trichelle Seepersad, and Kelvin Loutan Jr.
(Trinidad and Tobago)
Engineering from Princeton University (summa cum laude),
her MSE and Ph.D. in Bioengineering from Penn. She was an
Assistant Professor at the Mayo Clinic before joining Penn's
faculty in 1993.
Professor Margulies was awarded the prestigious ALA Young
Investigator and Whitaker Foundation Young Investigator
Awards, and an NSF CAREER Award. Her research program
is funded by NIH, Department of Transportation, Whitaker
Foundation, and the CDC. She has published over 100
papers, and her work has been featured in the New York
Times, Forbes, Atlanta Journal-Constitution, Discover
Magazine, and by CNN and the BBC. She was elected a
Fellow in the American Institute for Medical and Biological
Engineering, American Society of Mechanical Engineering
and the Biomedical Engineering Society. She currently serves
as Chair of the NIH RIBT Study section, Vice-President of
the Penn Forum for Women Faculty, and Chair-Elect of the
University of Pennsylvania Faculty Senate.
752-048
A 3-Tier Infrastructure: Virtual-, Mini-, Online-Hubo Stair
Climbing as a Case Study
Youngbum Jun and Paul Oh (USA)
752-061
Using the Microsoft Kinect to Model the Environment of an
Anthropomimetic Robot
David Devereux, Bhargav Mitra, Owen Holland, and
Alan Diamond (UK)
752-062
Cloud Robotics: Toward Context Aware Robotic Networks
João M. Quintas, Paulo J. Menezes, and Jorge M. Dias
(Portugal)
14:30 – 15:00 COFFEE BREAK
Location: Foyer
752-007
Robust Virtual Keyboard for Brain-Computer Interface
(ROBIK): An Halfway Update on the Project
Louis Mayaud (UK), Marco Congedo (Italy), Sabine Filipe,
Guillaume Charvet, Remy Schoettel, and Djillali Annane
(France)
15:00 – Robo SESSION 2 – HUMANOID ROBOTICS
AND PERSONAL ROBOTS
Chair: Dr. David Devereux (UK)
Location: Forbes A Room
752-014
Modeling and Control of a Humanoid Robot Arm with
Redundant Biarticular Muscle Torques
Haiwei Dong, Zhiwei Luo, and Akinori Nagano (Japan)
752-018
The Puller-Follower Control Concept for the Multi-Joint
Robot with Antagonistically Coupled Compliant Drives
Veljko Potkonjak, Kosta Jovanovic, Predrag Milosavljevic,
Nenad Bascarevic (Serbia), and Owen Holland (UK)
752-021
Dynamic Inclination Measurement for Five Degrees-ofFreedom Robots
Vishesh Vikas and Carl D. Crane III (USA)
752-024
A Brain Computer Interface based Humanoid Robot Control
System
Wei Li, Christian Jaramillo, and Yunyi Li (USA)
7
752-025
Three-Dimensional Auditory Occupancy Grids: Accuracy
and Robustness
Brian P. DeJong (USA)
Tuesday, November 8, 2011
08:30 – BioMech SESSION 2 – GAIT AND MOTION
ANALYSIS
Chair: Asst. Prof. Rita Kiss (Hungary)
Location: Forbes A Room
752-032
Path Planning in Partially Known Environments
Hao Wang and Simon J. Julier (UK)
751-030
Influence Factors of Balancing Capacity at Healthy Elderly
Subjects
Rita M. Kiss (Hungary)
752-040
Design of a Quadruped Robot for the Study of Gait Cycles
Benjamín Díaz Santiago and José Gabriel Ramírez Torres
(Mexico)
751-028
Total Hip Arthroplasty Affecting Balancing Ability after
Sudden Perturbation
Rita M. Kiss and Gergely Holnapy (Hungary)
752-046
Generating Speed, Torque and Jerk Limited Trajectories
along Specified Geometric Paths in Realtime
Lukas Messner, Hubert Gattringer, and Hartmut Bremer
(Austria)
751-029
Effect of Knee Joint Exposure on the Variability of Gait
Parameters in the Early Postoperative Period
Ákos Pethes and Rita M. Kiss (Hungary)
752-057
Path Planning of Autonomous Underwater Vehicle in 3D
Space for Smooth Transition at Waypoints
Saravanakumar Subramanian and Asokan Thondiyath (India)
751-036
A Case Study of a Femoral Nerve Injured Child
Seonhong Hwang, Seunghyeon Kim, Jongsang Son,
Jeong-Mee Park, Seong-Ju Kwon, Ik-Sun Choi and
Youngho Kim (Korea)
752-063
Multi-Objective Design of Spatial Cable Robots
Arian Bahrami and Mansour Nikkhah-Bahrami (Iran)
751-007
Effect of Jump Height On Anterior Cruciate Ligament
Loading Among Young Women: A Forward Dynamics
Simulation Study
Julia Kar, Peter M. Quesada (USA)
752-072
Modeling and Control of a Mobile Manipulator with
Cancellation of Factory-Installed Regulator
Gastón H. Salazar-Silva, Marco A. Moreno-Armendáriz, and
Jaime Álvarez Gallegos (Mexico)
08:40 – Robo SESSION 3 – MOBILE ROBOTS AND
MOTION PLANNING
Chair: Mr. Gustavo Freitas (USA)
Location: Carlow Room - 8th Floor
752-076
Using Self-Motion in Redundant Manipulators to Cope with
Painlevé Paradox
Hesham A. Elkaranshawy (Egypt)
752-010
QCQP-Tunneling: Ellipsoidal Constrained Agent Navigation
Sanjeev Sharma (India)
10:00 – 10:30 COFFEE BREAK
Location: Foyer
10:30 – Robo SESSION 3 CONTINUED
Location: Carlow Room - 8th Floor
752-011
Design, Modeling, and Control of a Wheel-Legged
Locomotion System for the Environmental Hybrid Robot
Gustavo Freitas, Fernando Lizarralde, Liu Hsu, Vitor Paranhos,
Ney R. Salvi dos Reis (Brazil), and Marcel Bergerman (USA)
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10:30 – BioMech SESSION 3 – APPLIED
BIOMECHANICS
Chair: Miss Nazanin Afsar Kazerooni (Iran)
Location: Forbes A Room
13:30 – Robo SESSION 4 – AUTONOMOUS
ROBOTS I
Chairs: Dr. Carlotta Berry (USA) and Dr. Terrence Fries (USA)
Location: Carlow Room - 8th Floor
751-008
Specific Interaction Studied by Single-Molecule Force
Measurement using a Carbon Nanotube Probe
Madoka Yamaguchi, Masahiro Nakano, Ryosuke Senga,
Hiroyuki Maruyama, Shige H. Yoshimura and
Yoshikazu Nakayama (Japan)
752-003
An Integrated Vision System for Vegetation Detection in
Autonomous Ground Vehicles
Duong V. Nguyen, Lars Kuhnert, and Klaus D. Kuhnert
(Germany)
752-008
Optimal Design of a Spatial Six-Cable Robot
Arian Bahrami and Mansour Nikkhah-Bahrami (Iran)
751-025
Simulation Model which can Visualize the Shape of the
Colonoscope using Orientation Sensor Network
Jaewoo Lee, Genya Ukawa, Shuna Doho, Zhuohua Lin,
Hiroyuki Ishii and Atsuo Takanishi (Japan)
752-012
Modeling of Computer Performance for Real-Time Parallel
Grid-based Recursive Bayesian Estimation
Xianqiao Tong, Tomonari Furukawa (USA), and
Hugh F. Durrant-Whyte (Australia)
751-021
Bending Properties of a Bone Glue Containing
Polymethylmethacrylate and Hydroxyapatite and Gelatin
Taymaz Jozaghi, Nazanin Afsar Kazerooni,
Mohammad Ebrahim Bahrololoom,
Mohammad Hossein Shariat, and Fatemeh Mahzoon (Iran)
752-013
Multisensor Robotic Contour Following on Deformable
Objects
Heiko Koch, Alexander König, Karl Kleinmann,
Alexandra Weigl-Seitz, and Jozef Suchý (Germany)
751-005
In-Vivo Examination of Composites Produced by Plasma
Nitro/Carburized of Stainless Steel Hydroxy-Apatite Particles
Nazanin Afsar Kazerooni, Mohammad Ebrahim Bahrololoom,
Mohammad Hossein Shariat, Seifollah Dehghani,
Taymaz Jozaghi, and Fatemeh Mahzoon (Iran)
752-027
An Innovative Approach to Pipeline Health Monitoring using
Crawler Robot with PVDF based Probe
Vimal Agarwal, Shreyansh Daftry, and Bishakh Bhattacharya
(India)
751-010
Overview of the "i-Lung" as Developing Active Lung
Simulator Including Respiration Aerosol
Mathias Forjan, Katharina Stiglbrunner (Austria),
Zbyněk Bureš (Czech Republic), and Andreas Drauschke
(Austria)
752-042
Autonomous Robot Navigation in Varying Terrain using a
Genetic Algorithm
Terrence P. Fries (USA)
752-055
Investigation in the Control of a Four-Rotor Aerial Robot
Juergen A. Kunzmann and Carlotta A. Berry (USA)
751-011
Experimental Investigation of the Mechanics of Conventional
and Ultrasonically-Assisted Drilling of Cortical Bone
Khurshid Alam, Abdul Ghafoor (Pakistan),
Alexander V. Mitrofanov, and Vadim Silberschmidt (UK)
752-056
Autonomous Explorative Outdoor Path Planning
Lars Kuhnert, Duong V. Nguyen, Stefan Thamke, and
Klaus D. Kuhnert (Germany)
12:30 – LUNCH BREAK
Self-Catered
752-059
Two-Loop Control of Redundant Manipulators: Analysis and
Experiments on a 3-dof Planar Arm
Israel Soto and Ricardo Campa (Mexico)
9
752-020
A High Performance Triune Tank Simulator for Training
Ming Cong, Dong Liu, Yu Du, and Haiying Wen (PR China)
Wednesday, November 9, 2011
09:00 – Robo/BioMech TUTORIAL PRESENTATION
– “REDUNDANT ROBOTS: THE PROMISE OF
HUMAN-LIKE DEXTERITY”
Presenter: Prof. Anthony A. Maciejewski (USA)
Location: Chatham Room - 7th Floor
14:30 – 15:00 COFFEE BREAK
Location: Foyer
15:00 – Robo SESSION 4 CONTINUED
Location: Carlow Room - 8th Floor
The vast majority of robots in use today operate in very
structured environments, e.g., in factory assembly lines, and
possess only those limited motion capabilities required to
perform specific tasks. While these robots can outperform
humans in terms of speed, strength, and accuracy for these
tasks, they are no match for the dexterity of human motion.
Part of a human's inherent advantage over industrial robots is
due to the large number of degrees of freedom in the human
body. Articulated, i.e., jointed, motion systems that possess
more degrees of freedom than the minimum required to
perform a specified task are referred to as kinematically
redundant. In an effort to mimic the dexterity of biological
systems, researchers have built a number of kinematically
redundant robotic systems, e.g., anthropomorphic arms,
multi-fingered hands, dual-arm manipulators, and walking
machines. While these systems vary in their appearance and
intended applications, they all require motion control
strategies that coordinate large numbers of joints to achieve
the high degree of dexterity possible with redundant systems.
This talk will discuss the issues that arise when designing such
strategies, frequently drawing on the use of the singular value
decomposition, including the characterization of redundancy,
the quantification of dexterity, and the development of
efficient and numerically stable motion control algorithms
that simultaneously optimize multiple criteria. In addition,
the ability of kinematically redundant robots to sustain
component failures and yet still complete an assigned task will
addressed, thereby extending the application of robots to
environments that are unacceptable or inaccessible to
humans.
15:00 – BioMech SESSION 4 – KINEMATICS
ANALYSIS
Chair: Mr. Edwardo Murakami (Japan)
Location: Forbes A Room
751-041
Effects of Toe Movement during Walking and Running in
Terms of GRF and EMG Signals
Edwardo A. Y. Murakami, Duk Shin, Yasuharu Koike, and
Masaaki Mochimaru (Japan)
751-009
An Approach for Determining Linear Velocities of Athletes
from Acceleration Measurements using a Neural Network
Peter Christ, Felix Werner, Ulrich Rückert, and
Jörg Mielebacher (Germany)
751-039
Development of an Inertial Type Wheelchair Dynamometer
and its Calibration
Seonhong Hwang, Seunghyeon Kim, Jongsang Son, and
Youngho Kim (Korea)
751-026
Simulating Space Suit Movement Resistance and Kinematic
Workspace using a Mechanical Exoskeleton
Anthony J. Nejman and Grant Schaffner (USA)
19:00 – DINNER BANQUET
Meeting Place: Forbes Ballroom
Objectives
This course will enable you to:
• Understand the issues associated with motion planning for
robotic systems
• Be able to quantify the dexterity of various robotic systems
• Apply a general control formulation for coordinating the
motion of high degree-of-freedom robotic systems for multiobjective optimization
• Understand how kinematically redundant robotic systems
can be designed and operated for failure tolerant behavior.
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752-038
Visual Reinforcement and Unilateral Constraints with Virtual
Mechanisms for Under-Actuated Haptics
Greg R. Luecke (USA)
Target Audience
This course is intended for faculty, engineers, scientists, and
students who want an overview of motion planning for
kinematically redundant robots, i.e., a formal approach for
dealing with the coordination of multiple degree-of-freedom
systems. It is also useful for those who are considering a career
as a robotics engineer.
752-045
Towards the Design of Humanoids as Interactive Musical
Participants
Daniel M. Lofaro, David Grunberg, Paul Oh, Youngmoo Kim
(USA), and Jun Ho Oh (Korea)
Anthony A. (Tony) Maciejewski received the B.S., M.S.,
and Ph.D. degrees in Electrical Engineering in 1982, 1984,
and 1987, respectively, all from The Ohio State University.
From 1988 to 2001, he was a Professor of Electrical and
Computer Engineering at Purdue University. In 2001, he
joined Colorado State University where he is currently the
Head of the Department of Electrical and Computer
Engineering. He has co-authored over 200 technical
publications in the areas of robotics and high-performance
computing and served on eight journal editorial boards and
over 80 conference program committees. He is a Fellow of
IEEE and currently serves on the Board of Governor's for the
Systems, Man, and Cybernetics Society and is Vice-President
Elect of Financial Activities for the Robotics and Automation
Society. A complete up-to-date vita is available at
www.engr.colostate.edu/~aam
752-047
Spatial Robotic Systems Subjected to Impact with Friction
Hesham A. Elkaranshawy (Egypt)
752-065
Synthesis of Emotions on a Human-Robot-Interactive
Platform
José Augusto S. Prado (Portugal), Lakmal D. Seneviratne (UK)
and Jorge M.M. Dias (Portugal)
752-068
Incremental 3D Body Reconstruction Framework for Robotic
Telepresence Applications
Luis Almeida, Paulo J. Menezes (Portugal),
Lakmal D. Seneviratne (UK), and Jorge M.M. Dias (Portugal)
10:00 – 10:30 COFFEE BREAK
Location: Foyer
14:30 – 15:00 COFFEE BREAK
Location: Foyer
10:30 – Robo/BioMech TUTORIAL PRESENTATION
CONTINUED
Location: Chatham Room - 7th Floor
15:00 – Robo SESSION 5 CONTINUED
Location: Chatham Room - 7th Floor
12:30 – LUNCH BREAK
Self-Catered
16:20 – Robo SESSION 6 – AUTONOMOUS
ROBOTS II
Chair: Mr. Chhabilal Adhikari (Germany)
Location: Chatham Room - 7th Floor
13:10 – Robo SESSION 5 – HUMAN ROBOT
INTERACTION
Chairs: Prof. Greg Luecke (USA) and
Prof. Hesham Elkaranshawy (Egypt)
Location: Chatham Room - 7th Floor
752-071
Autonomous Control, Waypoint Navigation, and a RealTime UAV Video Database
Chhabilal Adhikari, Peter Baumann, and Saksham Gautam
(Germany)
752-009
Collaborative Teleoperation of a Mobile Rescue Robot using
an AR/VR-based User Interface
Juergen Rossmann and Andre Kupetz (Germany)
752-074
Embedded Visual SLAM for Navigation of an Autonomous
Vehicle
Marco A. Moreno-Armendáriz, Carlos A. Duchanoy ,
Ángel G. Zanatta Juárez, and Carlos A. Cruz-Villar (Mexico)
752-031
Bandwidth Limitations in Human Control Tasks
Mircea F. Lupu, Mingui Sun, and Zhi-Hong Mao (USA)
11
752-075
Remote Control Training for RC Helicopter based on
Quaternion Dynamics in Virtual Environments
Enkhbaatar Tumenjargal (Mongolia), Hyeokjae Kwon (Korea),
Luubaatar Badarch (Mongolia) and Woonchul Ham (Korea)
Design of High Quality, Efficient Simulation Environments
for USARSim
Jaime Alemany and Enric Cervera (Spain)
*********************************************************
IASTED would like to thank you for attending BioMech
and Robo 2011. Your participation helped make this
international event a success, and we look forward to
seeing you at upcoming IASTED events.
*********************************************************
752-033
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