2001 IEEE/ASME
International Conference on
Advanced Intelligent Mechatronics
AIM '01
8—12 July 2001
Teatro Sociale
Como, Italy
PROGRAM
http://www.AIM01.unina.it
Co-sponsored by
IEEE Industrial Electronics Society
IEEE Robotics and Automation Society
ASME 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 Siciliano
General 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 by
IEEE Industrial Electronics Society (IES)
IEEE Robotics and Automation Society (RAS)
ASME Dynamic Systems and Control Division (DSCD)
With the generous financial support of
STMicroelectronics
Agusta
Balance Systems
FIAR
Gerit
Joinet
Control Techniques Italia
Heidenhain
In cooperation with
Institute 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)
and
Università degli Studi di Salerno
Politecnico di Milano — Sede di Como
Chairs
GENERAL CHAIR
Bruno Siciliano
Dipartimento di Ingegneria dell’Informazione e Ingegneria Elettrica
Università degli Studi di Salerno, Italy
Tel: +39 089-96-4306 Fax: +39 089-96-4218
bsiciliano@unisa.it
GENERAL CO-CHAIR
Shigeki Sugano
Department of Mechanical Engineering
Waseda University, Japan
Tel: +81 (3) 52863264 Fax: +81 (3) 52720948
sugano@paradise.mech.waseda.ac.jp
PROGRAM CO-CHAIR (Europe and Africa)
Jadran Lenarčič
Institut Jožef Stefan
Slovenia
Tel: +386 (61) 177-3378 Fax: +386 (61) 219-385
jadran.lenarcic@ijs.si
PROGRAM CO-CHAIR (Asia and Oceania)
Shigeru Okuma
Department of Electrical Engineering
Nagoya University, Japan
Tel: +81 (52) 789-2775 Fax: +81 (52) 789-3140
okuma@okuma.nuee.nagoya-u.ac.jp
PROGRAM CO-CHAIR (America)
William R. Hamel
Mechanical & Aerospace Engineering & Eng. Science Dept.
University of Tennessee, USA
Tel: +1 (865) 974-6588 Fax: +1 (865) 974-5274
whamel@utk.edu
INVITED SESSION CHAIR
Clarence W. de Silva
Department of Mechanical Engineering
University of British Columbia, Canada
Tel: +1 (604) 822-6291 Fax: +1 (604) 822-2403
desilva@mech.ubc.ca
INDUSTRY-ORIENTED & LOCAL ARRANGEMENT CHAIR
Gianantonio Magnani
Dipartimento di Elettronica e Informazione
Politecnico di Milano, Italy
Tel: +39 02-2399-3673 Fax: +39 02-2399-3587
magnani@elet.polimi.it
VIDEO CHAIR
Rajiv V. Dubey
Mechanical Engineering Department
University of South Florida, USA
Tel: +1 (813) 974-2280 Fax: +1 (813) 974-3539
dubey@eng.usf.edu
E-MEDIA CHAIR
Claudio Melchiorri
Dipartimento di Elettronica Informatica e Sistemistica
Università degli Studi di Bologna, Italy
Tel: +39 051-209-3034 Fax: +39 051-209-3073
cmelchiorri@deis.unibo.it
WORKSHOP AND TUTORIAL CHAIR
Luigi Glielmo
Facoltà di Ingegneria
Università del Sannio in Benevento, Italy
Tel: +39 0824-30581 Fax: +39 0824-21866
glielmo@unisannio.it
PUBLICATION CHAIR
Tzyh-Jong Tarn
Department of Systems Science and Mathematics
Washington University, USA
Tel: +1 (314) 935-6037 Fax: +1 (314) 935-6121
tarn@wurobot.wustl.edu
EXHIBITION CHAIR
Gianni Ferretti
Dipartimento di Elettronica e Informazione
Politecnico di Milano, Italy
Tel: +39 02-2399-3682 Fax: +39 02-2399-3587
ferretti@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 COMMITTEE
Basilio 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 COMMITTEE
Jakob 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 COMMITTEE
Luigi 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-CHAIR
Daniele Arduini (Cinetica, Italy)
EXHIBITION CO-CHAIR
Paolo Rocco (Politecnico di Milano, Italy)
CONFERENCE SECRETARIAT
Centro di Cultura Scientifica "Alessandro Volta"
Villa Olmo, Como, Italy
Fax: +39 031 573395
LOGISTICS AND SERVICES
Chiara Stefanetti
chiara.stefanetti@centrovolta.it
REGISTRATION AND ACCOMMODATION
Nadia 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
Video Session
18:00—18:40
Monday 9 July 2001
08:15—08:30
08:30—09:20
M1
09:30—11:10
11:10—11:30
M2
11:30—13:10
M3
14:30—15:50
15:50—16:10
M4
16:10—17:30
Track A
Manipulator Design
Opening Ceremony
Plenary 1 ″Is Micromachining Still a Dream or an Industrial Reality?″, B. Murari
Track B
Track C
Teleoperation
Motion and Imaging
Coffee Break
Fixture and Grasping Design
Parallel Manipulators
Intelligent Systems I
Biomechatronics
Intelligent Systems II
Advances in Robotics Within
RAMSETE Project
18:00—19:30
19:30—21:30
Track D
Transportation Systems
Railway Vehicle Technology
Fixture and Part Location
Systems
Automotive Systems I
Sensing
Automotive Systems II
Coffee Break
Intelligent Process Automation
Lake Boat Tour
Welcome Cocktail @ Villa Olmo
Tuesday 10 July 2001
08:30—09:20
T1
09:30—11:10
11:10—11:30
T2
11:30—13:10
T3
14:30—16:10
16:10—16:30
T4
16:30—18:10
Track A
Robot Analysis and Planning
Plenary 2 ″An Open System Interconnection Model for Mechatronics″, S. Hung
Track B
Track C
Neural and Fuzzy Control
Actuators
Track D
Manufacturing Systems I
Coffee Break
Robot Dynamics and Control
Vibration Control I
Hydraulic Actuators
Manufacturing Systems II
Manipulation and Control
Vibration Control II
Actuator Design
Software Design for Manufacturing
Robot Actuation
Mechatronics System Design
Robot Force Control
Coffee Break
Control of Mechatronics Systems
19:30—23:30
Banquet @ Villa Erba
Wednesday 11 July 2001
08:30—09:20
W1
09:30—11:10
11:10—11:30
W2
11:30—13:10
14:30—15:20
W3
15:30—16:50
16:50—17:10
W4
17:10—18:30
18:30—18:45
Track A
Flexible Manipulators
Plenary 3 ″Robotics and Machine-Vision — An Industrial View —″, M. Ejiri
Track B
Track C
Walking Machines
Mechatronics Curricula
Service Robots
Coffee Break
Human―Machine Interfaces I
Technology Enhanced Teaching
Robotic Manipulation in Space
Plenary 4 ″The Law of Cooperation in Mechatronics″, J. Van Eijk
Human―Machine Interfaces II
Mechatronics Applications
Track D
Discrete Event Systems in
Automated Transportation
Data Storage Systems
Fault Detection
Coffee Break
Vehicles and Space Exploration
19:00—21:00
Mobile Robots
Micro Technology
Planning and Navigation
Closing Ceremony
Farewell Wine Tasting @ Teatro Sociale
Thursday 12 July 2001
09:00—13:00
Industry Tour 1 ″STMicroelectronics″ (Semiconductors)
Industry Tour 2 ″Agusta″ (Helicopters)
SOCIAL PROGRAM
Monday 9 July 2001
18:00–19:30
Lake Boat Tour
Embarkment across main square (Piazza Cavour) by the conference site (Teatro Sociale). Sightseeing along lake shores and docking at
Villa Olmo
19:30–21:30
Welcome Cocktail
Appetizers, cakes, fruit, pasta and wine in the park of Villa Olmo
Tuesday 10 July 2001
19:30–23:30
Banquet
Bus transfer from main square to Villa Erba in Cernobbio. Full-course classical Italian dinner in historical halls
Wednesday 11 July 2001
19:00–21:00
Farewell Wine Tasting
Selection 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
15:00–18:00
Workshop (WS) & Tutorial (TU)
18:00–18:40
Video Session (VI)
Monday 9 July 2001
08:30–09:20
Plenary Lecture 1 (PL1)
09:30–13:10 & 14:30–17:30
Paper Sessions (M1 to M4 in 4 parallel tracks A to D)
Tuesday 10 July 2001
08:30–09:20
Plenary Lecture 2 (PL2)
09:30–13:10 & 14:30–18:10
Paper Sessions (T1 to T4 in 4 parallel tracks A to D)
Wednesday 11 July 2001
08:30–09:20
Plenary Lecture 3 (PL3)
14:30–15:20
Plenary Lecture 4 (PL4)
09:30–13:10 & 15:30–18:30
Paper Sessions (W1 to W4 in 4 parallel tracks A to D)
Thursday 12 July 2001
08:30–14:30
Industry Tours (IT)
Sunday 8 July 2001
WS
Workshop
Tutorial
SALA PASTA 15:00―18:00 SALA TURCA
Jacob 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
nature of the workshop, attendance is limited to 10 people, equipped with a laptop.
Fundamentals of programming in C (not C++) will be required.
15:00–15:20
Introduction to the PICMicro 16F877
15:20–15:30
Software installation on your laptop
15:30–16:00
Hands on: Digital I/O
16:00–16:30
Hands on: Serial communications with a PC
16:40–17:00
Hands on: Analog loopback and sampling
17:00–17:30
Hands on: Realtime issues
17:30–18:00
Hands 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.
TU
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
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.
15:00–15:10
Introduction, Luigi Glielmo, Università del Sannio, Italy
15:10–15:50
HEV Technologies for Passenger Cars – An Overview, Ralf Bady, RLE
International, Germany
Hybrid 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.
15:50–16:30
INMOVE – Concept of a Charge-Sustaining Hybrid Drive Train, Christian Renner,
Ralf Bady, FKA mbH Aachen, Germany
The 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.
16:40–17:20
Hybrid Electric Vehicle Realization at Fiat, Pasquale Campanile, Centro Ricerche
Fiat, Italy
The 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.
17:20–18:00
Volkswagen 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,
Germany
Volkswagen 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
Videos
VI
VI
SALA BIANCA 18:00―18:40
CHAIR Rajiv Dubey, USA
CO-CHAIR Tenkurussi Kesavadas, USA
18:00–18:10
A New Inverter Drive for Position Control of Brushless Motors
Mi-Ching Tsai, Bin-Hong Shen, National Cheng Kung University, ROC
18:20–18:30
Test of the Hybrid Robot WHEELEG on a Volcanic Environment
Salvatore Guccione, Giovanni Muscato, Università di Catania, Italy
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.
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.
18:10–18:20
Realization of Dexterous Hand Task by Using Multi-Finger Dual Robot
Hand
Hajime Sugiuchi, Shinichiro Watanabe, Tetsu Morino, Yokohama National
University, Japan
18:30–18:40
Therapy of Children Assisted by Mental Commit Robot
Takanori Shibata, Teruaki Mitsui, AIST, Kazuyoshi Wada, Takayuki
Kumasaka, Kazumi Tagami, Tsukuba University, Kazuo Tanie, AIST, 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.
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
IT1
Industry Tour 1
Industry Tour 2
STMicroelectronics
Semiconductors
08:30–14:30
Castelletto Design and Industrial Center, Cornaredo (Milan)
Agusta
Helicopters
IT2
08:30–15:30
Cascina Costa Plant and Vergiate Center (Varese)
STMicroelectronics is a global independent semiconductor company that designs,
Agusta is an AgustaWestland company, the new joint company world’s second largest
develops, manufactures and markets a broad range of semiconductor integrated
manufacturer of helicopters. The Company designs and manufactures several military
circuits ("ICs") and discrete devices used in a wide variety of microelectronic
and civilian helicopters, and enjoys the partnership with Bell to design and develop the
applications, including telecommunications systems, computer systems, consumer
Bell/Agusta BA609 tiltrotor, the first civil tiltrotor to be offered on the market.
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
The first part of the tour is at the Cascina Costa plant, near Varese. It includes the
million. According to various independent market research data and semiconductor
Agusta's Headquarters, facilities for production of gearboxes and other transmission
company reports, including Dataquest's annual preliminary ranking for 2000,
components and test benches, and the Agusta Electro Avionic Integration Center, with
STMicroelectronics is the seventh largest semiconductor company in the world.
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
The visit is organized in two parts: The first part is a presentation of about half an hour
employees.
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
The second part is at the center for operational and functional integration at Vergiate
tour will last about 45 minutes.
(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
The total travelling time is about two hours. Tour includes a lunch break.
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.
Plenary Lecture 1
PL1
Monday 9 July 2001
Shigeki Sugano, Japan
Plenary Lecture 2
08:30―09:20
SALA PLATEA
HOST
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.
Tuesday 9 July 2001
Jadran Lenarčič, Slovenia
PL2
An Open System Interconnection Model for Mechatronics
Steven 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
Bruno Murari is the Director of the "Castelletto" Research and Development
development areas. Many of the technologies that will enable development of safe,
laboratories of STMicroelectronics at Cornaredo, near Milan, Italy. Born in Treviso
reliable new automotive mechatronics have been staples of industrial mechatronics for
(near Venice) in 1936, he graduated in Electrical Technology at the Pacinotti
years. Many automotive implementations of technologies, meanwhile, can perform as
Technical Institute, Venezia-Mestre, in 1955, followed by a two-year postgraduate
well as industrial counterparts at orders of magnitude lower cost. Improved exchange
course in electronics at the Beltrami Institute, Milan. He joined SGS —now
of perspectives can accelerate development of automotive mechatronics and,
STMicroelectronics— in 1961, working first in the application laboratory and then in
concurrently, motivate changes in industrial implementation philosophies that can
the linear IC design group. In 1972 he became head of linear IC design and
substantially lower industrial mechatronic system costs. Missing, however, is a
development at the company's "Castelletto" laboratories on the outskirts of Milan, and
topological model, such as the Open System Interconnection (OSI) model of ISO/IEC
in 1981 he also became plant manager for the Castelletto facility, which includes a
7498, which would give developers a common reference basis when discussing
pre-production wafer fab. Today he is responsible for all of the activities of this center, application requirements and when comparing the viabilities of transplant technologies
which focusses on the development of Smart Power BCD technology + MEMS
or architectures under consideration. The OSI basic reference model has helped
technology + advanced design on Power IC's. He has personally designed 10
streamline such discussions in the software and computer network communication
integrated circuits and has supervised the design of more than 1000 others. A major
industry: the mechatronics community could well afford a similar enabling reference.
contributor to ST's leadership position in high power IC technology, Bruno Murari
This presentation will begin with a discussion of why automotive and industrial
holds 60 patents concerning IC design and technology, has published more than 40
mechatronics, as an exemplary pairing, have evolved in different directions. It will then
papers and contributed to the McGraw-Hill book Power Integrated Circuits (1985). He
proceed through a brief description of how technology developments are enabling a
is also co-editor of the book Smart Power: Technologies and Applications, published
convergence of those directions, and, finally, note how an enabler of the Internet
in November 1995 by Springer-Verlag. Often he has been invited to present papers on
revolution can serve as an example of how to streamline development discussions
power technology at conferences in the US, Europe and Japan and participate in
and accelerate propagation of mechatronic technologies.
panel discussion on this subject. He has also been Chairman of the European SolidState Circuits Conference in 1991 and was a teacher in power IC Design course at the
Stephen T. ("Steve") Hung received the B.S.E.E. degree from the University of
University of Pisa. In 1993 he was a finalist in the EDN Innovator of the Year award. In
Tennessee in 1983 and the M.S. and Ph.D. degrees from the University of Illinois in
April 1995 he was awarded the European SEMI award for his contribution to power IC 1985 and 1989, respectively. He interned with the General Electric Company's Electric
technology. On May 1st 1994 he was conferred the Maestro del Lavoro honor by the
Utility Systems Engineering Department, Schenectady, NY, in 1984; was attached to
President of the Italian Republic and in October 1995 he received an honorary degree
the self-tuning arc-welding technology group of the U.S. Army Corps of Engineers
from the Ca' Foscari University of Venice for his role in the development of
Construction Engineering Research Laboratory, Champaign, IL, from 1985 to 1987;
multidisciplinary IC technologies. Recently he is starting a new activity in Castelletto
and worked from 1987 to 1988 as a consultant to PKResearch, Urbana IL, on Ford
plant using micromachining for MEMS. Married with two sons, Bruno Murari enjoys
Motor Company's self-tuning control development efforts in the areas of road vehicle
skiing and is an expert in underwater fishing. Equally skilled as a designer of free-flight active suspension and vehicle speed control. From 1988 to 1992, Dr. Hung served as
model aircraft, he has been three times Italian champion in individual model aircraft
an assistant professor in the Department of Electrical Engineering at Auburn
flying contests and also world champion in the team category.
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.
Plenary Lecture 3
PL3
Plenary Lecture 4
08:30―09:20
William Hamel, USA
Wednesday 11 July 2001
SALA PLATEA
HOST
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 machinevision 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.
14:30―15:20
Shigeru Okuma, Japan
PL4
The Law of Cooperation in Mechatronics
Jan 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
Masakazu Ejiri received the B.E. degree in mechanical engineering and the Dr.Eng.
1975. He was educated as a Mechanical Engineer in the field of Instrument Design.
degree in electrical engineering, both from Osaka University, Osaka, Japan, in 1959
After four years in the service of UNESCO in Pakistan and Sri Lanka he returned to
and 1967, respectively. Since 1959, he has been with the Central Research
the University to do research for his doctorate. His thesis, presented in 1985, dealt
Laboratory of Hitachi Ltd., Kokubunji, Tokyo, Japan. He spent 1967-1968 as a Visiting
with the design and implementation of flexure elements in precision mechanisms.
Professor at the University of Illinois, Chicago and 1977-1981 as a Vice President of
From 1984 he started working at the Centre for Industrial Technology of the Philips
HISL Inc. (Hitachi's subsidiary company), California, USA. He has worked primarily in
Electronics Company. There he was involved in the industrialization of the Compact
the area of control engineering, pattern recognition, robotics, machine vision, and
Disc player mechanisms. This involved the mechanical design, dynamic behavior and
artificial intelligence, and authored more than 50 technical papers and five books. One
the interaction with feedback control performance. The second development activity
of his most famous achievements is the development of world-first transistor assembly focussed on the motion devices for the ASML wafersteppers and scanners. Here also
machines using machine vision technology in 1973. More recent achievements
the layout of the mechanical system proved to require attention. Other equipment he
include the development of new mail-sorting machines in 1997. He is presently a
was involved include electron microscopes, placement equipment for PCB assembly
Senior Chief Research Scientist, Corporate Technology, both at the Central Research
and other manufacturing equipment. Critical in most of these projects was the
Laboratory and the Mechanical Engineering Research Laboratory of Hitachi Ltd. He is
Predictive Modeling of Machine Dynamics and its link with Control Design. As the
also a Visiting Professor of the Japan Advanced Institute of Science and Technology,
leader of the Mechatronic Departments in Philips he has worked on the creation of
Hokuriku, and Fukui University. Dr. Ejiri is a Fellow of the IEEE, a Fellow of IAPR
effective cooperation of specialists from different technical backgrounds. The
(International Association for Pattern Recognition), and a Fellow of the IEICE (Institute
Mechatronics capability has now grown to a group of about 200 people in the Philips
of Electronics, Information and Communication Engineers of Japan). He served as a
CFT in Eindhoven. A multiple of this number is working in the affiliated development
Vice President of the IAPR during 1990-1992 period, and is currently a member of the groups. Most of them have received training from the central groups on Mechatronics.
Governing Board of the IAPR. He has been serving as a Vice-President of the
In the beginning of the year 2000 Dr. van Eijk became a part-time professor in the
Robotics Society of Japan during 1999-2001 period, and will serve as the President of
Faculty for Design, Construction and Manufacturing of the Delft University for
the Robotics Society of Japan, starting from March 2001.
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.
Manipulator Design
M1A
Teleoperation
SALA PLATEA 09:30―11:10 SALA PASTA
Dragoljub Surdilovic, Germany
CHAIR
Kazuhiro Kosuge, Japan
Giuseppe Fusco, Italy CO-CHAIR Alberto Rovetta, Italy
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.
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.
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-offreedom. 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.
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.
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
Manipulators with RRRS Legs
Jorge Angeles, McGill University, Canada, Guilin Yang, Gintic Inst. of
Manufacturing Technol., I-Ming Chen, Nanyang Technol. Univ., Singapore
10:30―10:50
The Design of High Performance Manipulators
H.M.J.R. Soemers, Philips Center for Industrial Technology, The
Netherlands
10:10―10:30
The Frenet-Serret Manipulator
Hiromi Mochiyama, Shin'ichirou Hiramatsu, Yasuchika Mori, National
Defense Academy, Japan
09:50―10:10
The 'Elephant Trunk' Manipulator, Design and Implementation
M.W. Hannan, I.D. Walker, Clemson University, USA
09:30―09:50
Hyper Redundant Manipulator Using Compound Three-Bar Linkages
Koichi Koganezawa, Takashi Kinoshita, Tokai University, Japan
M1B
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.
Internet Based Teleoperation using Wave Variables with Prediction
Saghir 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.
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 …
Micro Teleoperation with Parallel Manipulator
Noriaki 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 teleoperation 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.
A Generalized Control Approach for Ideal Teleoperation
Chi-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.
Motion and Imaging
M1C
Transportation Systems
SALA BIANCA 09:30―11:10 SALA TURCA
Takanori Shibata, Japan
CHAIR
Manfred Hiller, Germany
Antonello Cutolo, Italy CO-CHAIR Angela Di Febbraro, Italy
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 visionbased technique that realizes an absolute orientation measurement using a
specially designed grid pattern that allows the absolute orientation formation …
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 …
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 …
A New Omnidirectional Vision Sensor for the Spatial Semantic
Hierarchy
Emanuele 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
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
A Robust Machine Vision System Design to Facilitate the Automation
of Surface Appearance Inspections
Johné M. Parker, University of Kentucky, USA
10:10―10:30
Banding Reduction in Electrophotographic Process
Cheng-Lun Chen, George T.-C. Chiu, Purdue University, USA
09:50―10:10
Motion Tracking of a Part on a Vibratory Feeder
Winncy Y. Du, San José State University, USA
09:30―09:50
Design and Analysis of an Absolute Non-Contact Orientation Sensor
for Wrist Motion Control
Harry Garner, Georgia Institute of Technology, Martin Klement, Lexmark
Inc., Kok-Meng Lee, Georgia Institute of Technology, USA
M1D
Safeness-Enforcing Supervisory Control for Railway Networks
Fabrizio 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.
Model Predictive Control for Railway Networks
B. 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.
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.
Traffic Signal Control by Egograms
H. 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 …
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
system is presented, with special emphasis on the active suspension/tilt system.
Parallel Manipulators
M2A
Intelligent Systems I
SALA PLATEA 11:30―13:10 SALA PASTA
Jorge Angeles, Canada
CHAIR
Clarence de Silva, Canada
Rezia Molfino, Italy CO-CHAIR Michele Aicardi, Italy
Iterative Model-based Design of the Parallel Robot, TRIPLANAR
J. 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 …
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 …
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.
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
An Experimental Validation of CaPaMan as Earthquake Simulator
Chiara Lanni, Fabio Pugliese, Marco Ceccarelli, Università di Cassino, Italy
12:30―12:50
Kinematics of the Translational 3-URC Mechanism
Raffaele Di Gregorio, Università di Ferrara, Italy
Implementation and Evaluation of a Reactive Multi-Robot System
P. Lucidarme, P. Rongier, A. Liégeois, LIRMM, France
12:10―12:30
A New Method for Fully Autonomous Calibration of Parallel
Manipulators Using a Constraint Link
Jeha Ryu, Abdul Rauf, Kwangju Inst. of Science and Technology, Korea
Mimesis Embodiment and Proto-symbol Acquisition for Humanoids
Tetsunari Inamura, Japan Science and Technology Corporation, Yoshihiko
Nakamura, Iwaki Toshima, University.of Tokyo, Hideaki Ezaki, Kawasaki
Heavy Industries Co., Japan
11:50―12:10
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
Design of a New 2 DOF Parallel Mechanism
Young-Hoon Chung, Jae-Won Lee, Yeungnam University, Korea
M2B
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 …
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.
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 …
Collision Detection of Manipulator Based on Adaptive Control Law
Taishi 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.
Visual Servoing to Fish and Catching Using Global/Local GA Search
Mamoru 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 …
Fixture and Grasping Design
M2C
Railway Vehicle Technology
SALA BIANCA 11:30―13:10 SALA TURCA
Edward De Meter, USA
CHAIR
Antonio Piccolo, Italy
Maria Chiara Carrozza, Italy CO-CHAIR Torsten Bertram, Germany
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 displacementcontrolled fixtures are considered. The static stability was found to increase with the
static coefficient of friction and with the fixture element tip radius. Clamping …
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 …
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.
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.
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
A Quantitative Measure for Multi-fingered Grasps
Xiangyang Zhu, Southeast University, Han Ding, Hanxiong Li, City
University of Hong Kong, PRC
12:30―12:50
Design Algorithm for Automated Dynamic Grasping of Live Birds
Kok-Meng Lee, Xuecheng Yin, Georgia Institute of Technology, USA
12:10―12:30
Optimal Fixture Layout Design in a Discrete Domain
Diana Pelinescu, Michael Yu Wang, University of Maryland, USA
11:50―12:10
The Development of an Internet-Enabled Semi-Automated Fixture
Design System
A. Senthil Kumar, S.H. Bok, R. Kiran Kumar, A.Y.C. Nee, National
University of Singapore, Singapore
11:30―11:50
Effect of Fixture Design Variables on Fixture-Workpiece
Conformability and Static Stability
Jose F. Hurtado, Shreyes N. Melkote, Georgia Inst. of Technology, USA
M2D
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 …
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.
Active Control of Railway Vehicles to Avoid Hunting Instability
S. 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 …
Experimental Campaign on a Servo-Actuated Pantograph
B. 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 …
Actively Controlled Pantograph: an Application
F. 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 …
Biomechatronics
M3A
Intelligent Systems II
SALA PLATEA 14:30―15:50 SALA PASTA
Deirdre Meldrum, USA
CHAIR
George Wang, Canada
Benedetto Allotta, Italy CO-CHAIR Jonathan Wu, Canada
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 …
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.
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 …
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
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
15:10―15:30
Influence of Geometry on the Kinematic Performances of a Humanoid
Shoulder-Girdle Mechanism with Clearance in the Joints
V. Parenti-Castelli, S. Venanzi, Università di Bologna, Italy, J. Lenarčič,
Institut "Jožef Stefan", Slovenia
14:50―15:10
Biomechanical Considerations on the Design of a Humanoid
Shoulder Girdle
N. Klopčar, J. Lenarčič, Institut "Jožef Stefan", Slovenia
14:30―14:50
The Development of a Novel Biomechatronic Hand — Ongoing
Research and Preliminary Results
M.C. Carrozza, S. Micera, B. Massa, M. Zecca, R. Lazzarini, N. Canelli, P.
Dario, Scuola Superiore Sant’Anna, Italy
M3B
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 FeedForward 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.
A Complex Mechatronic System: from Design to Application
Nicola 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 highlevel 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 …
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.
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.
Fixture and Part Location Systems
M3C
Automotive Systems I
SALA BIANCA 14:30―15:50 SALA TURCA
Kok-Meng Lee, USA
CHAIR
Luigi Glielmo, Italy
Herman Soemers, Germany CO-CHAIR Maria Pia Fanti, Italy
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.
An Evaluation of the Linear Clamp Pre-Load Model with Respect to
Milling Operations
Edward C. De Meter, Shabbir Choudhuri, Subramanian Vallapuzha,
Pennsylvania State University, Raghunath P. Khetan, Delphi Automotive
Systems, USA
Adaptive Car Buffer — The Concept, Design Tools and Perspectives
Tomasz Bielecki, Jan Holnicki-Szulc, Polish Academy of Sciences, Poland,
Luis Jezequel, Ecole Centrale de Lyon, France
Analysis and Control of Vehicle Dynamics Under Crosswind
Conditions
Oliver Hanke, Torsten Bertram, Manfred Hiller, Gerhard-MercatorUniversität Duisburg, Germany
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 preloads necessary to keep a workpiece from slipping within a fixturing during
machining. This model takes into account all sources of compliance in the fixtureworkpiece 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.
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
Optimal Placement of Fixture Clamps
Rodrigo A. Marin, Placid M. Ferreira, University of Illinois at
Urbana―Champaign, USA
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.
15:10―15:30
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 …
Integrated Mechatronics Solution to Maximise Tractability and
Efficiency of Wheeled Vehicles
I.J. Spark, M. Yousef Ibrahim, Monash University, Australia
14:50―15:10
Modeling and Simulations of Optimal Drilling Through Elastically
Deforming Workpieces
K. Wardak, Systems Engineering Group Inc., U. Tasch, P.G.
Charalambides, University of Maryland Baltimore County, USA
14:30―14:50
On the Development of a Fully Automated Universal Fixturing System
for a Machine Tool
Elmer C. Lee, Sanjay E. Sarma, MIT, USA
M3D
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.
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.
Some Aspects of Road Sweeping Vehicle Automation
Gareth 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 …
Advances in Robotics Within RAMSETE Project
M4A
Intelligent Process Automation
SALA PLATEA 16:10―17:30 SALA PASTA
Giovanni Ulivi, Italy
CHAIR
Masayoshi Tomizuka, USA
Paolo Valigi, Italy CO-CHAIR Gianni Ferretti, Italy
Open System Real Time Architecture and Software Design for Robot
Control
B. 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 …
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 …
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.
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 …
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 …
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 knowledgebased 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 …
17:10―17:30
Steering Marine Vehicles: a Drag Coefficient Modulation Approach
M. Aicardi, G. Casalino, Università di Genova, Italy, G. Indiveri,
GMD―AiS, Germany
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
16:50―17:10
Closed Loop Control of 3D Underactuated Vehicles via Velocity Field
Tracking
M. Aicardi, G. Casalino, Università di Genova, Italy, G. Indiveri,
GMD―AiS, Germany
Intelligent 3-D Sensing in Automated Manufacturing Processes
Q.M. Jonathan Wu, M.F. Ricky Lee, Nationalo Research Council, Clarence
W. de Silva, University of British Columbia, Canada
16:30―16:50
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
An Impedance Control Strategy for Cooperative Manipulation
Fabrizio Caccavale, Luigi Villani, Università di Napoli Federico II, Italy
M4B
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 …
Sensing
M4C
Automotive Systems II
SALA BIANCA 16:10―17:30 SALA TURCA
Hideki Hashimoto, Japan
CHAIR
Roger Goodall, UK
Johné Parker, USA CO-CHAIR Hiroshi Kobayashi, Japan
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 MEEERUF (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 …
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 …
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.
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
Laser-Based Guidance of Multiple Mobile Robots
Igor E. Paromtchik, Hajime Asama, RIKEN, Japan
16:50―17:10
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
16:30―16:50
Measurement of Force Sensory Information for the Automation of
Ultra-Precision Assembly Tasks
Yoshio Yamamoto, Tadashi Hashimoto, Tokai University, Takahiro Okubo,
Toyotsugu Itoh, Konica Corporation, Japan
16:10―16:30
Multi-Echo Technique for Feature Detection and Identification using
Simple Sonar Configurations
Fernando Moita, Urbano Nunes, Coimbra Polytechnic Institute, Portugal
M4D
Dynamic Modeling and Control of a Car Transmission System
R. 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 gearbox 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.
Modeling of a Novel Fan Clutch Pneumatic Actuation System
Philip 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 …
The Tyre-Soil Effects on the Manoeuvrability of a City-Car
Rinaldo 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 …
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 …
Robot Analysis and Planning
T1A
Neural and Fuzzy Control
SALA PLATEA 09:30―11:10 SALA PASTA
Constantinos Mavroidis, USA
CHAIR
Ranjan Mukherjee, USA
Massimo Callegari, Italy CO-CHAIR Atsushi Konno, Japan
09:30―09:50
A New Algorithm for a Minimum Infinity-norm Solution and Its
Application to Trajectory Planning of Kinematically Redundant
Manipulators
Insoo 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 …
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.
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 socalled 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.
Statics and Singularity Loci of the 3-UPU Wrist
Raffaele Di Gregorio, Università di Ferrara, Italy
The static analysis of a parallel wrist known as 3-UPU wrist is presented and the 3UPU 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.
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.
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.
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 threedimensional 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.
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
10:50―11:10
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 …
Thrust Force Control of Drilling System Using Neural Network
Shigeyasu Kawaji, Kumamoto University, Masaki Arao, Omron
Corporation, Yuehui Chen, Kumamoto University, Japan
10:30―10:50
Local Path Modifications of Heavy Load Manipulators
Eva Dyllong, Artur Komainda, Gerhard-Mercator-Universität Duisburg,
Germany
10:10―10:30
Velocity Workspace Analysis for Multi-legged Walking Robots
Jihong Lee, Insik Kim, Chungnam National University, Bong-Hwan Jeon,
KRISO, Korea
09:50―10:10
Real-Time End-Effector Path Following for Robot Manipulators
Subject to Velocity, Acceleration, and Jerk Joint Limits
Gianluca Antonelli, Stefano Chiaverini, Giuseppe Fusco, Università di
Cassino, Italy
T1B
A Radial Basis Function Networks Approach for the Tracking
Problem of Mobile Robots
A. D'Amico, G. Ippoliti, S. Longhi, Università di Ancona, 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.
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.
Actuators
T1C
Manufacturing Systems I
SALA BIANCA 09:30―11:10 SALA TURCA
Giorgio Figliolini, Italy
CHAIR
Devendra Garg, USA
Ciro Natale, Italy CO-CHAIR Shreyes Melkote, USA
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.
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.
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.
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
10:30―10:50
An Intelligent Linear Actuator and Its Control System
Yves Boulenger, Erich Krämer, Hong Liu, Nikolaus Seitz, Gerd Hirzinger,
DLR, Germany
10:10―10:30
A Novel 3-Phase Programmable Voltage Waveform Current Source
Inverter for AC Drives
Vincenzo Delli Colli, Roberto Di Stefano, Fabrizio Marignetti, Maurizio
Scarano, Università di Cassino, Italy
09:50―10:10
Dynamic Modeling of Hysteresis in Piezoceramics
R. Ben Mrad, H. Hu, University of Toronto, Canada
09:30―09:50
Improved Setpoint Adjustment for Ultrasonic Motors
Thomas Schulte, Norbert Fröhleke, Universität Paderborn, Germany
(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.
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
Adaptive Robust Repetitive Control of a Class of Nonlinear Systems
in Normal Form with Applications to Motion Control of Linear Motors
Li Xu, Bin Yao, Purdue University, USA
T1D
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 ...
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.
Model-Aided Stability Control on Machine Tools
Michael 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 …
Remote Monitoring and Inspection of Robotic Manufacturing Cells
J. 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 …
A Multi-Axis SLA Prototype Apparatus
Chad 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 layerbased, 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 …
Robot Dynamics and Control
T2A
Vibration Control I
SALA PLATEA 11:30―13:10 SALA PASTA
Gerd Hirzinger, Germany
CHAIR
Giuseppe De Maria, Italy
Vincenzo Parenti Castelli, Italy CO-CHAIR Lilong Cai, PRC
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 …
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.
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.
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.
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
Advanced Model-Based Robot Control in Reis ROBOTstarV
Manfred Dresselhaus, Reis Robotics, Andreas Kuczynski, ATB Institute for
Applied Systems Technology Bremen, Germany
12:30―12:50
Adaptive Friction Compensation for Industrial Robot Control
Antonio Visioli, Riccardo Adamini, Giovanni Legnani, Università di Brescia,
Italy
12:10―12:30
Robust Control of Robots by Using a Linear Observer
Marco A. Arteaga, UNAM, Mexico
11:50―12:10
Dynamics Based Control of Mechanical Systems
Koichi Osuka, Kyoto University, Japan
11:30―11:50
Dynamic Models for the Re-Engineering of a High-Speed Cartesian
Robot
Massimo Callegari, Ferdinando Cannella, Sergio Monti, Claudio Santolini,
Università di Ancona, Paolo Pagnanelli, Campetella Robotics Center, Italy
T2B
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.
A Linear Coupling Controller for Plate Vibration
B. 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.
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 …
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 …
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 …
Hydraulic Actuators
T2C
Manufacturing Systems II
SALA BIANCA 11:30―13:10 SALA TURCA
Bin Yao, USA
CHAIR
Yousef Ibrahim, Australia
Roberto Oboe, Italy CO-CHAIR Carlo Cloet, USA
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 …
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 …
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.
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.
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
Reducing Stick-Slip Friction in Hydraulic Actuators
William S. Owen, Elizabeth A. Croft, University of British Columbia, James
R. McFarlane, International Submarine Engineering Ltd., Canada
12:30―12:50
Motion Synchronization for Multi-Cylinder Electro-Hydraulic System
Hong Sun, George T.C. Chiu, Purdue University, USA
Coordinated Robots in a Flexible Manufacturing Work Cell
Devendra 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 …
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.
12:10―12:30
Dynamic Model of a Pneumatic Proportional Pressure Valve
Massimo Sorli, Politecnico di Torino, Giorgio Figliolini, Università di
Cassino, Stefano Pastorelli, Politecnico di Torino, Italy
11:50―12:10
Integrated Direct/Indirect Adaptive Robust Motion Control of SingleRod Hydraulic Actuators with Time-Varying Unknown Inertia
Fanping Bu, Bin Yao, Purdue University, USA
11:30―11:50
Computational and Experimental Investigation on Solenoid Valve
Dynamics
Viktor Szente, János Vad, Budapest University of Technology and
Economics, Hungary
T2D
Selection of Linear Motors for High-Speed Packaging Machines
F. 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.
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.
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.
Manipulation and Control
T3A
Vibration Control II
SALA PLATEA 14:30―16:10 SALA PASTA
Sauro Longhi, Italy
CHAIR
Paolo Rocco, Italy
Koichi Koganezawa, Japan CO-CHAIR Marco Antonio Arteaga, Mexico
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.
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 …
Internet-Based Remote Sensing and Manipulation in Micro
Environment
Carmen 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 …
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
Sensitivity to Parametric Uncertainty in Robot Impact
Carlos Carreras, Universidad Politécnica de Madrid, Spain, Ian D. Walker,
Clemson University, USA
15:30―15:50
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
Proposal of Open-Network-Interface for Industrial Robots (ORiN) and
its Experimental Evaluation
Makoto 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
14:50―15:10
Adaptive Control and Impedance Control for Dual Robotic Arms
Manipulating a Common Heavy Load
A. Nagchaudhuri, University of Maryland Eastern Shore, D.P. Garg, Duke
University, USA
14:30―14:50
Flexible Rope Manipulation by Dual Manipulator System Using Vision
Sensor
Takayuki Matsuno, Toshio Fukuda, Fumihito Arai, Nagoya University,
Japan
T3B
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 …
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 …
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 …
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.
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.
Actuator Design
T3C
Software Design for Manufacturing
SALA BIANCA 14:30―15:50 SALA TURCA
Kenneth Waldron, USA
CHAIR
George Chiu, USA
Gianantonio Magnani, Italy CO-CHAIR Fakhreddine Karray, Canada
14:30―14:50
Pleated Pneumatic Artificial Muscles: Actuators for Automation and
Robotics
Frank 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 position
Control using these actuators. Although the force-displacement characteristics of
our actuator are non-linear they can be effectively controlled using basic linear PI …
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 …
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 …
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.
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
Dynamically Compensated Cams for Rigid Cam-Follower Systems
with Fluctuating Cam Speed and Dominating Inertial Forces
B. Demeulenaere, J. De Schutter, KU Leuven, Belgium
15:30―15:50
Identification with Blended Multi-Model Approach in the Frequency
Domain: an Application to a Servo Pneumatic Actuator
H. Schulte, H. Hahn, Universität Kassel, Germany
15:10―15:30
Vibration Condition Monitoring of Rotors on AMB Fed by Induction
Motors
Nicola Amati, Eugenio Brusa, Politecnico di Torino, Italy
14:50―15:10
Modelling and Compensation of Hysteresis for Magnetostrictive
Actuators
C. Natale, F. Velardi, Seconda Università di Napoli, C. Visone, Università
del Sannio, Italy
T3D
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 …
PLC Software Modularity and Co-operative Development
Flavio 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.
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, …
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 …
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 …
Robot Force Control
T4A
Control of Mechatronics Systems
SALA PLATEA 16:30―18:10 SALA PASTA
Torgny Brogårdh, Sweden
CHAIR
Jacob Apkarian, Canada
I-Ming Chen, Singapore CO-CHAIR Ning Xi, USA
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 …
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.
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.
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.
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
Grinding Force Models in Finishing Processes
Yin-Tien Wang, Yann-Jyi Jan, Tamkang University Taiwan, ROC
17:30―17:50
Environment-Contacting Task by Position-Controlled Manipulator
using Free-Joint Structure
Yasumichi Aiyama, University of Tsukuba, Japan
17:10―17:30
Combined Vision/Force Control at Corners in Planar Robotic Contour
Following
Johan Baeten, Joris De Schutter, KU Leuven, Belgium
16:50―17:10
A Multi-fingered Hand Control Structure with On-line Grasping Force
Optimization
Constant Remond, Véronique Perdereau, Michel Drouin, Université Pierre
et Marie Curie, France
16:30―16:50
A Realization of Compliant Motion by a Decentralized Control in
Redundant Manipulator
Hideaki Hattori, Kouhei Ohnishi, Keio University, Japan
T4B
Loop Shaping Issues in Hard Disk Drive Servo System Design
Alessandro 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 …
On-line Identification of Hysteresis Functions with Nonlocal Memory
V. 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.
Control of the Secondary Mirror Unit for the SOFIA Telescope
Joseph 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.
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-topoint (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 …
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 …
Robot Actuation
T4C
Mechatronics System Design
SALA BIANCA 16:30―18:10 SALA TURCA
Hami Kazerooni, USA
CHAIR
Thomas Kurfess, USA
Giovanni Legnani, Italy CO-CHAIR Yoshio Yamamoto, Japan
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.
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.
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 onboard 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.
Novel Smart Connector for Modular Robotics
Mircea 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 …
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.
Modeling, Design and Control of a Portable Washing Machine during
the Spinning Cycle
Evangelos Papadopoulos, Iakovos Papadimitriou, National Technical
University of Athens, Greece
A Personal Robot for Mechatronic Application Programmers—The
Role of Automatic Storage Reclamation and Programming Languages
in the Lifetime of a Safe Mechatronic System
Roberto Brega, Felix H. Wullschleger, ETHZ, Switzerland
17:50―18:10
SCID — A Non-actuated Robot for Walls Exploration
Domenico Longo, Giovanni Muscato, Università di Catania, Italy
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 …
17:30―17:50
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, twostate 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 ….
Conceptual Design of Mechatronic Systems Supported by Semiformal Specification
Jürgen Gausemeier, Martin Flath, Stefan Möhringer, Heinz Nixdorf
Institute, Germany
17:10―17:30
Massively Parallel Actuation
Po-hua Yang, Ohio State Univ., Kenneth J. Waldron, Stanford Univ., USA
16:50―17:10
Stabilization and Output Tracking for Underactuated Mechanical
Systems with Inequality State Constraints
Herbert G. Tanner, Kostas J. Kyriakopoulos, National Technical University
of Athens, Greece
16:30―16:50
Control Problems in Underactuated Manipulators
Alessandro De Luca, Stefano Iannitti, Raffaella Mattone, Giuseppe Oriolo,
Università di Roma "La Sapienza", Italy
T4D
Design Requirements and Reference Trajectory Generation for a
Copier Paperpath
Carlo Cloet, Masayoshi Tomizuka, Roberto Horowitz, UC Berkeley, USA
This paper presents a simplified three-dimensional dynamic model of a horizontalaxis 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.
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.
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 …
Flexible Manipulators
W1A
Walking Machines
SALA PLATEA 09:30―11:10 SALA PASTA
Jurek Sasiadek, Canada
CHAIR
Michael McCarthy, USA
Luigi Villani, Italy CO-CHAIR Raffaele Di Gregorio, 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-torest 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.
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.
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.
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 …
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
Gradient-Descent Based Trajectory Planning for Regulation of a TwoLink Flexible Robotic Arm
Gülay Öke, Yorgo İstefanopulos, Boðaziçi University, Turkey
10:30―10:50
Adaptive Open-Loop Control Method for a Hydraulically Driven
Flexible Manipulator
Janne Kovanen, Heikki Handroos, Lappeenranta University of Technology,
Finland
10:10―10:30
End-Point Control of a Flexible-Link via Optimal Dynamic Inversion
Aurelio Piazzi, Università di Parma, Antonio Visioli, Università di Brescia,
Italy
09:50―10:10
Rest-to-Rest Motion of a Two-link Robot with a Flexible Forearm
Alessandro De Luca, Giandomenico Di Giovanni, Università di Roma "La
Sapienza", Italy
09:30―09:50
Rest-to-Rest Motion of a One-link Flexible Arm
Alessandro De Luca, Giandomenico Di Giovanni, Università di Roma "La
Sapienza", Italy
W1B
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 …
Locomotion of LAURON III in Rough Terrain
Bernd 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.
Biomimetic and Smart Technology Principles of Humanoid Design
Darwin 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 …
Biomimetic Small Walking Machine
N. 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 …
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.
Mechatronics Curricula
W1C
DES’s in Automated Transportation
SALA BIANCA 09:30―11:10 SALA TURCA
Wayne Book, USA
CHAIR
Bart De Schutter, The Netherlands
Paolo Dario, Italy CO-CHAIR Luca Ferrarini, Italy
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 …
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 …
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.
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.
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
A New Approach to Mechatronics Systems Design Using Hardware in
the Loop Simulation
Devdas Shetty, Univ. of Hartford, Richard A. Kolk, United Technologies
Corp., Jun Kondo, Claudio Campana, Univ. of Hartford, USA
10:30―10:50
Development of Mechatronics Tertiary Education in Six Different Thai
Universities
M. Yousef Ibrahim, Monash University, Australia
10:10―10:30
Postgraduate and Undergraduate Mechatronics' Courses at the
University of Wollongong
C.D. Cook, F. Naghdy, F. DeBoer, University of Wollongong, Australia
09:50―10:10
Mechatronics and Early Mechanical Design
Thomas R. Kurfess, Georgia Institute of Technology, USA
09:30―09:50
The Role of Mechanical Design in Mechatronics Education
John F. Gardner, Boise State University, USA
W1D
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 …
Deadlock Avoidance in Automated Guided Vehicle Systems
Maria 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.
Modelling Automated Material Handling in Intermodal Terminals
Cristiana Degano, Angela Di Febbraro, Politecnico di Torino, Italy
A model of an intermodal terminal in which freight only arrives and departs stored into
containers 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.
Modeling of AS/RS via Coloured Petri Nets
F. 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 …
Machine Layout Problem in FMS Design
Imen 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).
Service Robots
W2A
Human―Machine Interfaces I
SALA PLATEA 11:30―13:10 SALA PASTA
Alessandro De Luca, Italy
CHAIR
Akitoshi Itoh, Japan
Peter Putz, The Netherlands CO-CHAIR Darwin Caldwell, UK
A Robotic System for Total Knee Replacement
Andrea 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.
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 …
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.
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
X-Ray Guided Robotic Radiosurgery for Solid Tumors
R.M.C. Bodduluri, Accuracy Inc., J.M. McCarthy, UC Irvine, USA
12:30―12:50
Development and Structuring of Mechatronic Systems, Exemplified
by the Modular Vehicle X-mobile
M. Zanella, T. Koch, F. Scharfeld, Universität Paderborn, Germany
Modeling of Drivers' Longitudinal Behavior
Johan Bengtsson, Rolf Johansson, Lund Institute of Technology, Agneta
Sjögren, Volvo Technological Development Corporation, Sweden
12:10―12:30
Mental Commit Robot and its Application to Therapy of Children
Takanori Shibata, Teruaki Mitsui, AIST, Kazuyoshi Wada, Tsukuba Univ.,
Akihiro Touda, Sankyo Aluminum Industry Co.,Takayuki Kumasaka,
Kazumi Tagami, Tsukuba Univ., Kazuo Tanie, AIST, Japan
Dynamic Modeling of Primary Commands for a Car Simulator
A. Frisoli, C.A. Avizzano, M. Bergamasco, Scuola Superiore Sant’Anna, S.
Data, C. Santi, Centro Ricerche Fiat, Italy
11:50―12:10
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
CleaningAssistant — A Service Robot Designed for Cleaning Tasks
Fabrizio Marrone, Matthias Strobel, FAW Ulm, Germany
W2B
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 forcefeedback joystick. The gearshift simulation control is implemented with an hybrid
model based on a state machine. The results are presented and discussed.
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 …
A Novel Interactive Robot Soccer System
Dong-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 …
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.
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.
Technology Enhanced Teaching
W2C
Data Storage Systems
SALA BIANCA 11:30―13:10 SALA TURCA
John Gardner, USA
CHAIR
Maurizio Zuffada, Italy
Cesare Fantuzzi, Italy CO-CHAIR Winncy Du, 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 …
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.
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.
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.
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
An Integrated Studio Approach to Teaching Basic Electronics to First
Year Mechatronics Degree Students
Robin Sarah Bradbeer, City University of Hong Kong, PRC
12:30―12:50
Internet Access to a Fluid Power Mechatronics Laboratory
Wayne J. Book, Matthew D. Rouse, Kyle Koeppen, Georgia Institute of
Technology, USA
12:10―12:30
Remotely Operated Experiment for Mechatronics: Monitoring of DCS
on the Internet
K.K. Tan, T.H. Lee, C.Y. Soh, National University of Singapore, Singapore
11:50―12:10
Mechatronics Training on Source Separation Analysis Using a
Gyroscopic Motion of a LEGO’s Robot
Caroline Deltheil, Didier Leandri, Eric Moreau, ISITV, France, Yousef
Ibrahim, Monash University, Australia
11:30―11:50
Graduate Mechatronics Education in the Department of Mechanical
Engineering at the University of Utah
Sanford Meek, Robert Roemer, Mark Minor, University of Utah, USA
W2D
High-Bandwidth Servo Control Designs for Magnetic Disk Drives
Masahito 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 …
Dynamic Model of a Multiple Disk and Spindle Assembly
Gianni 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
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.
Use of MEMS Based Accelerometers in Hard Disk Drives
Roberto 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 …
Simulator for Single Stage and Dual Stage Hard Disk Drives
Roberto 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 …
Robotic Manipulation in Space
W3A
Human―Machine Interfaces II
SALA PLATEA 15:30―16:50 SALA PASTA
Steven Dubowsky, USA
CHAIR
Tzyh-Jong Tarn, USA
Véronique Perdereau, France CO-CHAIR Dong-Soo Kwon, Korea
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.
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 …
Synthesis of Impedance Control for Complex Co-operating Robot
Assembly Task
Dragoljub 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 …
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.
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 …
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
16:30―16:50
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 …
Obstacle Avoidance Methods for a Passive Haptic Display
Davin K. Swanson, Wayne J. Book, Georgia Institute of Technology, USA
16:10―16:30
Position/Force Control of an Arm/Gripper System for Space
Manipulation
L. Biagiotti, C. Melchiorri, G. Vassura, Università di Bologna, Italy
15:50―16:10
Fuzzy and Optimal Control of Two-Link Flexible Manipulator
Anthony Green, Jurek Z. Sasiadek, Carleton University, Canada
15:30―15:50
Space Robotics — Driver for a New Mechatronic Generation of LightWeight Armas and Multifingered Hands
G. Hirzinger, J. Butterfaβ, M. Grebenstein, M. Hähnle, I. Schäfer, N.
Sporer, DLR, Germany
W3B
Force Detectable Surface Covers for Humanoid Robots
Hiroyasu Iwata, Hayato Hoshino, Toshio Morita, Shigeki Sugano, Waseda
University, Japan
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.
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 …
Mechatronics Applications
W3C
Fault Detection
SALA BIANCA 15:30―16:50 SALA TURCA
Roland Siegwart, Switzerland
CHAIR
Rolf Joahnasson, Sweden
Jean-Claude Gentina, France CO-CHAIR Francesco Basile, Italy
15:30―15:50
Automated, Integrated Modules for Fluid Handling, Thermal Cycling
and Purification of DNA Samples for High Throughput Sequencing
and Analysis
Deirdre 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 …
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.
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.
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
A Time-Delayed Dynamic Inversion Scheme for Mechatronic Control
of Hydraulic Systems
Klaus Six, Ty A. Lasky, Bahram Ravani, University of California at Davis,
USA
16:10―16:30
In-Pipe Inch-Worm Pneumatic Flexible Robot
A. Manuello Bertetto, M. Ruggiu, Università di Cagliari, Italy
15:50―16:10
Control of Bioconvection and Its Mechanical Application
Akitoshi Itoh, Hideki Toida, Tokyo Denki University, Japan
W3D
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 …
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.
Minimal Resource Allocating Networks for Aircraft SFDIA
Mario 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 …
Fault Diagnosis for Nonlinear Mechanic Systems
Vladimir 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.
Vehicles and Space Exploration
W4A
Mobile Robots
SALA PLATEA 17:10―18:30 SALA PASTA
Claudio Melchiorri, Italy
CHAIR
Tim Salcudean, Canada
Evangelos Papadopoulos, Greece CO-CHAIR Giovanni Muscato, Italy
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.
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.
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.
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
Model Predictive Control of an Autonomous Vehicle
B. Kim, D. Necsulescu, University of Ottawa, J. Sasiadek, Carleton
University, Canada
17:50―18:10
Lightweight Hyper-redundant Binary Elements for Planetary
Exploration Robots
Vivek A. Sujan, Matthew D. Lichter, Steven Dubowsky, MIT, USA
17:30―17:50
Development of a Multiagent Robotic System With Application to
Space Exploration
E.J.P. Earon, T.D. Barfoot, G.M.T. D'Eleuterio, University of Toronto,
Canada
17:10―17:30
Advanced Mechatronics in ESA's Space Robotics Developments
G. Visentin, M. Van Winnendael, P. Putz, European Space Technology
Center, The Netherlands
W4B
Optimal Flow Control for AUV Networks
Joseph 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.
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 …
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 …
Robot Motion Control in Dynamic Environments
I.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.
Micro Technology
W4C
Planning and Navigation
SALA BIANCA 17:10―18:30 SALA TURCA
Bahram Ravani, USA
CHAIR
Ian Walker, USA
Gabriele Vassura, Italy CO-CHAIR Norberto Pires, Portugal
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 …
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 onboard 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 …
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 …
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
In-contact Dynamics of Atomic Force Microscopes
Osamah M. El Rifai, Kamal Youcef-Toumi, MIT, USA
17:50―18:10
Study on Turning Motion of Micro Robot Driven by Cyclic Force
Kiyoshi Ioi, Kinki University, Japan
17:30―17:50
Coarse/Fine Motion Control of a Teleoperated Autonomous
Piezoelectric Nanopositioner Operating under a Microscope
Antoine Ferreira, Jean-Guy Fontaine, ENSIB, France
17:10―17:30
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
W4D
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.
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 freespace 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.
New Concept of Visibility Tetrahedra for Fast Robot Motion Planning
Miguel 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.
An Outdoor Navigation System Using GPS and Inertial Platform
S. 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
A
Abolmaesumi, P. .....................................
Achour, N. ...............................................
Adamini, R. ..............................................
Agbanhan, J. ...........................................
Aicardi, M. ...............................................
Aiyama, Y. ...............................................
Albert, A. .................................................
Allotta, B. .................................................
Amati, N. .................................................
Ando, N. ..................................................
Angeles, J. ..............................................
Angioli, F. ................................................
Antonelli, G. .............................................
Antoniadis, I. ...........................................
Arai, F. .....................................................
Arai, T. .....................................................
Arao, M. ...................................................
Arena, P. .................................................
Arras, K. ..................................................
Arteaga, M.A. ..........................................
Artrit, P. ...................................................
Asakura, T. ..............................................
Asama, H. ...............................................
Atsumi, T. ................................................
Avizzano, C.A. .........................................
C
W3B
W4D
T2A
M2B
M4A,M4A
T4A
W4B
M2D,M2D,T2B
T3C
M1B,M3B
M1A
T2B
T1A
T3B
T3A
M2B,M3A
T1B
W1B
M3B
T2A
W1B
M2B
M4C
W2D
W2B
B
Badescu, M. ............................................
Baeten, J. ................................................
Baidyk, T.N. .............................................
Barfoot, T.D. ............................................
Basile, F. .................................................
Beghi, A. ..................................................
Bengtsson, J. ..........................................
Bergamasco, M. ......................................
Berns, K. .................................................
Bertram, T. ..............................................
Biagiotti, L. ..............................................
Bielecki, T. ...............................................
Bisogni, M. ..............................................
Bodduluri, R.M.C. ....................................
Bok, S.H. .................................................
Bona, B. ..................................................
Bonfatti, F. ...............................................
Bonfè, M. .................................................
Book, W.J. ...............................................
Boulenger, Y. ..........................................
Bradbeer, R.S. ........................................
Branciforte, M. .........................................
Brega, R. .................................................
Breglio, G. ...............................................
Bruni, S. ..................................................
Brusa, E. .................................................
Bu, F. .......................................................
Burton, R. ................................................
Butterfaβ, J. .............................................
T4C
T4A
T1B
W4A
W1D
T4B,W2D
W2B
W2B
W1B
M3D
W3A
M3D
T1B
W2A
M2C
M4A
T3D
T3D
M1B,W2C,W3B
T1C
W2C
W1B
M3B,T4D
M4C
M2D
T3C
T2C
M4D
W3A
Caccavale, F. ..........................................
Cai, L. ......................................................
Calabrò, A. ..............................................
Caldwell, D.G. .........................................
Callegari, M. ............................................
Campa, G. ...............................................
Campana, C. ...........................................
Campion, G. ............................................
Canderle J. ..............................................
Canelli, N. ................................................
Cannella, F. .............................................
Caponetto, R. ..........................................
Capretta, P. .............................................
Carbone, C. .............................................
Carreras, C. .............................................
Carrozza, M.C. ........................................
Casalino, G. .............................................
Cavallo, A. ...............................................
Ceccarelli, M. ...........................................
Chaieb, I. .................................................
Chang, J. .................................................
Charalambides, P.G. ...............................
Chen, C.L.. ..............................................
Chen, I-M. ................................................
Chen, J.H. ...............................................
Chen, Y. ..................................................
Cheng, C.C. .............................................
Chiacchio, P. ...........................................
Chiaverini, S. ...........................................
Chiu, G.T.-C. ...........................................
Choudhuri, S. ..........................................
Chrappan Soldavini, F. ............................
Chung,Y.-H. .............................................
Cloet, C. ..................................................
Colla, V. ...................................................
Collina, A. ................................................
Cook, C.D. ...............................................
Cookson, A. .............................................
Croft, E.A. ................................................
Cucè, A. ...................................................
Cunningham, D.L. ..................................
Cusano, A. ...............................................
Cutolo, A. .................................................
M4A
T1B
M4C
W1B
M4D,T2A
W3D
W1C
W2A
W1B
M3A
T2A
W1B
T4B,W2D
W1D
T3A
M3A
M4A,M4A
T3B
M2A
W1D
W2D
M3C
M1C
M1A
M1B
T1B
M1B
W1D
T1A
M1C,T2C
M3C
T4B,W2D
M2A
T4D
M2D
M2D
W1C
W3C
T2C
T1B
W3C
M4C
M4C
D
Daerden, F. .............................................
Dambrosio, L. ..........................................
D’Amico, A. ..............................................
Dario, P. ..................................................
Data, S. ...................................................
Davis, S. ..................................................
Dawson, D.M. ..........................................
De Bartolomei, M. ....................................
DeBoer, F. ...............................................
de Callafon, R.A. .....................................
Degano, C. ..............................................
De Kruif, B.J. ...........................................
T3C
W2B
T1B
M3A
1070
W2B
W3D
W3A
W1C
W3D
W1D
M3B
D’Eleuterio, G.M.T. ..................................
Delli Colli, V. ............................................
Deltheil, C. ...............................................
De Luca, A. .............................................
De Maria, G. ............................................
De Meter, E.C. ........................................
Demeulenaere, B. ...................................
Deng Z.-G. ..............................................
De Robertis, S. ........................................
De Schutter, B. ........................................
De Schutter, J. ........................................
de Silva, C.W. .........................................
De Vries T.J.A. ........................................
Diana, F. ..................................................
Di Febbraro, A. ........................................
Di Giovanni, G. ........................................
Di Gregorio R. .........................................
Ding, H. ...................................................
Di Stefano, R. ..........................................
Dixon, W.E. .............................................
Douglas, P.L. ...........................................
Dresselhaus, M. ......................................
Drouin, M. ................................................
Du, W. .....................................................
Duan, B.Y. ...............................................
Dubowsky, S. ..........................................
Dunbar, W.B. ...........................................
Dyllong, E. ...............................................
W4A
T1C
W2C
T4C,W1A,W1A
T3B
M3C
T3C
M3B
W2B
M1D
T3C,T4A
M4B,M4B,M4B
M3B
M1D
W1D
W1A,W1A
M2A,T1A
M2C
T1C
W3D
M4B
T2A
T4A
M1C
T2B
W4A
W3D
T1A
E
Earon, E.J.P. ...........................................
Economou, D. .........................................
Ejiri, M. ....................................................
Elhajj, I. ...................................................
El Rifai, O.M. ...........................................
Ezaki, H. ..................................................
W4A
T3B
PL1
T3A
W4C
M2B
F
Falkman, P. .............................................
Fanti, M.P. ...............................................
Fantuzzi, C. .............................................
Ferrarini, L. ..............................................
Ferreira, A. ..............................................
Ferreira, P.M. ..........................................
Ferreira Santos, I. ...................................
Ferretti, G. ...............................................
Ficola, A. .................................................
Figliolini, G. .............................................
Filaretov, V.V. ..........................................
Fiorini, P. .................................................
Fisher, C. .................................................
Flath, M. ..................................................
Fogliazza, G. ...........................................
Fontaine, J.-G. ........................................
Fortunato, B. ...........................................
Fossati, F. ...............................................
Fravolini, M.L. ..........................................
Freudenberg, H. ......................................
Frisoli, A. .................................................
Fröhleke, N. .............................................
Fukuda, T. ...............................................
Fung, C.K.M. ...........................................
W1D
W1D
T3D
T2D
W4C
M3C
T2B
T4D,W2D
T3B
T2C
W3D
W2A
W3C
T4D
T2D
W4C
W2B
M2D
T3B,W3D
M2A
W2B
T1C
T3A
T3A
Furlan, A. .................................................
Fusco, G. .................................................
W2D
T1A,T3B
G
Gadda, G. ................................................
Galdi, V. ...................................................
Gambao, E. .............................................
Gardner, J.F. ...........................................
Garg, D.P. ...............................................
Garner, H. ................................................
Gaßmann, B. ...........................................
Gausemeier, J. ........................................
Gautier, M. ...............................................
Gentina, J.-C. ..........................................
Gerth, W. .................................................
Ghigliazza, R. ..........................................
Giordano, M. ............................................
Giua, A. ...................................................
Golnaraghi, F. ..........................................
Gonda, K. ................................................
Goodall, R. ..............................................
Grassini, F. ..............................................
Grebenstein, M. .......................................
Green, A. .................................................
Gu, C.E. ...................................................
Gu, L. .......................................................
Guccione, S. ............................................
Guo, L. .....................................................
T3D
M4D
W4D
W1C
T2D,T3A
M1C
W1B
T4D
T2D
W1D
W4B
M4D
M4C
M1D
T2B
M1B
M2D
W3A
W3A
W3A
M4B
M4B
VI
W2D
H
Ha, I. ........................................................
Habibi, S. .................................................
Hahn, H. ..................................................
Hähnle, M. ...............................................
Handroos, H. ...........................................
Hanke, O. ................................................
Hannan, M.W. .........................................
Hashimoto, H. ..........................................
Hashimoto, T. ..........................................
Hatano, M. ...............................................
Hattori, H. ................................................
Heppler, G.R. ..........................................
Hernando, M. ...........................................
Hestermeyer, T. .......................................
Higuchi, M. ..............................................
Hiller, M. ..................................................
Hiramatsu, S. ...........................................
Hirzinger, G. ............................................
Hitaka, G. ................................................
Holl, M. ....................................................
Holnicki-Szulc, J. .....................................
Hong, S.-G. .............................................
Hong, S.-K. ..............................................
Hori, Y. ....................................................
Horowitz, R. .............................................
Hoshino, H. ..............................................
Hu, Hong .................................................
Hu, Huosheng .........................................
Hu, X. ......................................................
Hung, S. ..................................................
Hurtado, J.F. ............................................
Hwang, J.-H. ............................................
T1A
M4D
T3C
W3A
W1A
M3D
M1A
M1B,M3B
M4C
W4B
T4A
T2B
W4D
M1D
M1D
M3D,W3B
M1A
T1C,W3A
T2B
W3C
M3D
W2B
W2B
W4C
T4D
W3B
T1C
M1B,M3B
W2D
PL2
M2C
W2B
I
Iannitti, S. ................................................
Ibrahim, M.Y. ...........................................
Inamura, T. ..............................................
Indiveri, G. ...............................................
Indri, M. ...................................................
Inoue, K. ..................................................
Inukai, T. .................................................
Ioi, K. .......................................................
Ippoliti, G. ................................................
Ippolito, L. ................................................
İstefanopulos, Y. .....................................
Itoh, A. .....................................................
Itoh, K. .....................................................
Itoh, T. .....................................................
Iwasaki, M. ..............................................
Iwata, H. ..................................................
T4C
M3D,W1C,W2C,W4D
M2B
M4A,M4A
M4A
M2B,M3A
T3A
W4C
T1B
M4D
W1A
W3C
T4B
M4C
T4B
W3B
J
Jan, Y.-J. .................................................
Jang, L.S. ................................................
Jensen, B. ...............................................
Jeon, B.-H. ..............................................
Jezequel, L. .............................................
Johansson, R. .........................................
T4A
W3C
M3B
T1A
M3D
W2B
K
Kagawa, N. ..............................................
Kagoshima, T. .........................................
Kallenbach, E. .........................................
Kanamaru, N. ..........................................
Karray, F. ................................................
Kato, N. ...................................................
Kawaji, S. ................................................
Kawamura, T. ..........................................
Kazerooni, H. .........................................
Kesavadas, T. .........................................
Khalil, W. .................................................
Khawaja, K.A. ..........................................
Khetan, R.P. ............................................
Kidd, M. ...................................................
Kikuchi, K. ...............................................
Kim, B. .....................................................
Kim, H.-R. ................................................
Kim, I. ......................................................
Kinoshita, T. ............................................
Klement, M. .............................................
Klopčar, N. ..............................................
Kobayashi, H. ..........................................
Kobayashi, K. ..........................................
Kobayashi, M. .........................................
Koch, T. ...................................................
Koeppen, K. ............................................
Koganezawa, K. ......................................
Kohkawa, H. ............................................
Kojima, T. ................................................
Kolk, R.A. ................................................
Komainda, A. ...........................................
Kondo, J. .................................................
Konno, A. ................................................
Korbaa, O. ...............................................
W1B
M3B
M2A
T3A
M4B
M1B
T1B
T2D
W1B
M1D
T2D
T1D
M3C
W3C
M1D
W4A
W2B
T1A
M1A
M1C
M3A
M1D
T2D
W2D
W2A
W2C
M1A
W3B
T2D
W1C
T1A
W1C
M1B
W1D
Kosmatka, J.B. ........................................
Kosuge, K. ...............................................
Kovanen, J. .............................................
Koyama, T. ..............................................
Kramer, U. ...............................................
Krämer, E. ...............................................
Kroeker, P. ..............................................
Kuczynski, A. ...........................................
Kuhlbusch, W. .........................................
Kumar, A.S. .............................................
Kumar, R.K. .............................................
Kumasaka, T. ..........................................
Kurfess, T.R. ...........................................
Kwak, Y. ..................................................
Kwon, D.-S. .............................................
Kyriakopoulos, K. ....................................
W3D
M2B
W1A
T3A
T3D
T1C
M4D
T2A
M2A
M2C
M2C
VI,W2A
T1D,W1C
W2B
W2B
T4C
L
La Cava, M. .............................................
Lampaert, V. ............................................
Lanni, C. ..................................................
Lasky, T.A. ..............................................
Lazzarini, R. ............................................
Leandri, D. ...............................................
Lee, E.C. .................................................
Lee, J. ......................................................
Lee, J.-H. .................................................
Lee, J.-J. ..................................................
Lee, Jae-Won ..........................................
Lee, Jin-Woo ...........................................
Lee, K.-M. ................................................
Lee, M.F.R. ..............................................
Lee, T.H. ..................................................
Lefeber, D. ...............................................
Legnani, G. ..............................................
Lemoine, Ph. ...........................................
Lenarčič, J. ..............................................
Lenart, L. .................................................
Lennartson, B. .........................................
Li, H. ........................................................
Li, W.J. ....................................................
Lichter, M.D. ............................................
Liégeois, A. ..............................................
Liu, B. ......................................................
Liu, H. ......................................................
Liu, W. .....................................................
Liu-Henke, X. ...........................................
Longhi, S. ................................................
Longo, D. .................................................
Lotti, F. ....................................................
Lucidarme, P. ..........................................
Lückel, J. .................................................
T3B
T4B
M2A
W3C
M3A
W2C
M3C
T1A,T1A
M3B
W2B
M2A
W2B
M1C,M2C
M4B
M4B,W2C
T3C
T2A
T2D
M3A,M3A
T1D
W1D
M2C
T3A
W4A
M2B
T2B
T1C
M4B
M1D
T1B
T4C
T2D
M2B
M1D,M2A
M
Mae, Y. ....................................................
Magnani, G. .............................................
Maiocchi, G. ............................................
Maißer, P. ................................................
Malvezzi, M. ............................................
Malvisi, A. ................................................
Manuello Bertetto, A. ...............................
Marcacci, M. ............................................
M2B,M3A
T4D,W2D
W2D
M2A
M2D
W2A
W3C
W2A
Marchese, S. ...........................................
Marignetti, F. ...........................................
Marin, R.A. ..............................................
Marrone, F. ..............................................
Martelli, S. ...............................................
Maslen, E.H. ............................................
Massa, B. ................................................
Matsui, N. ................................................
Matsumoto, T. .........................................
Matsuno, T. .............................................
Matsushima, T. ........................................
Mattone, R. ..............................................
Mavroidis, C. ...........................................
McCarthy, J.M. ........................................
McFarlane, J.R. .......................................
McFetridge, L. .........................................
Medrano-Cerda, G.A. ..............................
Meek, S. ..................................................
Mei, T.X. ..................................................
Melchiorri, C. ...........................................
Meldrum, D.R. .........................................
Melkote, S.N. ...........................................
Menegatti, E. ...........................................
Micera, S. ................................................
Michelini, R.C. .........................................
Michielen, M. ...........................................
Minami, M. ...............................................
Minor, M. .................................................
Miroshnik, I.V. ..........................................
Mitsui, T. ..................................................
Mitsuya, Y. ..............................................
Mizukawa, M. ..........................................
Mochiyama, H. ........................................
Moerschell, J. ..........................................
Möhringer, S. ...........................................
Moita, F. ..................................................
Molfino, R.M. ...........................................
Monari, P.D. ............................................
Monti, S. ..................................................
Moody, S.E. .............................................
Moore, C.A. .............................................
Moore, M.P. .............................................
Moreau, B. ...............................................
Moreau, E. ...............................................
Mori, Y. ....................................................
Morino, T. ................................................
Morita, T. .................................................
Moritz, W. ................................................
Morselli, R. ..............................................
Mrad, R.B. ...............................................
Mukherjee, R. ..........................................
Munir, S. ..................................................
Murakami, T. ...........................................
Murao, Y. .................................................
Murari B. ..................................................
Murata, R. ...............................................
Muscato, G. .............................................
W1B
T1C
M3C
W2A
W2A
T3B
M3A
T4B
M2B
T3A
W3B
T4C
T3B,T4C
W2A
T2C
W4D
W1B
W2C
M2D
W3A
W3C
M2C
M1C
M3A
M4D
M3D
M2B,W4B
W2C
W4B
VI,W2A
M1B
T3A
M1A
T4B
T4D
M4C
M4D
T3D
T2A
W3C
T1D
W3C
M3B
W2C
M1A
VI
W3B
M2A
M4D
T1C
T3B
M1B
T2B
W3B
PL1
W3B
VI,T4C,W1B
N
Nagchaudhuri, A. ....................................
Naghdy, F. ...............................................
Nakagawa, S. ..........................................
Nakajima, K. ............................................
T3A
W1C
W2D
M3B
Nakamura, Y. ..........................................
Nakauchi, Y. ............................................
Nakazawa, M. ..........................................
Nan, R.D. .................................................
Napoli, J.T. ..............................................
Napolitano, M. .........................................
Natale, C. ................................................
Necsulescu, D. ........................................
Nee, A.Y.C. .............................................
Nicolais, L. ...............................................
Nicoletti, R. ..............................................
Noda, A. ..................................................
Noguchi, Y. ..............................................
Nunes, U. ................................................
M2B
W2B
T2D
T2B
W4B
W3D
T3B,T3C
W4A
M2C
M4C
T2B
T3A
T3A
M4C
O
Obara, H. .................................................
Oboe, R. ..................................................
Oh, J.-H. ..................................................
Ohnishi, K. ...............................................
Ohsumi, T. ...............................................
Ohta, M. ...................................................
Öke, G. ....................................................
Okubo, T. .................................................
Onillon, E. ................................................
Oriolo, G. .................................................
Osuka, K. .................................................
Otera, N. ..................................................
Ou, S.-C. .................................................
Owen, W.S. .............................................
Oyobe, H. ................................................
W4B
T4B,W2D,W2D
W2B
T2B,T4A
W4B
M1B
W1A
M4C
T4B
T4C
T2A
T3A
T3D
T2C
W4C
P
Pagello, E. ...............................................
Pagnanelli, P. ..........................................
Panzieri, S. ..............................................
Papadimitriou, I. ......................................
Papadopoulos, E. ....................................
Papi, M. ...................................................
Parenti-Castelli, V. ...................................
Parker, G. ................................................
Parker, J.M. .............................................
Paromtchik, I.E. .......................................
Pascazio, G. ............................................
Pascucci, F. .............................................
Pastorelli, S. ............................................
Peel, G. ...................................................
Pegoraro, R. ............................................
Pelinescu, D. ...........................................
Pence, W.H. ............................................
Peng, B. ...................................................
Perdereau, V. ..........................................
Persson, J. ..............................................
Peschiera, G. ...........................................
Pham, M.T. ..............................................
Piazzi, A. .................................................
Piccolo, A. ...............................................
Pires, J.N. ................................................
Poignet, Ph. .............................................
Poppe, C.D. .............................................
Pugi, L. ....................................................
Pugliese, F. .............................................
Putz, P. ....................................................
M1C
T2A
W4D
T4D
T4D
M2D
M3A
M3D
M1C
M4C
W2B
W4D
T2C
M3D
T1B
M2C
W3C
T2B
T4A
M3B
W1B
T2D
W1A
M4D
T1D
T2D
T2D
M2D
M2A
W4A
Q
Qin, W. ....................................................
T1B
R
Rauf, A. ...................................................
Ravani, B. ................................................
Remond, C. .............................................
Resta, F. ..................................................
Rinchi, M. ................................................
Rizzo, A. ..................................................
Rocco, P. .................................................
Roemer, R. ..............................................
Rongier, P. ..............................................
Rouse, M.D. ............................................
Rovetta, A. ..............................................
Ruggiu, M. ...............................................
Ryu, J. .....................................................
M2A
W3C
T4A
M2D,M2D
T2B
W1B
T4D,W2D
W2C
M2B
W2C
T1B
W3C
M2A
S
Saffert, E. ................................................
Saini, M. ..................................................
Salcudean, S.E. ......................................
Salmon, M. ..............................................
Sandoni, G. .............................................
Santi, C. ..................................................
Santolini, C. .............................................
Sarma, S.E. .............................................
Sasahara, M. ...........................................
Sasiadek, J.Z. .........................................
Sato, K. ...................................................
Scarano, M. .............................................
Schäfer, I. ................................................
Scharfeld, F. ............................................
Scholl, K.-U. ............................................
Schulte, H. ...............................................
Schulte, T. ...............................................
Seatzu, C. ...............................................
Seitz, N. ...................................................
Seneviratne, L. ........................................
Sergeev, K.A. ..........................................
Setiawan, J.D. .........................................
Shen, B.-H. ..............................................
Shetty, D. ................................................
Shibata, T. ...............................................
Shimaru, M. .............................................
Shimokohbe, A. .......................................
Siegwart, R. .............................................
Simmons, R. ............................................
Sirouspour, M.R. .....................................
Six, K. ......................................................
Sjögren, A. ..............................................
Smaldone, N. ..........................................
Soemers, H.M.J.R. ..................................
Soh, C.Y. .................................................
Song, Y. ..................................................
Sorli, M. ...................................................
Spark, I.J. ................................................
Sporer, N. ................................................
Strobel, M. ...............................................
Su, Y.X. ...................................................
Sudhir, A. ................................................
M2A
W3C
W3B
T2D
M4D
W2B
T2A
M3C
T2D
W3A,W4A
T4B
T1C
W3A
M2A,W2A
W1B
T3C
T1C
M1D
T1C
T1D
W4B
T3B
VI
W1C
VI,W2A
T2D
T4B
M3B
W2B
W3B
W3C
W2B
M4A
M1A
M4B,W2C
W3D
T2C
M3D
W3A
W2A
T2B
M1D
Sugano, S. ...............................................
Sugiuchi, H. ............................................
Sujan, V.A. ..............................................
Sun, C.J. ..................................................
Sun, H. ....................................................
Sung, W.-T. .............................................
Suppa, M. ................................................
Surdilovic, D. ...........................................
Suzuki, H. ................................................
Swanson, D.K. .........................................
Swevers, J. ..............................................
Szente, V. ................................................
W3B
VI
W4A
M4B
T2C
T3D
W4B
W3A
M2B
W3B
T4B
T2C
T
Tadokoro, S. ............................................
Tagami, K. ...............................................
Tan, K.C. .................................................
Tan, K.K. .................................................
Tang, K.Z. ................................................
Tanie, K. ..................................................
Tanner, H.G. ............................................
Tarn, T.J. .................................................
Tasch, U. .................................................
Tittus, M. ..................................................
Toepper, S. ..............................................
Toida, H. ..................................................
Tomatis, N. ..............................................
Tomizuka, M. ...........................................
Toni, P. ....................................................
Toshima, I. ...............................................
Touda, A. .................................................
Toumi, R. .................................................
Tsagarakis, N. .........................................
Tsai, M.-C. ...............................................
Tsui, P.W. ................................................
Turchiano, B. ...........................................
W3B
VI,W2A
M4B
M4B,W2C
M4B
VI,W2A
T4C
W4B
M3C
W1D
M2A
W3C
M3B
T4D
M2D,M2D
M2B
W2A
W4D
W1B
VI
M1B
W1D
U
Uchiyama, M. ..........................................
Ulivi, G. ....................................................
Umetani, T. ..............................................
Usoltsev, S.A. ..........................................
M1B
W4D
M2B
W3D
V
Vaccaro, A. ..............................................
Vad, J. .....................................................
Vallapuzha, S. .........................................
Van den Boom, T. ...................................
van der Wal, E. ........................................
Van Eijk, J. ..............................................
Van Ham, R. ............................................
Van Winnendael, M. ................................
Vassura, G. .............................................
Velardi, F. ................................................
Venanzi, S. ..............................................
Verrelst, B. ...............................................
Villani, L. ..................................................
Violi, A.G. ................................................
Virk, G.S. .................................................
Visconti, A. ..............................................
Visentin, G. ..............................................
M4D
T2C
M3C
M1D
T3D
PL4
T3C
W4A
T2D,W3A
T3C
M3A
T3C
M4A
M2D
W1B
M4D
W4A
Visioli, A. .................................................
Visone, C. ................................................
T2A,W1A
T3C
W
Wada, K. .................................................
Wahyudi ..................................................
Waldron, K.J. ...........................................
Walker, I.D. .............................................
Wang, M.Y. .............................................
Wang, X.G. ..............................................
Wang, Y.-T. .............................................
Wardak, K. ..............................................
Watanabe, S. ..........................................
Wei, Q. ....................................................
Wiktor, P.J. ..............................................
Wright, M. ................................................
Wu, Q.M.J. ..............................................
Wullschleger, F.H. ...................................
VI,W2A
T4B
T4C
M1A,T3A,W3D
M2C
M4B
T4A
M3C
VI
T2B
W3C
M1C
M4B
T4D
X
Xi, N. .......................................................
Xu, L. .......................................................
T3A
T1C
Y
Yakushi, T. ..............................................
Yamaguchi, T. .........................................
Yamamoto, Y. ..........................................
Yang, G. ..................................................
Yang, P. ...................................................
Yao, B. .....................................................
Yin, X. ......................................................
Yoshida, H. ..............................................
Youcef-Toumi, K. .....................................
Yu, L. .......................................................
Yusof, K.M. ..............................................
M3B
W2D
M4C
M1A
T4C
T1C,T2C
M2C
M3A
W4C
M1B
M4B
Z
Zäh, M.F. .................................................
Zanasi, R. ................................................
Zanella, M. ...............................................
Zecca, M. .................................................
Zentner, J. ...............................................
Zhirabok, A.N. .........................................
Zhou, Q. ..................................................
Zhu, W.H. ................................................
Zhu, X. .....................................................
Zucchelli, A. .............................................
T1D
M4D
W2A
M3A
M2A
W3D
M1B
W3B
M2C
T2D
CHAIRS INDEX
A
Aicardi, M. .............................................................................
Allotta, B. ...............................................................................
Angeles, J. ............................................................................
Apkarian, J. ...........................................................................
Arteaga, M.A. ........................................................................
D
M2B
M3A
M2A
T4B
T3B
B
Basile, F. ...............................................................................
Bertram, T. ............................................................................
Book, W. ................................................................................
Brogårdh, T. ..........................................................................
W3D
M2D
W1C
T4A
C
Cai, L. ....................................................................................
Caldwell, D. ...........................................................................
Callegari, M. ..........................................................................
Carrozza, M.C. ......................................................................
Chen, I-M. .............................................................................
Chiu, G. .................................................................................
Cloet, C. ................................................................................
Cutolo, A. ..............................................................................
T2B
W2B
T1A
M2C
T4A
T3D
T2D
M1C
Dario, P. ................................................................................
De Luca, A. ............................................................................
De Maria, G. ..........................................................................
De Meter, E. ..........................................................................
De Schutter, B. ......................................................................
de Silva, C. ............................................................................
Di Febbraro, A. ......................................................................
Di Gregorio, R. ......................................................................
Du, W. ...................................................................................
Dubey, R. ..............................................................................
Dubowsky, S. ........................................................................
W1C
W2A
T2B
M2C
W1D
M2B
M1D
W1B
W2D
VI
W3A
F
Fanti, M.P. .............................................................................
Fantuzzi, C. ...........................................................................
Ferrarini, L. ............................................................................
Ferretti, G. .............................................................................
Figliolini, G. ............................................................................
Fusco, G. ...............................................................................
M3D
W2C
W1D
M4B
T1C
M1A
G
Gardner, J. ............................................................................
Garg, D. .................................................................................
Gentina, J.-C. ........................................................................
Glielmo, L. .............................................................................
Goodall, R. ............................................................................
W2C
T1D
W3C
M3D
M4D
H
Hamel, W. .............................................................................
Hashimoto, H. .......................................................................
Hiller, M. ................................................................................
Hirzinger, G. ..........................................................................
PL3
M4C
M1D
T2A
I
Ibrahim, Y. .............................................................................
Itoh, A. ...................................................................................
T2D
W2B
W3D
K
Karray, F. ..............................................................................
Kazerooni, H. ........................................................................
Kesavadas, T. .......................................................................
Kobayashi, H. ........................................................................
Koganezawa, K. ....................................................................
Konno, A. ..............................................................................
Kosuge, K. .............................................................................
Kurfess, T. .............................................................................
Kwon, D.-S. ...........................................................................
T3D
T4C
VI
M4D
T3A
T1B
M1B
T4D
W3B
L
Lee, K.-M. ..............................................................................
Legnani, G. ............................................................................
Lenarčič, J. ............................................................................
Longhi, S. ..............................................................................
M3C
T4C
PL2
T3A
T3C
T1A
W1B
W4A
M3A
T1D
M2A
T1B
W4B
N
Natale, C. ..............................................................................
T1C
T2C
PL4
P
Papadopoulos, E. ..................................................................
W4C
T3B
M1B
S
Salcudean, T. ......................................................................
Sasiadek, J. .........................................................................
Shibata, T. ...........................................................................
Siegwart, R. .........................................................................
Soemers, H. ........................................................................
Sugano, S. ...........................................................................
Surdilovic, D. .......................................................................
W4B
W1A
M1C
W3C
M3C
PL1
M1A
T
Tarn, T.-J. ..............................................................................
Tomizuka, M.. ........................................................................
Ulivi, G. ..................................................................................
W3B
M4B
Valigi, P. ................................................................................
Vassura, G. ...........................................................................
Villani, L. ................................................................................
M4A
W4C
W1A
W
Waldron, K. ............................................................................
Walker, I. ...............................................................................
Wang, G. ...............................................................................
Wu, J. ....................................................................................
T3C
W4D
M3B
M3B
X
T4B
Y
Yamamoto, Y. ........................................................................
Yao, B. ...................................................................................
T4D
T2C
Z
Zuffada, M. ............................................................................
W4A
M4A
V
Xi, N. ......................................................................................
O
Oboe, R. ................................................................................
Okuma, S. .............................................................................
Ravani, B. ..............................................................................
Rocco, P. ...............................................................................
Rovetta, A. .............................................................................
U
M
Magnani, G. ...........................................................................
Mavroidis, C. .........................................................................
McCarthy, M. .........................................................................
Melchiorri, C. .........................................................................
Meldrum, D. ...........................................................................
Melkote, S. ............................................................................
Molfino, R. .............................................................................
Mukherjee, R. ........................................................................
Muscato, G. ...........................................................................
T2A
M4C
W3A
M2D
W4D
W2A
R
J
Johansson, R. .......................................................................
Parenti Castelli, V. .................................................................
Parker, J. ...............................................................................
Perdereau, V. ........................................................................
Piccolo, A. .............................................................................
Pires, N. .................................................................................
Putz, P. ..................................................................................
W2D
AIM '01
c/o Professor Bruno Siciliano
Dipartimento di Ingegneria dell’Informazione e Ingegneria Elettrica
Università degli Studi di Salerno
Via Ponte Don Melillo, 84084 Fisciano (SA), Italy
Tel: +39 089-96-4306 Fax: +39 089-96-4218
bsiciliano@unisa.it