PICMicro MCU in Mechatronics Hands On

VI 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 U

WS

ORGANIZER Jacob Apkarian, Canada

PICMicro MCU in Mechatronics: Hands On

TU

ORGANIZER Luigi Glielmo, Italy

Mechatronics Realizations in Hybrid Electric Vehicles

INMOVE – Concept of a Charge-Sustaining Hybrid Drive Train, Christian Renner, Ralf Bady,

FKA mbH Aachen, Germany

VI

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

18:10–18:20

Realization of Dexterous Hand Task by Using Multi-Finger Dual Robot Hand

Hajime Sugiuchi, Shinichiro Watanabe, Tetsu Morino, Yokohama National University, Japan

18:20–18:30

Test of the Hybrid Robot WHEELEG on a Volcanic Environment

Salvatore Guccione, Giovanni Muscato, Università di Catania, Italy

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

HOST Shigeki Sugano, Japan

Is Micromachining Still a Dream or an Industrial Reality?

Bruno Murari, STMicroelectronics, Italy

Manipulator Design

M1A

CHAIR Dragoljub Surdilovic, Germany

CO-CHAIR Giuseppe Fusco, Italy

09:30–09:50

Hyper Redundant Manipulator Using Compound Three-Bar Linkages

Koichi Koganezawa, Takashi Kinoshita, Tokai University, Japan

09:50–10:10

The 'Elephant Trunk' Manipulator, Design and Implementation

M.W Hannan, I.D Walker, Clemson University, USA

10:10–10:30

The Frenet-Serret Manipulator

Hiromi Mochiyama, Shin'ichirou Hiramatsu, Yasuchika Mori, National Defense Academy, Japan

10:30–10:50

The Design of High Performance Manipulators

H.M.J.R Soemers, Philips Center for Industrial Technology, The Netherlands

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

M1B

CHAIR Kazuhiro Kosuge, Japan

CO-CHAIR Alberto Rovetta, Italy

09:30–09:50

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

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

09:50–10:10

Internet Based Teleoperation using Wave Variables with Prediction

Saghir Munir, Wayne J Book, Georgia Institute of Technology, USA

10:10–10:30

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

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

10:30–10:50

Micro Teleoperation with Parallel Manipulator

Noriaki Ando, Masahito Ohta, Kouhei Gonda, University of Tokyo, Hideki Hashimoto, University of

Tokyo & Presto JST, Japan

10:50–11:10

A Generalized Control Approach for Ideal Teleoperation

Chi-Cheng Cheng, Jiun-Hung Chen, National Sun Yat-Sen University, ROC

Motion and Imaging

M1C

CHAIR Takanori Shibata, Japan

CO-CHAIR Antonello Cutolo, Italy

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

09:50–10:10

Motion Tracking of a Part on a Vibratory Feeder

Winncy Y Du, San José State University, USA

10:10–10:30

Banding Reduction in Electrophotographic Process

Cheng-Lun Chen, George T.-C Chiu, Purdue University, USA

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

Transportation Systems

M1D

CHAIR Manfred Hiller, Germany

CO-CHAIR Angela Di Febbraro, Italy

09:30–09:50

Safeness-Enforcing Supervisory Control for Railway Networks

Fabrizio Diana, Alessandro Giua, Carla Seatzu, Università di Cagliari, Italy

09:50–10:10

Model Predictive Control for Railway Networks

B De Schutter, T Van den Boom, Delft University of Technology, The Netherlands

10:10–10:30

Control of Transient Phase for Discrete Event Simulation using Computational Steering

T Kesavadas, Abhishek Sudhir, SUNY Buffalo, USA

10:30–10:50

Traffic Signal Control by Egograms

H Kobayashi, M Higuchi, K Kikuchi, Science University of Tokyo, Japan

Parallel Manipulators

M2A

CHAIR Jorge Angeles, Canada

CO-CHAIR Rezia Molfino, Italy

11:30–11:50

Design of a New 2 DOF Parallel Mechanism

Young-Hoon Chung, Jae-Won Lee, Yeungnam University, Korea

11:50–12:10

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

Kinematics of the Translational 3-URC Mechanism

Raffaele Di Gregorio, Università di Ferrara, Italy

12:50–13:10

An Experimental Validation of CaPaMan as Earthquake Simulator

Chiara Lanni, Fabio Pugliese, Marco Ceccarelli, Università di Cassino, Italy

Intelligent Systems I

M2B

CHAIR Clarence de Silva, Canada

CO-CHAIR Michele Aicardi, Italy

11:30–11:50

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

Implementation and Evaluation of a Reactive Multi-Robot System

P Lucidarme, P Rongier, A Liégeois, LIRMM, France

Collision Detection of Manipulator Based on Adaptive Control Law

Taishi Matsumoto, Kazuhiro Kosuge, Tohoku University, Japan

12:50–13:10

Visual Servoing to Fish and Catching Using Global/Local GA Search

Mamoru Minami, Hidekazu Suzuki, Julien Agbanhan, Toshiyuki Asakura, Fukui University, Japan

Fixture and Grasping Design

M2C

CHAIR Edward De Meter, USA

CO-CHAIR Maria Chiara Carrozza, Italy

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

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

12:10–12:30

Optimal Fixture Layout Design in a Discrete Domain

Diana Pelinescu, Michael Yu Wang, University of Maryland, USA

12:30–12:50

Design Algorithm for Automated Dynamic Grasping of Live Birds

Kok-Meng Lee, Xuecheng Yin, Georgia Institute of Technology, USA

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

Railway Vehicle Technology

M2D

CHAIR Antonio Piccolo, Italy

CO-CHAIR Torsten Bertram, Germany

11:30–11:50

Train Speed and Position Evaluation using Wheel Velocity Measurements

Monica Malvezzi, Paolo Toni, Università di Firenze, Benedetto Allotta, Valentina Colla, Scuola

Superiore Sant’Anna, Italy

Active Control of Railway Vehicles to Avoid Hunting Instability

S Bruni, F Resta, Politecnico di Milano, Italy

12:30–12:50

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

12:50–13:10

Actively Controlled Pantograph: an Application

F Resta, Politecnico di Milano, A Collina, F Fossati, Univ Catania, Italy

IFAC Meeting 1

IM1

ORGANIZER Masayoshi Tomizuka, USA

Meeting of the International Program Committee of the

2nd IFAC Conference on Mechatronic Systems

M3A

CHAIR Deirdre Meldrum, USA

CO-CHAIR Benedetto Allotta, Italy

Biomechanical Considerations on the Design of a Humanoid Shoulder Girdle

N Klopčar, J Lenarčič, Institut "Jožef Stefan", Slovenia

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

Intelligent Systems II

M3B

CHAIR George Wang, Canada

CO-CHAIR Jonathan Wu, Canada

14:30–14:50

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

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

14:50–15:10

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

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

Fixture and Part Location Systems

M3C

CHAIR Kok-Meng Lee, USA

CO-CHAIR Herman Soemers, Germany

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

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

15:10–15:30

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

15:30–15:50

Optimal Placement of Fixture Clamps

Rodrigo A Marin, Placid M Ferreira, University of Illinois at Urbana―Champaign, USA

Automotive Systems I

M3D

CHAIR Luigi Glielmo, Italy

CO-CHAIR Maria Pia Fanti, Italy

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

15:10–15:30

Analysis and Control of Vehicle Dynamics Under Crosswind Conditions

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

15:30–15:50

Some Aspects of Road Sweeping Vehicle Automation

Gareth Peel, Maarten Michielen, Graham Parker, University of Surrey, UK

Advances in Robotics Within RAMSETE Project

M4A

CHAIR Giovani Ulivi, Italy

CO-CHAIR Paolo Valigi, Italy

16:10–16:30

An Impedance Control Strategy for Cooperative Manipulation

Fabrizio Caccavale, Luigi Villani, Università di Napoli Federico II, Italy

16:30–16:50

Open System Real Time Architecture and Software Design for Robot Control

B Bona, M Indri, N Smaldone, Politecnico di Torino, Italy

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

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

Intelligent Process Automation

M4B

CHAIR Masayoshi Tomizuka, USA

CO-CHAIR Gianni Ferretti, Italy

16:10–16:30

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

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

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

17:10–17:30

Neurocomputing Approach for Real Time Optimisation Modelling of an Industrial Process

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

M4C

CHAIR Hideki Hashimoto, Japan

CO-CHAIR Johné Parker, USA

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

17:10–17:30

Laser-Based Guidance of Multiple Mobile Robots

Igor E Paromtchik, Hajime Asama, RIKEN, Japan

Automotive Systems II

M4D

CHAIR Roger Goodall, UK

CO-CHAIR Hiroshi Kobayashi, Japan

16:10–16:30

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

16:30–16:50

Modeling of a Novel Fan Clutch Pneumatic Actuation System

Philip Kroeker, Vansco Electronics Ltd., Saeid Habibi, Richard Burton, University of Saskatchewan,

Canada

16:50–17:10

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

17:10–17:30

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

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

Plenary Lecture 2

PL2

HOST Jadran Lenarčič, Slovenia

An Open System Interconnection Model for Mechatronics

Steven Hung, Visteon Corporation, USA

Robot Analysis and Planning

T1A

CHAIR Constantinos Mavroidis, USA

CO-CHAIR Massimo Callegari, Italy

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

10:10–10:30

Velocity Workspace Analysis for Multi-legged Walking Robots

Jihong Lee, Insik Kim, Chungnam National University, Bong-Hwan Jeon, KRISO, Korea

10:30–10:50

Local Path Modifications of Heavy Load Manipulators

Eva Dyllong, Artur Komainda, Gerhard-Mercator-Universität Duisburg, Germany

10:50–11:10

Statics and Singularity Loci of the 3-UPU Wrist

Raffaele Di Gregorio, Università di Ferrara, Italy

Neural and Fuzzy Control

T1B

CHAIR Ranjan Mukherjee, USA

CO-CHAIR Atsushi Konno, Japan

09:30–09:50

Thrust Force Control of Drilling System Using Neural Network

Shigeyasu Kawaji, Kumamoto University, Masaki Arao, Omron Corporation, Yuehui Chen,

Kumamoto University, Japan

09:50–10:10

A Fourier Series Based Iterative Learning Control for Nonlinear Uncertain Systems

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

10:10–10:30

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

Tatyana N Baidyk, UNAM, Mexico

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

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

T1C

CHAIR Giorgio Figliolini, Italy

CO-CHAIR Ciro Natale, Italy

09:30–09:50

Improved Setpoint Adjustment for Ultrasonic Motors

Thomas Schulte, Norbert Fröhleke, Universität Paderborn, Germany

09:50–10:10

Dynamic Modeling of Hysteresis in Piezoceramics

R Ben Mrad, H Hu, University of Toronto, Canada

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

10:30–10:50

An Intelligent Linear Actuator and Its Control System

Yves Boulenger, Erich Krämer, Hong Liu, Nikolaus Seitz, Gerd Hirzinger, DLR, Germany

Manufacturing Systems I

T1D

CHAIR Devendra Garg, USA

CO-CHAIR Shreyes Melkote, USA

09:30–09:50

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

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

09:50–10:10

Formal Analysis of Existing Control Sooftware in Cyclic Closed Production Line

Lado Lenart, Institut "Jožef Stefan", Slovenia

10:10–10:30

Model-Aided Stability Control on Machine Tools

Michael F Zäh, Ludwigsburg, Germany

10:30–10:50

Remote Monitoring and Inspection of Robotic Manufacturing Cells

J Norberto Pires, University of Coimbra, Portugal

10:50–11:10

A Multi-Axis SLA Prototype Apparatus

Chad A Moore, Thomas R Kurfess, Georgia Institute of Technology, USA

Robot Dynamics and Control

T2A

CHAIR Gerd Hirzinger, Germany

CO-CHAIR Vincenzo Parenti Castelli, Italy

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

11:50–12:10

Dynamics Based Control of Mechanical Systems

Koichi Osuka, Kyoto University, Japan

12:10–12:30

Robust Control of Robots by Using a Linear Observer

Marco A Arteaga, UNAM, Mexico

12:30–12:50

Adaptive Friction Compensation for Industrial Robot Control

Antonio Visioli, Riccardo Adamini, Giovanni Legnani, Università di Brescia, Italy

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

Vibration Control I

T2B

CHAIR Giuseppe De Maria, Italy

CO-CHAIR Lilong Cai, PRC

11:30–11:50

Vibration Control of Rotating Machinery Using Active Tilting-Pad Bearings

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

11:50–12:10

A Linear Coupling Controller for Plate Vibration

B Liu, Menasco Aerospace Ltd., F Golnaraghi, G.R Heppler, University of Waterloo, Canada

12:10–12:30

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

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