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IEEE Catalog Number 97TH8298 ISBN 0-7803-4080-9 (Softbound) ISBN 0-7803-4081-7 (microfiche) ISBN 0-7803-4082-5 (CD-ROM) Library of Congress Number 97-72651 WELCOME MESSAGE
The word "mechatronics" is originally a Janglish (Japanese-English) word, derived from the liason of "mechanics" and "electronics", however, it is now widely used all over the world. In fact, the IEEE/ASME joint "Transactions on Mechatronics" was established in March 1996. To celebrate this event, we have organized a conference specialized in "Advanced Intelligent Mechatronics (AIM)".
AIM'97 is the first of a unique conference series, where researchers, engineers and business people who are interested in the mechatronics field are able to present a variety of papers in this area and strengthen the role of mechatronics as an emerging engineering technology in the coming 21st century. The conference covers a wide area of subjects related to mechatronics and intelligent systems for scientific and industrial applications including modelling and design methodologies, system integration, actuators and sensors, intelligent control, robotics, manufacturing, motion control, vibration and noise control, micro devices and optelectronic systems, automotive systems, and intelligent systems. New approaches to mechatronics by fusing mechanical systems technology, communication technology, computational intelligence, etc. will be intensively discussed in our conference.
The program includes around 150 technical papers, 4 plenary talks, and 2 special sessions. You can also enjoy workshops, technical tours, a specially prepared demonstration, and exhibitions by selected companies.
Hideki Hashimoto
General Chairman of AIM'97
Committee members
Hideki Hashimoto Institute of Industrial Science, University of Tokyo, Japan E-mail:hashimoto@iis.u-tokyo.ac.jp
General Co-Chair:
Kok-Meng Lee Georgia Institute of Technology, USA E-mail: kokmeng.lee@me.gatech.edu
Organizing Committee Chair:
Fumio Harashima (University of Tokyo, Japan)
Organizing Committee:
Rolf Isermamm (Darmstadt Tech. Univ., Germany)
Masayoshi Tomizuka (Univ. of California Berkeley, USA)
Toshio Fukuda (Nagoya University, Japan)
Social Chair: Hisashi OHSUMI (Chuo Univ., Japan)
Local Chair: Shigeki SUGANO (Waseda Univ., Japan)
Exhibition Chair: Teruo FUJII (Riken, Japan)
Workshop Chair: Hajime ASAMA (Riken, Japan)
Technical Tour Chair: Tetsuo KOTOKU (MEL, Japan), Takashi KUBOTA (ISAS, Japan)
Special Session Chair: T. FURUHASHI (Nagoya Univ., Japan), Toshiyuki MURAKAMI (Keio Univ., Japan) Seiji HATA (Kagawa Univ., Japan)
Registration Chair: Kenko UCHIDA (Waseda Univ., Japan)
Finance Chair: Hisato KOBAYASHI (Hosei Univ., Japan), Katsuhiko Inagaki (Tokai Univ., Japan)
Industry Chair: Takashi TSUBOUCHI (Tsukuba Univ., Japan)
Publication Chair: Naoto ABE (Meiji Univ., Japan)
Publicity Chair: Yoji KURODA (Meiji Univ., Japan)
Secretaries: Yasuharu KUNII (Chuo Univ., Japan), Tetsuo OGATA (Waseda Univ., Japan) JooHo LEE (Univ. of Tokyo, Japan)
International Program Committee:
Anibal T. de ALMEIDA (Universidade de Coimbra, Portugal)
Harry ASADA (Massachuseets Inst. of Tech., USA)
Wayne BOOK (Georgia Inst. of Tech., USA)
Martin BUSS (Tech. Univ. of Munich, Germany)
Lilong. CAI (Hong Kong Univ., Hong Kong)
Jill D. CRISMAN (Northeastern Univ., USA)
Clearence W. de SILVA (Univ. Bristish Columbia, Canada)
Andrew A. GOLDENBERG (Univ. of Toronto, Canada)
Lin GUO (Maxtor Corporation, USA)
William R. HAMEL (Univ. of Tennessee, USA)
Manfred HILLER (Univ. of Duisburg, Germany)
Jessica K. HODGINS (Georgia Inst. of Tech., USA)
Yoichi HORI (Univ. of Tokyo, Japan)
Barrie JONES (Univ. of Birmingham, United Kingdom)
Yukinori KAKAZU (Hokkaido Univ., Japan)
Shigeyasu KAWAJI (Kumamoto Univ., Japan)
OKyay KAYNAK (Bogazici Univ., Turkey)
Homayoon KAZEROONI (U.C. Berkeley, USA)
Fumio KOJIMA (Osaka Inst. of Tech., Japan)
Kazuhiro KOSUGE (Tohoku Univ., Japan)
Bum-Hee LEE (Seoul National Univ., Korea)
Jay LEE (National Science Foundation, USA)
T.-H. LEE (National Univ. of Singapore, Singapore)
Shui-Shong LU (National Taiwan Univ., Taiwan)
Peter LUH (Univ. of Connecticut, USA)
Nobuyuki MATSUI (Nagoya Inst. of Tech., Japan)
Pierre MARCHAL (CSEM Microsystems, Switzerland)
Max MONTI (CSEM Microsystems, Switzerland)
Shigeru OHKUMA (Nagoya Univ., Japan)
Tetsuo SAWARAGI (Kyoto Univ., Japan)
Gunther SCHMIDT (Tech. Univ. of Munich, Germany)
Roland SIEGWART (Swiss Federal Inst. of Tech., Switzerland)
Kim STELSON (Univ. of Minnesota, USA)
Jeff STEIN (Univ. of Michigan, USA)
Il Hong SUE (Hanyang Univ., Korea)
Toshi TAKAMORI (Kobe Univ., Japan)
T. J. TARN (Washington Univ., USA)
T. C. TSAO (Univ. of Illinois, USA)
Kamel YOUCEF-TOUMI (Massachuseets Inst. Tech., USA)
Hans van den VLEKKERT (CSEM Microsystems, Switzerland)
J. Craig WYVILL (Georgia Inst. of Tech., USA)
Yuan F. ZHENG (Ohio State Univ., USA)
YingPing ZHENG (Inst. of Automation, China)
Zhi ZHOU (Lucent Technologies, USA)
Workshop 1 : Monday June 16 "Biomedical Robotics: Their Safety and Human Friendlines" Organizers : Noriyuki Teshima Ritsumeikan University, Japan Masakatsu Fujie Hitachi Ltd.,Japan
Abstract: The increase of the elderly population has created a serious need for new generation robots that can improve the quality of our lives. Many biomedical robot systems have been studied and developed to assist surgical operations, therapeutic training sessions, activities of daily living, recreations, and works. Such robots are expected to work cooperatively with humans in a coexisting environment. Importantly, these robots need to be human friendly and safe. However, research concerning these critical aspects of biomedical robotics seriously lags behind that of other areas and needs to fully addressed. The main topics of this workshop are closely related to such technologies in biomedical robotics.
Program: 1. Supporting Technology in Elderly Dominated Society Masakatsu Fujie (Hitachi Ltd., Japan) 2. Determination of Contact / Noncontact-Based Safety Space for Human/Robot Coexistence Yoji Yamada (Toyota Tech. Inst., Japan) 3. A Robot Arm Controlled with Force Sensors to Assist Walking of Elderly Makoto Suzuki (Univ. of Tokyo, Japan) 4. Realization of Motion-Support Robots for Human Arms using Hexahedron Rubber Actuators Sadao Kawamura (Ritsumeikan Univ., Japan), Yasuhiro Hayakawa (Nara National College of Tech., Japan), Masashi Tamai (Ritsumeikan Univ., Japan) 5. Rehabilitation Robot for Quadriplegics to Eat Noodles Noriyuki Tejima (Ritsumeikan Univ., Japan)
Workshop 2 : Monday June 16 "Autonomous Decentralized Manufacturing System and its tandardization" Organizers: Katsumi Kawano Hitachi Ltd.,Japan Seiichi Shin University of Tokyo, Japan
Background: A new type of manufacturing system has been postulated recently, in which the customer satisfaction of individual has much more importance. This new trend has come about through a user business process reengineering. Such a BPR has been accelerated by hardware technologies' innovation, including an extreme down sizing of system components, and the standardization activities in the world. Driven by the cost down and the increasing power of processor, a new generation of distributed control system is emerged, that will be able to support distributed real-time control system with extreme efficiency and flexibility requirements. Such systems are expected to consist of not only work stations(WS), personal computers(PC) and controllers but also intelligent devices. These components are able to have their own control logic and communicate each other for coordination of a total control objective.
Several hundreds of the Autonomous Decentralized Systems (ADS) have been in operation. Moreover some of the network protocols of the ADS have been standardized in the world, which is promoting the extreme down sizing of several kinds of manufacturing system. Its concept, architecture and techniques comes to an important break through for realizing the new type of manufacturing system.
Discussion: The scope of the workshop is based on the above background and encompasses but is not limited to: * Standardization activities and their prospect for ADS. * Updated trend of the technologies innovation and user requirements in manufacturing system. * Total control system architecture including heterogeneous components of WSs, PCs, devices and networks for realizing a new distributed control system. * Platform for attaining interoperability, reliability, expandability and software productivity.
Program: 1. Introduction of ADS Standardization for Factory Automation Seiichi Shin (Univ. of Tokyo, Japan) 2. Distributed Manufacturing System based on Hi-Cell Architecture Masaharu Oku (Bridgestone Corp., Japan) 3. Autonomous Decentralized Manufacturing System Architecture and On-line Maintenance and Development Technique Shigetoshi Sameshima Katsumi Kawano (Hitachi Ltd., Japan)
Workshop 3 : Monday June 16 "Realtime Networked Robotics" Organizers: Kazuo Tanie AIST-MITI, Japan
Abstract: Currently, advanced communication network has become popular, and is providing several benefits to our society. Especially, multimedia technology is expected to be very much advanced by the powerful communication network technologies. If robotics is introduced in the future communication through the network, in order to transmit the action together with information, a new communication paradigm will be established. With this in mind, this workshop discusses how the communication network will be used by the robot to construct a network telerobotic system available to our society.
Program: (tentative) 1. Outline of Worhshop Kazuo Tanie (MEL, Japan) 2. Virtual Reality Technology as Fundamentals of Networked Robotics Grigore C. Burdea (Rutgers University) 3. Mobole Robot Control Using Internet (I) Teruo Fujii (RIKEN, Japan) 4. Mobole Robot Control Using Internet (II) Ren C. Luo (National Chung Ceng Univer sity, U.S.A.) 5. Robot Remote Control using Internet with small time delay J. Tarn (Washington University, U.S.A.) 6. Networked Entertainment Robotics - Tele-Museum Arvin Agah (MEL, Japan) 7. Humanoid Robot as a Component of Networked Robotics System Shuji Hashimoto (Waseda University, Ja pan)
June 17 14:00-16:40 TuI-2 Advanced Agriculture and Food Processing Automation Organizer: Kok-Meng Lee (Georgia Institute of Technology, U.S.A.) J. Criag Wyvill (Georgia Institute of Technology,U.S.A.) Clarence W. de Silva (Univ. of British Columbia,CANADA) June 17 11:00-13:00 TuII-1 "KANSEI": Machine Processing on Human Impression June 17 14:00-16:20 TuII-2 "KANSEI": Face, Speech and Sound Recognition June 17 16:30-17:50 TuII-3 "KANSEI" in Various Industries
Organizer: Seiji Hata (Kagawa Univ., JAPAN), Hiroyasu Koshimizu (Chukyo Univ.,JAPAN), Seiji.Inokuchi (Osaka Univ.,JAPAN), Horst.Bunke (Univ. of Bern, SWITZERLAND), Ren.C.Luo (North Carolina State Univ.,U.S.A.) Plenary
Plenary I : Tuesday June 17 10:00 - 10:50
"Mechatronic Systems for Machines and Automobiles " ooooooooooooo 105
Rolf Isermann Darmstadt University of Technology, Germany
Biography: Prof. Dr.-Ing. Dr.h.c. Rolf Isermann received both the Dipl.-Ing degree in mechanical engineering and the Dr.-Ing. degree from the University of Stuttgart, in 1962 and 1965, respectively. There he became Professor in 1972. Since 1977 he has been Head of the Laboratory of Control Engineering and Process Automation at the Institute of Automatic Control at the Technical University of Darmstadt, Germany.
He acted as the chairman of the international program committees of several IFAC Symposia and of the 10th IFAC-Worldcongress on Automatic Control in Munich 1987. He was awarded by the Dr. h.c. degree from L Universite Libre de Bruxelles in 1989 and from the University of Bukarest in 1996 and received the highest scientific award from VDE in 1996. Since 1996 he acts as IFAC-Vicepresident.
His main area of research interest covers: Process Modeling and Identification, Digital Control Systems, Adaptive Control Systems, Fault Diagnosis and Mechatronic Systems. He also wrote several books and papers on these topics.
Plenary II : Wednesday June 18 10:00 - 10:30
"Multimedia and the Coming Cyber Society" ooooooooooooo 56
Susumu Ichinose Nippon Telegraph and Telephone corporation (NTT), JAPAN
Biography: Executive Manager, Visual Communication Laboratory, Human Interface Laboratories, Nippon Telegraph and Telephone Corporation(NTT). He has engaged in research of visual communication systems and terminals, and development of multimedia systems. He got Bachelor of Engineering in 1974, Master degree of Engineering in 1976 and Doctor degree of Engineering in 1990 from Yokohama National University.
Plenary III : Wednesday June 18 10:30 - 11:20
"Human/Mahchine Sharing Control for Intelligent Mechtronic Systems" ooooooooooooo 57
Tzyh-Jong Tarn Washington University, U.S.A.
Biography: Tzyh-Jong Tarn received the D.Sc. degree in Control System Engineering from Washington University, St. Louis, MO. He is at present a Professor in the Department of Systems Science and Mathematics and the Director of the Center for Robotics and Automation at Washington University.
Dr. Tarn has served as the President of the IEEE Robotics and Automation Society, 1992-1993, the Director of the IEEE Division X (Systems and Control) 1995-1996, and a member of the IEEE Board of Directors, 1995-1996. The Japan Foundation for the Promotion of Advanced Automation Technology presented him with the Best Research Article Award in March, 1994. He also is a recipient of the Best Paper Award at the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. He received the Distinguished Member Award from the IEEE Control Systems Society in 1996. Dr. Tarn is a Fellow of IEEE.
Plenary IV : Thursday June 19 10:00 - 10:50
"Automated Highway Systems - An Intelligent Transportation System for the Next Century" ooooooooooooo 1
Masayoshi Tomizuka University of California at Berkeley, U.S.A.
Biography: Professor Masayoshi Tomizuka holds the Roscoe and Elizabeth Hughes Chair in Mechanical Engineering. He received his B.S. and M.S. degrees in Mechanical Engineering from Keio University, Tokyo, Japan and his Ph. D. degree in Mechanical Engineering from the Massachusetts Institute of Technology in February 1974. He joined the faculty of the Department of Mechanical Engineering at the University of California at Berkeley in 1974. He served as Vice Chair of Mechanical Engineering during the periods, 1989-1991 and 1995-1996. At UC Berkeley, he teaches courses in dynamic systems and controls. His current research interests are optimal and adaptive control, digital control, signal processing, motion control, and control problems related to robotics, machining, manufacturing, information storage devices and vehicles. He has served as a consultant to various organizations, including Lawrence Berkeley Laboratory, General Electric, General Motors and United Technologies.
Professor Tomizuka has served as Technical Editor of the ASME Journal of Dynamic Systems, Measurement and Control (1988-93). He currently serves as an Associate Editor of the Journal of the International Federation of Automatic Control, Automatica, and is Editor-in-Chief of the IEEE/ASME Transactions on Mechatronics. He was General Chairman of the 1995 American Control Conference, and is Vice President of the American Automatic Control Council. He held the Toshiba Chair on Intelligent Mechantronics at the Institute of Industrial Science, University of Tokyo in 1992. He was awarded the Outstanding Investigator Award by the Dynamic Systems and Control Division of ASME in 1996. He is a Fellow of ASME and IEEE, and a senior member of the Society of Manufacturing Engineers.
June 17 10:00 - 10:50 Plenary I Ibuka Hall
Mechatronic Systems for Machines and Automobiles R.Isermann (Darmstadt Univ. of Technology, GERMANY)
Chair: Toshio Fukuda (Nagoya Univ. ,JAPAN)
June 17 11:00 -13:00 TuI-1 Room 1 Bio Mechatronics Chair: Rex Clark (Univ. of Georgia, U.S.A.) Chair: Shigeyasu Kawaji (Kumamoto Univ., JAPAN)
A Robotic Laparoscope Positioner for Laparoscopic Surgery Ching-Shiow Tseng,Jin K. Wang (National Central Univ. R.O.C.)
PALM-V2:A Passive Articulated Link Mechanism with Variable Viscosity Fujio Tajima,Masakatsu G. Fujie (Hitachi Ltd.,JAPAN), Takeo Kanade (Carnegie Mellon Univ.,U.S.A.)
Microbiochemical Systems for Enzymatic Reactions Kazuo Hosokawa,Teruo Fujii (The Institute of Physical and Chemical Research,JAPAN), Shuichi Shoji, Akira Yotumoto (Waseda Univ., JAPAN), Takahiko Nojima, Isao Endo (The Institute of Physical and Chemical Research,JAPAN)
A New Type of Micropump Using ICPF Actuator Shuxiang Guo,Tatsuya Nakamura (Mie Univ., JAPAN), Toshio Fukuda (Nagoya Univ., JAPAN), Keisuke Oguro (AIST,JAPAN)
A Biomechatronic Fluid Sample Handling System for DNA Processing D.R.Meldrum (Univ. of Washington,U.S.A.)
Designing Emergent Collective Behaviours: Application to a Tumour Extraction O. Labbani (Franche-Comte Univ., FRANCE), J. P. M|ller (Neuchatel Univ., SWITZERLAND), A. Bourjault (Franche-Comte Univ., FRANCE)
June 17 14:00-16:40 TuI-2 Room 1 Special Session Advanced Agriculture and Food Processing Automation Chair: J. Criag Wyvill (Georgia Institute of Technology,U.S.A.) Chair: Clarence W. de Silva (Univ. of British Columbia,CANADA)
Driving Forces for Advanced Mechatronics in the Food Processing Industry of the 21st Century J. Criag Wyvill (Georgia Institute of Technology,U.S.A.)
Industrial Automation for a Fish Processing Quality Assurance Workcell B.D.Allin,M.A.O'Dor,E.A.Croft (Univ. of British Columbia,CANADA)
Robotics in Food Manufacturing K.Khodabandehloo (Univ. of Bristol,U.K.)
Automation in the Poultry Industry: The Application of Human Level Performance Robotics G.V.McMurray,R.C.Rutherford,J.A.Piepmeier R.F.Biro W.D.Holcombe ,K.M.Lee (Georgia Institute of Technology,U.S.A.)
An Innovative Machine for Automated Cutting of Fish C. W. de Silva, N. Wickramarachchi (Univ. of British Columbia,CANADA)
An Overview of Developments in Precision Farming Systems R.L. Clark (Univ. of Georgia,U.S.A.)
Application of Machine Vision to Swine Environmental Control H.Xin, J.Shao (Iowa State Univ.,U.S.A.)
Development of Topographic Maps With RTK-DGPS R.L. Clark,R.Lee (Univ. of Georgia,U.S.A.)
June 17 16:50-18:30 TuI-3 Room 1 Cooperative Control and Task Planning Chair: HongWei Xin (Lowa State University, U.S.A.) Chair: Masatoshi Nakamura (Saga Univ., JAPAN)
Emergent Organization with Persistence in Multiple Monkey Banana Problem Keiji Suzuki,Yukinori Kakazu,Azuma Ohuchi (Hokkaido Univ.,JAPAN)
Cooperative Control of Multimanipulator Based on Workspace Disturbance Observer Considering the Interaction with External Force Environments Edi Leksono,Toshiyuki Murakami,Kouhei Ohnishi (Keio Univ.,JAPAN)
Cooperative Behavior of the Cellular Automatic Warehouse Shinsuke Kondoh,Kenji Ashizawa,Tomohiko Sakao,Yasushi Umeda,Tetsuo Tomiyama (Univ. of Tokyo,J APAN)
Designing Simple Cooperative Sensor/Actuator Robots for Liquid Process Environments P. Appelqvist,A. Halme,T. Schvnberg,M. Vainio, Yan Wang (Helsinki Univ. of Technology,FINLAND)
Cooperation of Multiple Robots in Cellular Robotic System Based on Information Sharing Anhui Cai,Toshio Fukuda,Fumihito Arai (Nagoya Univ.,JAPAN)
June 17 11:00-13:00 TuII-1 Room 2 Special Session "KANSEI": Machine Processing on Human Impression Chair: Hiroyasu Koshimizu (Chukyo Univ.,JAPAN) Chair: C.Coulot (Univ. of Bourgogne,FRANCE)
Computer-based Assistance of Surgeons in the Judgment of Plastic Nose Surgeries (Rhinoplasty) B. Achermann,R.Peleg,X.Jiang,H.Bunke (Univ. of Bern,SWITZERLAND), D. Feinendegen, Yves Br|hlmann, Hans Tschopp (Univ. Hospital Bern, SWITZERLAND)
Human sensitivity of brightness uniformity for LCDs M.Kurumisawa,T.Suzuki,H.Shimozono (Asahi Glass CO,LTD.,JAPAN)
Modeling and Visualization of a Pearl:Towards Representation of Essential Quality N. Nagata(Mitsubishi Electric Co.,JAPAN), T.Dobashi,Y.Manabe (Osaka Univ.,JAPAN), T. Usami,(Mitsubishi Electric Co.,JAPAN), S. Inokuchi (Osaka Univ.,JAPAN)
Classification and Extension of Universal Human Emotions S.Choe,M.Lee,J.Park,W.Kim (Systems Engineering Research Institute,KOREA)
Color Sensitivity of Human in Visual Inspection S.Hata,Y.Miyashita,H.Hanafusa (Kagawa Univ.,JAPAN)
Color Image Compression Scheme based upon Human Vision Propertics O.Laligant,B.Joanne,F.Truchetet (Universitde Bourgogne,FRANCE)
June 17 14:00-16:20 TuII-2 Room 2 Special Session "KANSEI": Face, Speech and Sound Recognition Chair: S.Kohler-Hemmerlin (Univ. of Bourgogne,FRANCE) Chair: Woongsoon Kim (System Engineering Research Institute,KOREA)
Face Recognition by Edge Distribution B.W.Min,H.S.Yoon,J.So,Y.K.Yang (Systems Engineering Research Institute,KOREA)
Face Component Detection on the Natural Office Scene H.S.Yoon,J.Soh,M.Wang,B.W.Min (Systems Engineering Research Institute,KOREA)
On Autonomous Control Method for Facial Caricature Generation Based on a Model of Visual Illusion -Experimental Modeling of Visual Illusion- K.Murakami,M.Takai,H.Koshimizu (Chukyo Univ.,JAPAN)
Facial Caricaturing with Motion Caricaturing in PICASSO System M.Tominaga,S.Fukuoka,K.Murakami,H.Koshimizu (Chukyo Univ.,JAPAN)
Realistic Korean Speech Modeling and Synchronization W.Kim,S.Choe,S.Kim,C.Lee (Systems Engineering Research Institute,KOREA)
Sound Generation Using Twiddle Interface H.Sawada,N.Onoe,S.Hashimoto (Waseda Univ.,JAPAN)
Gradient-based Hough Transform for the Detection and Characterization of Defects during Non-destructive Inspection P.Bolland,L.F.C.Lew Yan Voon, P.Gorria,B.Gremillet,L.Pillet (Universite de Bourgogne,FRANCE)
June 17 16:30-17:50 TuII-3 Room 2
Special Session "KANSEI" in Various Industries Chair: Ren.C.Luo (North Carolina State Univ.,U.S.A.) Chair: Seiji Hata (Kagawa Univ.,JAPAN)
Corrosion Inspection of Steel Tube Inner Wall T. Tsushima(Tomoe Co., JAPAN), A.Ishii,Y.Ochi,N.Masaoka,H.Matsusue (Univ. of Electro-Communications,JAPAN)
Simulations of Lighting for an Optimal Defect Detection by Artificial Vision C. Coulot,S.Kohler-Hemmerlin,C.Dumont,D.Aluze,B.Lamalle (Universite de Bourgogne,FRANCE)
Computer Animation of Woven Fabric Deformation Based on Simple Trellis Model T.Furukawa,T.Okamoto,S.Kitagawa,Y.Shimizu (Shinsyu Univ.,JAPAN)
Study on Surface Roughness and Gloss of Interior Design Materials S.Matsumoto,M.Fujiya (Mitsubishi Chemical Co.,JAPAN)
June 17 11:00-13:00 TuIII-1 Room 3 Integrated Manufacturing Automation Chair: Clarence W. de Silva (The Univ. of British Columbia, CANADA) Chair: Hiroshi Nakazawa (Waseda Univ., JAPAN)
Planning and Control in Reconfigurable Manufacturing Workcell Bijoy K. Ghosh,Di Xiao,Ning Xi,Tzyh-jong Tarn (Washington Univ.,U.S.A.)
Holonic Manufacturing Scheduling: Architecture,Cooperation Mechanism, and Implementation Ling Gou,Peter B. Luh (Univ. of Connecticut,U.S.A.) , Yuji Kyoya (Toshiba Co., JAPAN)
Modeling System Integration of Manufacturing Automation C.R.J.P. Naidu,A.A. Goldenberg (Univ. of Toronto,CANADA)
A Transformation Algorithm from Ladder Diagram to SFC Using Temporal Logic Tadanao Zanma,Tatsuya Suzuki,Akio Inaba,Shigeru Okuma (Nagoya Univ.,JAPAN)
Scheduling of Design Projects with Resource Constraints and Uncertain Number of Design Iterations Feng Liu,P.B. Luh (Univ. of Connecticut,U.S.A.) , B. Moser (Univ. of Tokyo, JAPAN)
June 17 14:00-15:20 TuIII-2 Room 3 Force and Impedance Control Chair: Lin Guo (Maxtor Co., U.S.A.) Chair: Zhiwei Luo (RIKEN, JAPAN)
A Decentralized Control Strategy for Redundant Manipulator Based on Hierarchical Impedance Hideki Ohta,Naoki Oda,Yuling Yan,Toshiyuki Murakami and Kouhei Ohnishi (Keio Univ.,JAPAN)
Dynamic Feedback Linearizing Force/Position Control of Robot Manipulator without Velocity Measurement Woosoon Yim,S.N.Singh (Univ. of Nevada, U.S.A.)
Robust Force Control of a Pantograph System by considering Model Parameter Perturbation Toru Namerikawa,Shin-ya Goto,Fumio Matsumura (Kanazawa Univ.,JAPAN)
Adaptive Impedance Control of the Industrial Robot D. Matko,R. Kamnik,T. Bajd (Univ. of Ljubljana,SLOVENIA)
June 17 15:20-16:40 TuIII-3 Room 3 Human-Machine Interaction Chair: Kok-Meng Lee (Georgia Institute of Technology, U.S.A.) Chair: Tomomasa Sato (Univ. of Tokyo, JAPAN)
Artificial Emotional Creature for Human-Robot Interaction -A New Direction for Intelligent Systems- Takanori Shibata,Robert Irie (MIT AI Lab.,U.S.A.)
Personal Information Recognition in Machine Tool Operation Yasuhisa Hayakawa,Shigeki Sugano (Waseda Univ.,JAPAN)
A New Operational Assistance System for Rough Terrain Crane by Interactive Adaptation Interface Mitsunori Yoneda,Fumihito Arai,Toshio Fukuda (Nagoya Univ.,JAPAN), Keisuke Miyata (Komatsu Ltd., JAPAN), Toru Naito (Kinjo Gakuin Univ., JAPAN)
Control Mode Switching for Teledrilling Based on a Hybrid System Model Hubert Baier,Martin Buss,G|nther Schmidt (Technical Univ. of Munich,GERMANY)
June 17 16:50-18:30 TuIII-4 Room 3 Vision-based Tracking and Control Chair: Johne M. Parker (Univ. of Kentucky, U.S.A.) Chair: Yoichi Sato (Univ. of Tokyo, JAPAN)
Visual Tracking of Redundant Features Koichi Hashimoto,Atsuhito Aoki,Toshiro Noritsugu (Okayama Univ.,JAPAN)
Development of Camera Tracking System Using STR in Visual Feedback Scheme S.Sugimori,H.Odajima,H.Hashimoto,M. Higashiguchi (Tokyo Engineering Univ.,JAPAN)
Vision-Based Impedance Control for Robot Manipulators Control Mode Toshio Tsuji,Hiromasa Akamatsu,Michio Hatagi, Makoto Kaneko (Hiroshima Univ.,JAPAN)
Neural Networks for Vision-Based Road Following of Autonomous Vehicle Young-Jae Ryoo,Young-Cheol Lim, (Chonnam National Univ.,KOREA) Seung-Hak Yang,Jin-Young Cho (Honam Univ., KOREA), F. Harashima(Univ. of Tokyo, JAPAN)
Vision-Guided Dynamic Part Pickup Learning Algorithm Kok-Meng Lee,J. Downs (Georgia Institute of Technology,U.S.A.)
June 18 10:00 - 10:30 Plenary II Ibuka Hall Multimedia and the Coming Cyber Society S.Ichinose (NTT, JAPAN)
Chair: Kouhei Ohnishi (Keio Univ., JAPAN)
June 18 10:30 - 11:20 Plenary III Ibuka Hall Human/Machine Sharing Control for Intelligent Mechatronic Systems T.J.Tarn (Washington Univ. St. Louis, U.S.A.)
Chair: Fumio Harashima (Univ. of Tokyo, JAPAN)
June 18 11:30-13:10 WeI-1 Room 1 Sensors Chair: Hongwei Xin (Iowa State Univ., U.S.A.) Chair: Kazuo Nakazawa (Keio Univ., JAPAN)
A Capacitive Tri-axial Tactile Force Sensor Design T.A.Chase,R.C.Luo (North Carolina State Univ.,U.S.A.)
Automated System for Laser Ultrasonic Sensing of Weld Penetration G.M. Graham,I.C. Ume (Georgia Inst. of Technology, U.S.A.)
Design of Smart ACIE Sensors Antanas Daugela(Gifu Univ.,JAPAN), Ramutis Bansevicius (Kaunas Univ. of Technol., LITHUANIA), Hiroshi Fujii (Gifu Univ.,JAPAN)
Fishbone Architecture:An Equivalent Mecanical Model of Cochlea and Its Application to Sensors and Actuators Kenji Tanaka,Mototsugu Abe,Shigeru Ando (The Univ. of Tokyo,JAPAN)
Profilometry using an optical stylus with interferometric readout Ji-hua Zhang,Lilong Cai (The Hong Kong Univ. of Science and Technology,HONG KONG)
June 18 14:10-16:10 WeI-2 Room 1 Novel Actuators Chair: Felix Michael Moesner (Swiss Federal Inst. of Technology, SWITZLAND) Chair: Kiyoshi Ohishi (Nagaoka Univ. of Technology, JAPAN)
Design of a High Speed and High Precision 3 DOF Linear Direct Drive Bernhard Sprenger (Swiss Federal Inst. of Technology Zurich,SWITZERLAND)
A Dynamic Model of the McKibben Artificial Muscle Contraction Bertrand Tondu (Dept. of INSAT,FRANCE)
Vibration Control of Cylindrical Shells Using Distributed Piezoelectric Sensors and Actuators Junji Tani,Jinhao Qiu (Tohoku Univ.,JAPAN)
Electrohydrodynamic Motor for Tiny Vessels F.M. Moesner,P.S. B|hler,D.C. Politano,P.V. Prati (Swiss Federal Inst. of Technology Zurich,SWITZERLAND)
A Simple and Cost-Effective Electrostatic Levitator for Disk-Shaped Objects Shao JWoo,Jong Up Jeon,Toshiro Higuchi (Kanagawa Academy of Scisnce and Technology,JAPAN)
Harmonic Analysis of Brushless DC Motor Drives Ibrahim Hassan Mariah,Said Abdel-Monaim Wahsh (Electronics Research Institute, EGYPT), Mohamed Abdel-Lattif Badr (Ain Shams Univ., EGYPT)
June 18 16:20-18:20 WeI-3 Room 1 High Precision Motion and Positioning Chair: Youcef Tomi (MIT, U.S.A.) Chair: Junnji Tani (Tohoku Univ., JAPAN)
High Resolution Posistioning Mechanism for a Rotor D. G. Baumann (Swiss Federal Inst. of Tech.,SWITZERLAND)
Piezo Impact System for Printed Board Sub-micron Precision Positioning Joaquim Mendes,Yutaka Yamagata,Toshiro Higuchi (Kanagawa Academy of Scisnce and Technology,JAPAN)
Linearized Control Methods for Piezodriven Micropositioning System With Nanoresolution Yihui Wu,Yimin Yang (Chinese Acadeny of Science,P.R.C.)
A new positioning System with 4DOF for the alignment on rotating axes Arvid Bergander,Yutaka Yamagata,Toshiro Higuchi (Kanagawa Academy of Scisnce and Technology,JAPAN)
Feedback-Error-Learning Neural Network for Trajectory Control of a Flexible Micro-Actuator Motohiro Kawafuku,Minoru Sasaki (Gifu Univ.,JAPAN), Fumio Fujisawa(Hachinohe Inst. Of Technology, JAPAN)
Contactless Manipulation of Microparts by ac Electric Fields F.M. Moesner,T. Higuchi (Kanagawa Academy of Scisnce and Technology,JAPAN)
June 18 11:30-13:10 WeII-1 Room 2 Intelligent Automated Assembly Chair: Peter Luh (Univ. of Connecticut, U.S.A.) Chair: Akira Shimada (Seiko Seiki, JAPAN)
Force-Guided Robotic Assembly based on Perturbation/Correlation Sooyong Lee (Korea Institute of Science and Technology,KOREA), Haruhiko Asada(Massachusetts Inst. Of Technology, U.S.A.)
Modeling and Control of Multiple Segment Robotic Operations in a Perceptive Reference Frame Ning Xi,Tzyh-Jong Tarn (Washington Univ.,U.S.A.)
Mechanical Assembly based on Motion Primitives of Multi-fingered Hand Takeshi Matsuoka,Tsutomu Hasegawa,Toshihiro Kiriki,Kyuhei Honda (Kyushu Univ.,JAPAN)
An Intelligent CAD System Based on Parallel Processing Techniques Yanchun Wang,Weiming Zhu (The Hong Kong Polytechnic Univ.,HONG KONG)
Feasibility of Disassembly Tasks Considering a Posture of a Subassembly using Genetic Algorithm Akio Inaba (Gifu Prefrectual Metal Research Institute,JAPAN), Tatsuya Suzuki,Shigeru Okuma(Nagoya Univ., JAPAN)
June 18 14:10-16:10 WeII-2 Room 2 Neural Networks Chair: Jing Xiao (Univ. of North Carolina at Charlotte,U.S.A.) Chair: Sadayoshi Mikami (Hokkaido Univ., JAPAN)
Autonomous Motion Control of Mobile Robots Using Fuzzy-Neural Networks Antonio Moran,Norio Tokunaga,Minoru Hayase (Tokyo Univ. of Agriculture and Technology,JAPAN)
Generation of Humanoid Biped Walking Pattern Using Neural Oscillatory Network Cao Meijen,Atsuo Kawamura (Yokohama National Univ.,JAPAN)
A Model Based Self-Diagnosis System for Autonomous Underwater Vehicles using Artificial Neural Networks Motoyuki Takai,Tamaki Ura (Univ. of Tokyo,JAPAN)
Fault Diagnosis with General Parameter Radial Basis Function Neural Network Daouren F. Akhmetov,Yasuhiko Dote (Muroran Institute of Technology,JAPAN)
Structure Study and Automatic Search of Neural Networks for Real-valued Function Approximation Zhanbo Chen,Jing Xiao (Univ. of North Carolina at Charlotte,U.S.A.), Jie Cheng (Ford Research Laboratories, U.S.A.
A Parameter-Separable Learning Algorithm for Multilayer Feedforward Networks Yun Zhang,Yimin Yang,Yimin Li (Guangdong Univ. of Tech.,P.R.C)
June 18 16:20-18:00 WeII-3 Room 2 Novel Arts of Material Handling Chair: Martin Buss (Technical University of Munich,GERMANY) Chair: Ken Sasaki (Univ. of Tokyo,Japan)
Positioning and Recognizing Planar Parts Using a Two-Fingered Gripper with Four Pins Wen-Han Qian (Shanghai Jiao Tong Univ.,P.R.C.), Carlo Ferrari,Enrico Pagello (The Univ. of Padua, ITALY)
Releasing Manipulation for Object Transferring Task Yasumichi Aiyama,Takeshi Chawanya,Chi Zhu,Tamio Arai (The Univ. of Tokyo,JAPAN)
Self-running Type Electrical Discharge Machine Using Impact Drive Mechanism Katsushi Furutani,Naotake Mohri (Toyota Technological Inst.,JAPAN), Toshiro Higuchi (The Univ. of Tokyo,JAPAN)
A Study on the Dynamic Characteristics of SLIM for Conveyer System by Space Vector Modulation Dong-Ryul Shin,Yun-Hyun Cho,Jung-In Woo (Dong-A Univ.,KOREA)
June 18 11:30-13:10 WeIII-1 Room 3 Path Planning Chair: Tzyh-Jong Tarn (Washington Univ., U.S.A.) Chair: Tsutomu Hasegawa (Kyushu Univ., JAPAN)
Topological Diversity and Multiple Path Planning Jing Xiao,Lixin Zhang,Zbigniew Michalewicz (Univ. of North Carolina,U.S.A.)
Modified Taught Data Method for Industrial Mechatronic Servo Systems to Achieve Accurate Contour Control Performance Satoru Goto,Masatoshi Nakamura (Saga Univ.,JAPAN), Nobuhiro Kyura (Kinki Univ., JAPAN)
Control Approaches for a Dissipative Passive Trajectory Enhancing Robot Mario Waldorff Gomes,Wayne J.Book (Georgia Institute of Technology,U.S.A.)
On-Line Path Parameterization for Manipulators with Input/State Constraints Bemporad (Univ. of Firenze, ITALY), Tzyh-Jong Tarn (Washington Univ.,U.S.A.)
June 18 14:10-15:50 WeIII-2 Room 3 Mechatronic System Design and Control I Chair: Woosoon Yim (Univ. of Nevada, U.S.A.) Chair: Kazuto Seto (Nihon Univ., JAPAN)
A Geometric Dexterous Motion Control of Redundant Robot Manipulators by using Nonlinear Optimization Method W. K. Hyun (Honan Univ.,KOREA), I.H. Suh(Hanyang Univ., KOREA), K.T.Park (KIMM, KOREA),B.J.Lee (Hanyang Univ., KOREA)
Adaptive Robust Control of Underactuated Robot Manipulators Jin-Ho Shin,Choon-Young Lee,Ju-Jang Lee (Korea Advanced Institute of Science and Technology,KOREA)
Comparison of Control Algorithms for a Nonholonomic Underactuated 2-DOF Robot Jvrg Mareczek,Martin Buss,G|nther Schmidt (Technical Univ. of Munich,GERMANY)
Balancing of an Inverted Pendulum with a SCARA Robot B. Sprenger,L.Kucera,S. Mourad (Swiss Federal Inst. of Technology Zurich,SWITZERLAND)
Dynamics and Control of Underactuated Brachiation Robots Antonio Moran,Hiroshi Odagaki, Minoru Hayase (Tokyo Univ. of Agriculture and Technology,JAPAN)
Design, Fabrication and Real-Time Neural Network Control of a Three Degrees of Freedom nano Positioner S. S. Ku, U. Pinsopon, S. Cetinkunt (Univ., of Illinois., U.S.A.), S. Nakajima (Niigata Institute of Technology, JAPAN)
June 18 16:00-17:40 WeIII-3 Room 3 Mechatronic System Design and Control II Chair: Bin Yao (Purdue Univ., U.S.A.) Chair: Kenzo Nonami (Chiba Univ., JAPAN)
Control Method of Robot Manipulators by Inertia Identifier without Using Acceleration Signal Satoshi Komada,Tetsuya Kimura,Muneaki Ishida,Takamasa Hori (Mie Univ.,JAPAN)
A Self-Tuning Immune Feedback Controller for Controlling Mechanical Systems Kazuhiko Takahashi,Takayuki Yamada(NTT,JAPAN),,
An Inverse Dynamics Based Robot Control Method Using Fuzzy Identifiers Kemalettin Erbatur (TUBITAK Marmara Research Centre, TURKEY), Okyay Kaynak (Bogazici Univ.,TURKEY), Imre Rudas (Banki Donat Polytechnic, HUNGARY)
Robust adaptive control for robot manipulators B.W. Bekit,L.D. Seneviratne,J.F. Whidborne (King's College London,U.K.)
A New System with Open Architecture for Robot Control Xuecai Zhou,Weiping Li,Qiang Li (Hong Kong Univ. of Science and Technology, HONG KONG)
June 19 10:00 -10:50 Plenary IV Ibuka Hall
Automated Highway Systems - An Intelligent Transportation System for the Next Century M.Tomizuka (U.C. Berkerey, U.S.A.)
Chair: Hideki Hashimoto (Univ. of Tokyo ,JAPAN)
June 19 11:00-13:00 ThI-1 Room 1 Intelligent Navigation I Chair: Craig Wyvill (Georgia Institute of Technology, U.S.A.) Chair: Makoto Ichikawa (Shimizu Co., JAPAN )
Mobile Robot Area Filling Bing-Yung Chee,Sherman Y.T.Lang (City Univ. of Hong Kong,HONG KONG)
Real Time Obstacle Avoidance of Mobile Robots by Hierarchical Path Planning Koichi Yoshizawa,JooHo Lee,Hideki Hashimoto (Univ. of Tokyo,JAPAN), Masayoshi Wada, Shunji Mori (Fuji Electric Corporate Research and Development, Ltd., JAPAN)
Biped Walking Control with Optimal Foot Force Distribution by Quadratic Programming Yasutaka Fujimoto,Atsuo Kawamura (Yokohama National Univ.,JAPAN)
Advanced Position Estimation of Mobile Robots Based on Sensor Fusion of Rotary Encoders and an Optical Fiber Gyroscope JooHo Lee,Koichi Yoshizawa,Hideki Hashimoto (Univ. of Tokyo,JAPAN), Masayoshi Wada, Shunji Mori (Fuji Electric Corporate Research and Development, Ltd., JAPAN)
Mobile Robot Localization Using Incomplete Maps for Change Detection in a Dynamic Environment Hongbin Zha,Kanji Tanaka,Tsutomu Hasegawa (Kyushu Univ.,JAPAN)
Mobile Robot Localization Using Color Signboard Masafumi Hashimoto,Fuminori Oba (Hiroshima Univ.,JAPAN)
A Unified Approach to ZMP and Gravity Center Control in Biped Dynamic Stable Walking Kenji Sorao,Toshiyuki Murakami,Kouhei Ohnishi (Keio Univ.,JAPAN)
June 19 14:00-16:00 ThI-2 Room 1 Intelligent Vehicle Chair: Ren C.Luo (North Carolina State Univ.,U.S.A.) Chair: Yukinori Kakazu (Hokkaido Univ., JAPAN)
Mechanical Systems for Autonomic Nervous System in Robots Testuya Ogata,Shigeki Sugano (Waseda Univ.,JAPAN)
Collision-Tolerant End-Effector Position Control for Mobile Manipulator Hun-Ok Lim (Waseda Univ.,JAPAN), Kazuhiro Yokoi (AIST-MITI, JAPAN), Nak Young Chong(Daewoo Heavy Industries Ltd., KOREA),Sang-Rok Oh(KIST, KOREA), Kazuo Tanie(AIST-MITI, JAPAN), Atsuo Takanishi(Waseda Univ., JAPAN)
Utilization of Vechicle Restoring Force in Force Control of Robot Floating on the Water Hisashi Kajita,Kazuhiro Kosuge (Tohoku Univ.,JAPAN)
Study on Performance of 22kv All-Weather Insulation for Hot-Line Work Robots Yasuyuki Someya,Yoshinaga Maruyama,Kyoji Yano(Kyusyu Electric Power Co., Inc., JAPAN), Yoshiaki Haga(Yasukawa Electric Co., JAPAN)
A Study of Wheeled Mobile Robot with a Compliant Mechanism for Climbing up a Step Hiroyuki Fujiwara,Hiroki Ookubo,Eiji Nakano (Tohoku Univ.,JAPAN)
June 19 16:10-17:50 ThI-3 Room 1 Intelligent Navigation II Chair: Glen Jorgensen (Textron Systems Co., U.S.A.) Chair: Shoji Suzuki (Osaka Univ., JAPAN)
Dynamic Analysis and Control of Traversing Stairs with an Actively Stabilized Wheelchair Glen H. Jorgensen,Joseph L. Garbini (Univ. of Washington,U.S.A.)
Sensors and Crabbing for an In-pipe Magnetic-wheeled Robot Y.Kawaguchi,I.Yoshida,K. Iwao,T. Kikuta (Osaka Gas Co., Ltd.,JAPAN)
Position Control of Wheeled Mobile Robot Using the Inertial Navigation System Chongkug Park,Pungryeoul Park(KyungHee Univ,KOREA), Fumio Harashima(Univ. of Tokyo, JAPAN),
Obstacle Avoidance and Positioning Control of Autonomous Mobile Robots Antonio Moran, Yuichi Aoki,Minoru Hayase (Tokyo Univ. of Agriculture and Technology,JAPAN)
Client-Server Based Mobile Robot Control O. Kubitz, M.O. Berger (Aachen Univ. of Technology, GERMANY)
June 19 11:00-13:00 ThII-1 Room 2 Modeling and Control of Flexible Structures Chair: Jing Xiao (Univ. of North Carolina at Charlotte, U.S.A.) Chair: Hideaki Kanoh (Meiji Univ., JAPAN)
Modeling and Robust Control of Connected Two Flexible Beams Fumitoshi Matsuno (Tokyo Institute of Tech.,JAPAN), Osamu Harashima (Kawasaki Heavy Industry, JAPAN)
Frequency Reshaped Quadratic Control of A Belt-Driven Robot Kok-Meng Lee,C. Rutherford (Georgia Institute of Technology,U.S.A.)
Design and Evaluation of a Novel 3 d.o.f. Flexible Robot J.I. Arocena (Universidad Publica de Navarra,SPAIN), R.W. Daniel (Univ. of Oxford, U.K.)
A New Control Scheme for Vibration Suppression in Two-Mass-Model Elastic Systems Rached Dhaouadi (Ecole Ploytechnique de Tunuise),Kenji Kubo(Hitachi Ltd.,JAPAN)
Experimental Positioning Control of Flexible Arm Using Two-Degrees-Of-Freedom Controller Estiko Rijanto,Antonio Moran,Minoru Hayase (Tokyo Univ. of Agriculture and Technology,JAPAN)
Estimation of Solutions to a Second Order Control Problem by Finite Element Method with Different Boundary Conditions Jih-Gau Juang (Univ. of Missouri,U.S.A.)
June 19 14:00-15:40 ThII-2 Room 2 Haptic Mechanisms Chair: Ning Xi (Univ. of Washington, U.S.A.) Chair: Yoji Yamada (Toyota Technological Institute, JAPAN)
Towards the Design of Robot Fingers with Human-like Characteristics Hyun-Yong Han,Katsumi Iriguchi,Chien-Chern Cheah,Sadao Kawamura (Ritsumeikan Univ.,JAPAN)
Double Safety Measure for Human Symbiotic Manipulator Toshio Morita,Shigeki Sugano (Waseda Univ.,JAPAN)
Dextrous Hand Regrasping Using Hybrid System Models Thomas Schlegl,Martin Buss (Technical Univ. of Munich,GERMANY)
Development of 20 DOF Glove Type Haptic Interface Device -Sensor Glove II- Yasuharu Kunii(Univ. of Tokyo, JAPAN),Yoshiaki Nishino(Chuo Univ., JAPAN), Toshio Kitada(Asahi Chemical Industry CO., LTD., JAPAN), Hideki Hashimoto (Univ. of Tokyo, JAPAN) Tactual Servoing on an Object's Surface with the Visual Information Kazunori Umeda, Gen-ichiro Kinoshita, Hisashi Osumi (Chuo Univ.,JAPAN)
June 19 16:10-17:50 ThII-3 Room 2 Machine Vision Chair: Deirdre Meldrum (Univ. of Washington, U.S.A.) Chair: Katsumi Kimoto(Keio Univ., JAPAN)
A New Approach to On-line Chinese Signature Verification Using Multiple Experts Chien-Cheng Tseng,Bor-Shenn Jeng,Chi-Jain Wen,Jui-Ching Shyur (R.O.C.)
Discriminative Analysis of Dimensionality Reduction Methods for Pattern Recognition Pao Chung Chang,Keh-Hwa Shyu (Telecommunication Labs.,TAIWAN)
An Investigation of Vision System Design Factors Which Affect The Performance of Camera Calibration M.Parker (Univ. of Kentucky,U.S.A.), Kok-Meng Lee (Georgia Institute of Technology)
A Low-Cost, High-Speed, Calibrated 3D Vision System for Tracking Humans - A Component of the Intelligent Mechatronics Network Guido Appenzeller,Hideki Hashimoto (Univ. of Tokyo,JAPAN)
3D Multistage Network Applying for Facial Images Decomposition L.I.Timchenko,M.A.Grudin,S.V.Chepornyuk,D.M.Harvey Yuri F. Kutaev (Liverpool John Moores Univ.,U.K.)
June 19 11:00-13:00 ThIII-1 Room 3 Mechatronic Servo Application Chair: Bin Yao (Purdue Univ., U.S.A.) Chair: Kazuhiro Yokoi (AIST-MITI, JAPAN)
Improved Design Scheme of Adaptive Pole-Placement Control for Pneumatic Servo Systems Yuji Yamada (Kure Institute National College, JAPAN), Kanya Tanaka,Masaru Sakamoto,Akira Shimizu(Ehime Univ.,JAPAN)
Practical Design of Adaptive Model-based Sliding Mode Control of Pneumatic Actuators S. R. Pandian(Ritsumeikan Univ.,JAPAN), Yasuhiro Hayakawa (Ritsumeikan Univ., JAPAN), Yoshiyuki Kamoyama,Sadao Kawamura (Ritsumeikan Univ.,JAPAN)
On-Line State and Parameter estimation of an Electrohydraulic Value for Intelligent Monitoring M.Khoshzaban,Dr. F. Sassani,P. D. Lawrence (Univ. of British Columbia,CANADA)
Robust Performance Control of Electrohydraulic Acturators for Camshaft Machining Dean H. Kim,Tsu-Chin Tsao (Univ. of Illinois,U.S.A.)
Accelerometer Feedforward Servo for Disk Drives S. Pannu,R. Horowitz (Univ. of California,U.S.A.)
Repeatable and Non-repeatable Disturbance Rejection for Hard Disk Drive Control Lin Guo,Tim O' Sullivan (Advance Technology Group,Maxtor Corporation,U.S.A.
June 19 14:00-16:00 ThIII-2 Room 3 High-Performance Control for Mechatronic Servo Chair: Tsu-Chin Tsao (Univ. of Illinois,U.S.A.) Chair: Toshiyuki Murakami (Keio Univ., JAPAN)
An Anti-Windup Design for the Regulation of Linear System Weiguang Niu,Masayoshi Tomizuka (Univ. of California at Berkeley,U.S.A.)
General High Performance Adaptive Robust Motion Control of Machine Tools Bin Yao (Purdue Univ.,U.S.A.), Mohammed AI-Majed, Masayoshi Tomizuka (Univ. of California at Berkeley,U.S.A).
Time-Delay Sliding Mode Control for a Servo Jong Hyeon Park,You M. Kim,Jong K. Yim (Hanyang Univ., KOREA)
Robust Path Tracking Control with Autonomous Consideration of Torque Saturation Kiyoshi Ohishi,Wimonphan Kaewprom (Nagaoka Univ. of Technology,JAPAN)
Position Control of A Rigid Ball between Two Parallel Plates Mitsuji Sampei,Shintaro Mizuno,Hisato Nakayama,Masanobu Koga (Tokyo Institute of Technology,JAPAN)
Application of Nonstationary Robust Control to the Coupled Three-Inertia System Benchmark Problem and Comparison with a Gain Scheduling Control Susumu Hara (Keio Univ.,JAPAN)
June 19 16:10-17:50 ThIII-3 Room 3 Advanced System n Chairoumi (Masschusetts Institute of Technology, U.S.A.) Chair: Kazutaka Yokota (Utsunomiya Univ., JAPAN)
Intelligent Machine Architecture for Object-Based System Integration R.T.Pack,M.Wilkes,G.Biswas,K.Kawamura (Vanderbilt Univ.,U.S.A.)
Mechatronics and Communications Technology: An Approach Based on Networks Integration Perfecto Mariqo,Francisco Poza,Juan B. Nogueira (Univ. of Vigo,SPAIN)
The Dynamic of Mechatronics by Synergetics H.J. Gutt,J. Blattner (Univ. of Stuttgart,GERMANY)
Development of Numerical Integration Methods for Hybrid(Discrete-Continuous) Dynamical Systems Thomas Schlegl,Martin Buss,Gunther Schmidt (Technical Univ. of Munich,GERMANY)
Structural Anlaysis for Modelling and Design of Multi-energy Domain Dynamic Systems S.Y.Huang,K. Youcef-Toumi (Massachusetts Institute Technology,U.S.A.)