1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
| 14:00 - 17:00 |
M. Falvo and M. Sitti |
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| 8:00ó8:20 |
Opening Ceremony |
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| 8:00 - 9:00 |
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| 9:00 - 9:50 |
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| 9:50 - 10:40 |
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| 10:40 - 11:10 |
Coffee >Break |
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Track 1 |
Track 2 |
Track 3 |
Track 4 |
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| MA 11:10 - 12:50 |
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Lunch Break |
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| MP-I 14:00 - 15:40 |
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| 15:40 - 16:00 |
Coffee >Break |
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| MP-II 16:00 - 17:40 |
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| 19:30 - 21:30 |
Welcome Reception |
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| 8:10 - 9:00 |
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| 9:00 - 9:30 |
Coffee >Break |
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Track 1 |
Track 2 |
Track 3 |
Track 4 |
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| TA 9:30 - 11:10 |
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| 11:30 - 13:20 |
Luncheon |
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| TP 13:20 - 15:00 |
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| 15:00 - 18:00 |
Research Laboratory Tours |
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| 20:00 - 22:30 |
Stone Mountain Banquet |
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| 8:00 - 8:50 |
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Track 1 |
Track 2 |
Track 3 |
Track 4 |
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| WA-I 9:00 - 10:40 |
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| 10:40 - 11:00 |
Coffee >Break |
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| WAóII 11:00 - 12:40 |
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| 12:40 - 14:00 |
Lunch Break |
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| WP-I 14:00 - 15:40 |
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| 15:40 - 16:00 |
Coffee >Break |
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| WP-II 16:00 - 17:40 |
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| 19:30 - 21:30 |
Farewell Party |
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| 9:00 - 15:00 |
Industrial Tour 1 |
Industrial Tour 2 |
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Room: Atlanta A
Chair: Metin Sitti, Japan
Co-Chair: Yusuf Altintas,
Canada
11:10-11:30
Controlled Manipulation
of Molecular Samples with the NanoManipulator
M. Guthold, M. R.
Falvo, W. G. Matthews, S. Paulson, S. Washburn, D. Erie, R. Superfine, F.P. Brooks,
Jr.,R. M. Taylor II, University of North Carolina, USA
11:30 - 11:50
Remote Controlled Tele-Nano-manipulation
Jean-Michel Friedt,
Moussa Hoummady, CNRS; Julien Cervelle, Ecole Normale Superieure de Lyon,
France
11:50 - 12:10
Force Controlled Pushing
of Nano-Particles: Modeling and Experiments
Metin Sitti, Hideki
Hashimoto, University of Tokyo, Japan
12:10 - 12:30
On Factors Affecting the
Performance of Atomic Force Microscopes in Contact-Mode
Osamah M. El
Rifai, Kamal Youcef-Toumi, Massachusetts Institute of Technology, USA
12:30 - 12:50
Motion Control of Protozoa
for Bio MEMS
Akitoshi Itoh,
Tokyo Denki University, Japan
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Room: Atlanta B
Chair: Jadran Lenarcic,
Slovenia
Co-Chair: François
Pierrot, France
11:10-11:30
A New Robotic Mechanism
For Medical Application
Alain Gourdon, Philippe
Poignet, Gérard Poisson, Pierre Vieyres, Pierre Marché, Université
de Orleans, France
11:30 - 11:50
ACAPELLA, A Capillary-Based
Submicroliter Automated Sample Preparation System for Genome Analysis
Deirdre R. Meldrum,
Harold T. Evensen, University of Washington; William H. Pence, Stephen E.
Moody, David L. Cunningham, Orca Photonic Systems, Inc.; Peter J. Wiktor,
Engineering Arts, USA
11:50 - 12:10
Modeling of the Natural
Product Deboning Process Using Biological and Human Models
Wayne Daley, Tian
He, Kok-Meng Lee, Melissa Sandlin, Georgia Institute of Technology, USA
12:10 - 12:30
A New Type of Capsule Medical
Micropump
Shuxiang Guo, Koichi
Sugumoto, Kagawa University; Toshio Fukuda, Nagoya University; Keisuke
Oguro, Osaka National Research Institute, Japan
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Room: Atlanta C/D
Chair: Joo-Ho Lee, Japan
Co-Chair: Greg Luecke,
USA
11:10 - 11:30
Networked Robots as Distributed
Objects
Toshio Hori, Hirohisa
Hirukawa, Takashi Suehiro, Shigeoki Hirai, AIST, Japan
11:30 - 11:50
Human Intention Monitoring
System in Cyber Robotics (Initial Report: Concept and Construction)
Ikuo Kitagishi, Yoshimasa
Yanagihara, Makoto Mizukawa, Nippon Telegraph and Telephone Co., Japan
11:50 - 12:10
A Robot in Intelligent Environment:
Soccer Robot
Byoung-Ju Lee, Gwi-Tae
Park, Korea University, Korea
12:10 - 12:30
Human-robot Collaboration
in the Smart Office Environment
Fumio Mizoguchi, Hironori
Hiraishi, Hiroyuki Nishiyama, University of Tokyo, Japan
12:30 - 12:50
What is Needed by Mobile
Robots to Move ö Intelligent Space for Mobile Robots
Joo-Ho Lee, Noriaki
Ando, Hideki Hashimoto, University of Tokyo, Japan
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Room: Peachtree
Chair: Manfred Hiller,
Germany
Co-Chair: Lilong Cai,
China
11:10 - 11:30
High Performance Speed Control
for Ultrasonic Motors
Jürgen Maas,
Daimler Chrysler AG; Thomas Schulte, Universität GH Paderborn, Germany
11:30 - 11:50
Parameter Identification
of Ultrasonic Motors
Thomas Schulte, Norbert
Fröhleke, Universität Paderborn, Germany
11:50 - 12:10
A Piezo-on-Slider Type Linear
Ultrasonic Motor for the Application of Positioning Stages
Chee Kian Lim, Siyuan
He, I-Ming Chen, Son Huat Yeo, Nanyang Technological University, Singapore
12:10 - 12:30
A New Method of Improving
the Torque of a Travelling Wave Ultrasonic Motor
Rajagobalan Rajkumar,
Tooru Nogai, Shizuoka University, Japan
12:30 - 12:50
New Type Artificial Larynx
Using PZT Ceramics Vibrator as Sound Source
Katsutoshi Ooe, Toshio
Fukuda, Fumihito Arai, Nagoya University, Japan
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Room: Atlanta A
Chair: Lin Guo, USA
Co-Chair: Minoru Sasaki,
Japan
14:00 - 14:20
Hard Disk Drive Bandwidth
Limitations Due to Sampling Frequency and Computational Delay
M. T. White, IBM
Almaden Research Center; Wei-Min Lu, IBM Advanced Magnetic Recording Laboratory,
USA
14:20 - 14:40
Design Analysis of a Grating
Interferometer Sensor for HDD Servo-Track Writing
Harry Garner, Kok-Meng
Lee, Georgia Institute of Technology; Lin Guo, Maxtor Corporation, USA
14:40 - 15:00
Dual-stage Actuator Servo
Control for High Density Disk Drives
Lin Guo, Douglas Martin,
Don Brunnett, Maxtor Corporation, USA
15:00 - 15:20
Modeling and Control of
a Dual Stage Actuator Hard Disk Drive with Piezoelectric Secondary Actuator
Roberto Oboe, Alessandro
Beghi, Università di Padova; Bruno Murari, ST Microelectronics, Italy
15:20 - 15:40
Track Following Control
of Large Capacity Flexible Disk Drive with Disturbance Observer Using Two Position
Sensors
Jun Ueda, Akihiko
Imagi, Hitoshi Tamayama, Mitsubishi Electric Corporation, Japan
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Room: Atlanta B
Chair: Wayne Book, USA
Co-Chair: Bruno Siciliano,
Italy
14:00 - 14:20
Optimal Reconstruction of
Mode Shapes Using Nonuniform Strain Sensor Spacing
Eva Dyllong, Andreas
Kreuder, Gerhard Mercator Universität GH Duisburg, Germany
14:20 - 14:40
Flexible Microrobotic System
MINIMAN: Design, Actuation Principle and Control
Stephan Fahlbusch,
Sergej Fatikow, Joerg Seyfried, Axel Buerkle, Universität Karlsruhe, Germany
14:40 - 15:00
Robust Active Control of
Flexible Systems with Second Order Sliding
Alberto Cavallo, Giuseppe
De Maria, Seconda Università di Napoli, Italy
15:00 - 15:20
Motion Analysis of a Moving
Elastic Beam with a Moving Mass
Sangdeok Park, Wan
Kyun Chung, Youngil Youm, Pohang University of Science and Technology; Jae-Won
Lee, Yeungnam University, Korea
15:20 - 15:40
Vision Based Active Sensor
Using a Flexible Beam
Makoto Kaneko, Naoki
Kanayama, Toshio Tsuji, Hiroshima University, Japan
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Room: Atlanta C/D
Chair: William Hamel,
USA
Co-Chair: Hideki Hashimoto,
Japan
14:00 - 14:20
Human Robot Interacton for
Creation of Subjective Value
Takanori Shibata,
Ministry of International Trade and Industry; Toshihiro Tashima, Omron
Corporation; Kazuo Tanie, Ministry of International Trade and Industry;Japan
14:20 - 14:40
Application of Pneumatic
Parallel Manipulator as Haptic Human Interface
Masahiro Takaiwa,
Toshiro Noritsugu, Okayama University, Japan
14:40 - 15:00
Rhythm Adaptation for Human
Machine Co-operation - "Operation Torque Adaptation According to Respiration
Rhythm in Machine Operation"
Yasuhisa Hayakawa,
Shigeki Sugano, Waseda University, Japan
15:00 - 15:20
Interface Agent for Process
Plant Operation Toward the Next Generation Interface
Seiji Koide, Shingo
Yamauchi, Ishikawajima-Harima Heavy Industries Co., Japan
15:20 - 15:40
Smart Tangible Displays
in the Everyday World: A Haptic Door Knob
Karon E. MacLean,
Jayne B. Roderick, Interval Research Corporation, USA
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Room: Peachtree
Chair: Paolo Dario, Italy
Co-Chair: Thomas Schulte,
Germany
14:00 - 14:20
Design of Extended Kalman
Filters for High Dynamic Position Control of Electrical Drives
Stephan Beineke, Harald
Wertz, Universität GH Paderborn, Germany
14:20 - 14:40
Application of Giant
Magnetostrictive Materials to Positioning Actuators
Yoshio Yamamoto,
Tokai University; Hiroshi Eda, Jun Shimizu, Ibaraki University, Japan
14:40 - 15:00
McKibben Artificial Muscles:
Pneumatic Actuators with Biomechanical Intelligence
Glenn K. Klute, Joseph
M. Czerniecki, Blake Hannaford, University of Washington, USA
15:00 - 15:20
Design of a New High Performance
ElectroHydraulic Actuator
Saeid Habibi,
University of Saskatchewan; Andrew Goldenberg, University of Toronto, Canada
15:20 - 15:40
Application of Intelligent
PDF Control Algorithm to an Electrohydraulic Position Servo System
Wenhuo Zeng, Jun Hu,
East China Shipbuilding Institute, China
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Room: Atlanta A
Chair: Luigi Glielmo,
Italy
Co-Chair: Ilya Kolmanovsky,
USA
16:00 - 16:20
Three-way Catalytic Converter
Modelling: A Machine Learning Approach for the Reaction Kinetics
Luigi Glielmo, Stefania
Santini, Università di Napoli Federico II; Michele Milano, Swiss
Federal Institute of Technology; Gabriele Serra, Magneti Marelli Divisione
Controllo Motore, Italy
16:20 - 16:40
Real-time Models of Induction
Machine Dynamics
N. Sureshbabu, B.
K. Powell, Ford Research Laboratory, USA
16:40 - 17:00
A Nonlinear Observer for
Fuel Film Dynamics into the Intake Manifold of a Spark Ignition Engine
I. Arsie, C. Pianese,
G. Rizzo, University of Salerno, Italy
17:00 - 17:20
Modeling and Identification
of a Current to Vacuum Transducer and VNT Actuator
P.E. Moraal, Ford
Research Aachen, Germany; I. V. Kolmanovsky, M. J. van Nieuwstadt, Ford Research
Laboratory, USA
17:20 - 17:40
A Fault Detection and Isolation
Method for Automotive Engines
L. Magni, R. Scattolini,
Università di Pavia; C. Rossi, Magneti Marelli Engine Control Unit, Italy
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Room: Atlanta B
Chair: Claudio Melchiorri,
Italy
Co-Chair: Johji Okada,
Japan
16:00 - 16:20
Adaptive Tracking Control
for Rigid-Link Manipulators with Joint Flexibility
Jung-Hua Yang,
Yungta College of Technology and Commerce, Taiwan
16:20 - 16:40
A Direct Approach for Tip
Regulation of a Single-Link Flexible Manipulator
Jian-Xin Xu, Wenjun
Cao, National University of Singapore, Singapore
16:40 - 17:00
Global Adaptive Partial
State Feedback Tracking Control of Rigid-Link Flexible-Joint Robots
W. E. Dixon, E. Zergeroglu,
D. M. Dawson, M. W. Hannan, Clemson University, USA
17:00 - 17:20
Stable Inversion Control
for Flexible-Link Cooperating Manipulators: A Case Study of a Four-Bar Linkage Mechanism
Qiao Sun, University
of Calgary, Canada
17:20 - 17:40
Symmetric Dichotomy Based
Model of Internal Dynamics for a Class of Flexible Manipulators
Guoli Wang, Shantou
University; Youfu Li, Weiliang Xu, City University of Hong Kong, China
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Room: Atlanta C/D
Chair: T. J. Tarn, USA
Co-Chair: Toshio Hori,
Japan
16:00 - 16:20
Modeling and Simulation
of Robotic Tasks Teleoperated Through the Internet
Arnaud Lelevé,
Philippe Fraisse, Pierre Dauchez, François Pierrot, Université Montpellier
II, France
16:20 - 16:40
Towards Variable-Time-Delays-Robust
Telemanipulation Through Master State Prediction
Platon A. Prokopiou,
Spyros G. Tzafestas, National Technical University of Athens, Greece; William
S. Harwin, University of Reading, UK
16:40 - 17:00
Sliding-Mode Controller
for Bilateral Teleoperation with Varying Time Delay
Jong Hyeon Park, Hyun
Chul Cho, Hanyang University, Korea
17:00 - 17:20
A Study on Influence of
Time Delay in Teleoperation
Noriaki Ando, Joo-Ho
Lee, Hideki Hashimoto, University of Tokyo, Japan
17:20 - 17:40
Distributed Control for
Tele-Operations
Yeuk F. Ho, Hideyoshi
Masuda, Hiroshi Oda, Lawrence W. Stark, University of California at Berkeley,
USA
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Room: Peachtree
Chair: Toshio Fukuda,
Japan
Co-Chair: Myoung Hwan
Choi, Korea
16:00 - 16:20
Torque Ripple Adaptive Rejection
in Brushless Motors
Gianni Ferretti, Gianantonio
Magnani, Paolo Rocco, Politecnico di Milano, Italy
16:20 - 16:40
Repetitive Tracking Control
of a Coarse-fine Actuator
Gi Heung Choi,
Hansung University; Jong Hyun Oh, Gi Sang Choi, University of Seoul, Korea
16:40 - 17:00
Compact Servo Driver for
Torque Control of DC-Servo Motor Based on Voltage Control
Hitoshi Maekawa,
AIST-MITI, Japan
17:00 - 17:20
A Neuro-Fuzzy Based Parameter
Identification of an Indirect Vector-Controlled Induction Motor Drive
Lino Rosell Valdenebro,
Jaime Reyes Hernandez, Edson Bim, Universidade Estadual de Campinas, Brazil
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Room: Peachtree
Chair: Shreyes Melkote,
USA
Co-Chair: William Murray,
USA
09:30 - 09:50
On the Development of a
Compliant Grasping Mechanism for On-Line Handling of Live Objects, Part I: Analytical
Model
Kok-Meng Lee,
Georgia Institute of Technology, USA
09:50 - 10:10
On the Development of a
Compliant Grasping Mechanism for On-Line Handling of Live Objects, Part II: Design
and Experimental Investigation
Kok-Meng Lee,
Georgia Institute of Technology; A. Bruce Webster, University of Georgia;Jeffry
Joni, Xuecheng Yin, Georgia Institute of Technology; Richard Carey,
Georgia Tech Research Institute; Michael P. Lacy, University of Georgia; Rishi
Gogate, Georgia Institute of Technology, USA
10:10 - 10:30
Modeling of the Holding
Force in an Electromagnetic Chuck
Alejandro Felix, Siemens-Westinghouse;
Shreyes Melkote, Georgia Institute of Technology; Yoichi Matsumoto, Timken
Company, USA
10:30 - 10:50
Neural-Network-Based Pose
Recognition in Flexible Parts Feders: Preliminary Results for Reduced Training Data
William R. Murray,
University of Washington; Daniel A. Billingsley, Raytheon Systems Company,
USA
10:50 - 11:10
Toward a Science of Flexible
Feeding
Michael S. Branicky,
Greg C. Causey, Roger D. Quinn, Case Western Reserve University, USA
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Room: Roswell
Chair: Bruno Siciliano,
Italy
Co-Chair: Manfred Hiller,
Germany
09:30 - 09:50
The Range of the Self-motion
of Redundant Robots
Jadran Lenarcic,
Jozef Stefan Institute Ljubljana, Slovenia
9:50 - 10:10
Redundancy Resolution by
Minimization of Joint Disturbance Torque for Independent Joint Controlled Manipulators
Myoung Hwan Choi,
Kangwon National University, Korea
10:10 - 10:30
Avoiding Discontinuities
While Using the Minimum Infinity Norm to Resolve Kinematic Redundancy
Ian A. Gravagne, Ian
D. Walker, Clemson University, USA
10:30 - 10:50
Decentralized Control of
Redundant Manipulators: A Control Scheme that Generates a Cyclic Solution to the
Inverse Problem
Yuling Yan, University
of the Ryukyus; Kouhei Ohnishi, Keio University; Toshio Fukuda, Nagoya
University, Japan
10:50 - 11:10
A Novel "Elephant's
Trunk" Robot
Ian D. Walker, Michael
W. Hannan, Clemson University, USA
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Room: Lenox
Chair: Hideki Hashimoto,
Japan
Co-Chair: Jong Hyeon
Park, Korea
09:30 - 09:50
A Summary of the Design
and Realization of a Robotic Finger Based on Innovative Concepts
Giorgio Bartolini,
Università di Cagliari; Mauro Coccoli, Università di Genova, Italy
09:50 - 10:10
Joint Controller for the
Object-Pose Controlling on Multifingered Grippers
Thomas Fischer, D.
Rapela, H. Woern, Universität Karlsruhe, Germany
10:10 - 10:30
Modular Dynamic Modeling
and Simulation of Grasping
Gianni Ferretti, GianAntonio
Magnani, Paolo Rocco, Politecnico di Milano, Italy
10:30 - 10:50
Development of Double-octagon
Tactile Sensor for Grasping Control
Shigeki Nakayama,
Yonago National College of Technology; Peng Chen, Toshihiko Matsumiya, Toshio
Toyota, Kyushu Institute of Technology, Japan
10:50 - 11:10
Influence of Actuator Dynamics
on Passive Haptic Interface Performance
Davin K. Swanson,
Eric Romagna, Wayne J. Book, Georgia Institute of Technology, USA; Andre Barraco,
Ecole Nationale Superieure d'Arts et Metiers, France
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Room: Buckhead
Chair: Imme Ebert-Uphoff,
USA
Co-Chair: John Gardner,
USA
09:30 - 09:50
Development of 2.737 Mechatronics
at MIT
David L.Trumper, Stephen
J. Ludwick, Massachusetts Institute of Technology, USA
09:50 - 10:10
Mechatronics at Rensselaer:
A Two-Course Senior-Elective Sequence in Mechanical Engineering
Kevin Craig, Rensselaer
Polytechnic Institute, USA
10:10 - 10:30
Development of Mechatronics
Course in the School of Mechanical Engineering at Georgia Tech
Charles F. Bergh,
Akio Kita, I. Charles Ume, Georgia Institute of Technology, USA
10:30 - 10:50
"Muscletronics "
Teaching Mechatronics with Fluid Power Systems
Greg R. Luecke,
Iowa State University, USA
10:50 - 11:10
Mechatronics II: Advanced
Mechatronics for Mechanical Engineering Students
John F. Gardner, John
S. Lamancusa, H. Joseph Sommer, III, Pennsylvania State University, USA
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Room: Peachtree
Chair: Dawn Tilbury,
USA
Co-Chair: Gi Jeon, Korea
13:20 - 13:40
Placement Repeatability
Study of Two Flip Chip Die Attach Machines: Leadscrew vs. Linear Motor
Lih-Tyng Hwang, Justin
Poarch, Motorola, USA
13:40 - 14:00
3-D CAD Data Oriented Self-planning
of Assembly Robot Cell Systems
Satori Kojima,
Ricoh Company; Hideki Hashimoto, University of Tokyo, Japan
14:00 - 14:20
Integration of Structural
and Performance-Oriented Control in Flexibly Automated Manufacturing
Douglas A. Bodner,
Jonghun Park, Spyros A. Reveliotis, Leon F. McGinnis, Georgia Institute of Technology,
USA
14:20 - 14:40
Modelling and Control of
a Novel Vibratory Feeder
Winncy Y. Du, Stephen
L. Dickerson, Georgia Institute of Technology, USA
14:40 - 15:00
Two-Tier Approaches with
a Knowledge Base for Modelling Flexible Manufacturing Systems
Jianhua Gao, New
Century Technology; Clarence Maday, North Carolina State University, USA
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Room: Roswell
Chair: Yoshio Yamamoto,
Japan
Co-Chair: Imme Ebert-Uphoff,
USA
13:20 - 13:40
H4:A New Family Of 4-DOF
Parallel Robots
François Pierrot,
Olivier Company, Université Montpellier II, France
13:40 - 14:00
TRIPLANAR - A New Process-Machine
Type Developed by Means of the Mechatronic Design
Walter Kuhlbusch,
W. Moritz, J. Lückel, S. Toepper, F. Scharfeld, Universität GH Paderborn,
Germany
14:00 - 14:20
Mobility Analysis of the
3-UPU Parallel Mechanism Assembled for a Pure Translational Motion
Raffaele Di Gregorio,
Università di Ferrara; Vincenzo Parenti Castelli, Università di
Bologna, Italy
14:20 - 14:40
A Simple New Closed-Form
Solution of the Direct Kinematics of Parallel Manipulators Using Three Linear Extra
Sensors
Ilian A. Bonev, Jeha
Ryu, Sun-Kyu Lee, Kwangju Institute of Science and Technology; Nam-Jeon Kim,
Kumho Tires & Co., Inc.; Sun-Lyu Lee, Kwangju Institute of Science and
Technology, Korea
14:40 - 15:00
The Kinematics of Manipulators
Built From Closed Planar Mechanisms
Leonid Slutski, McGill
University; Damien Chablat, INRIA Rocquencourt, France; Jorge Angeles,
McGill University, Canada
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Room: Lenox
Chair: Akitoshi Itoh,
Japan
Co-Chair: Rajiv Dubey,
USA
13:20 - 13:40
Force Based Motion Control
of the Walking Machine ALDURO Using Exact Linearization Methods
Martin Schneider,
Jörg Müller, Gerhard Mercator Universität GH Duisburg, Germany
13:40 - 14:00
Mechatronic Models for Simulation
and Model Based Control of the Walking Machine ALDURO
Jörg Müller,
Martin Schneider, Manfred Hiller, Gerhard Mercator Universität GH Duisburg,
Germany
14:00 - 14:20
A Hybrid Swing up Controller
with Target Dynamics and a Mechanical Energy Regulator for a Two-link Brachiating
Robot
Jun Nakanishi, Toshio
Fukuda, Nagoya University, Japan; Daniel E. Koditschek, University of
Michigan, USA
14:20 - 14:40
A New Method of Crutch Type
Walking Robot
Takayuki Miyake, Tooru
Nogai, Shizuoka University, Japan
14:40 - 15:00
Series Elastic Actuator
Development for a Biomimetric Walking Robot
David W. Robinson,
Jerry E. Pratt, Daniel J. Paluska, Gill A. Pratt, Massachusetts Institute of
Technology, USA
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Room: Buckhead
Chair: William Murray
, USA
Co-Chair: Ronald Perez,
USA
13:20 - 13:40
Electro-Mechanical Design
Engineering: A Formal Education Program in Mechatronics
Yusuf >Altintas,
University of British Columbia, Canada
13:40 - 14:00
A Mechatronics Curriculum
Stem for Undergraduate Mechanical Engineering Education
Tai-Ran Hsu, Ji Wang,
San Jose State University, USA
14:00 - 14:20
Undergraduate Mechatronics
at Stanford University
J. Edward Carryer,
Stanford University, USA
14:20 - 14:40
A Mechatronics Minor Program
Imbedding Design via a Multidisciplinary Virtual Design Studio
Ismet Erkmen,
Aydan M. Erkmen, Middle East Technical University, Turkey
14:40 - 15:00
Mechatronics Capstone Design
Projects at the University of Washington
William R. Murray,
Joseph Garbini, University of Washington, USA
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Room: Atlanta A
Chair: Tai-Ran Hsu, USA
Co-Chair: Saeid Habibi,
Canada
09:00 - 09:20
Multibody Simulation of
Machine Tools as Mechatronic Systems for Optimization of Motion Dynamics in the Design
Process
Gunther Reinhart,
Martin Weissenberger, Technische Universität München, Germany
09:20 - 09:40
Using a Learning Controller
to Achieve Accurate Linear Motor Motion Control
Ai-Ping Hu, Georgia
Institute of Technology, Andy Register, Georgia Tech Research Institute, Nader
Sadegh, Georgia Institute of Technology, USA
09:40 - 10:00
Modeling, Control and Simulation
of High Speed Machine Tool Axes
Philippe Poignet,
Laboratoire de Vision et Robotique de Bourges; Maxime Gautier, Wisama Khalil.
Institut de Recherche en Cybernétique de Nantes, France
10:00 - 10:20
Real-time Compensation of
Two-dimensional Contour Error in CNC Machine Tools
Hyun Chul Lee, Gi
Joon Jeon, Kyungpook National University, Korea
10:20 - 10:40
Integrated Machine and Control
Design for Reconfigurable Machine Tools
D. M. Tilbury, S.
Kota, University of Michigan, USA
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WAI-2 Learning
and Neural Control
Room: Atlanta B
Chair: Shigeru Okuma,
Japan
Co-Chair: Tom Collins,
USA
09:00 - 09:20
An Observation Model and
Segmentation Algorithm for Skill Acquisition of a Deburring Task
Erwin Aertbelien,
Hendrik Van Brussel, Katholieke Universiteit Leuven, Belgium
09:20 - 09:40
Adaptive Learning Method
of Neural Network Controller Using an Immune Feedback Law
Motohiro Kawafuku,
Minoru Sasaki, Gifu University; Kazuhiko Takahashi, Advanced Telecommunications
Research Institute International, Japan
09:40 - 10:00
Planar
Two-link Manipulator Control with Multiple-Synapse Neural Network Controller
Benedito Dias Baptista
Filho, Instituto de Pesquisas Energeticas e Nucleares; Eduardo Lobo Lustosa
Cabral, Universidade de Sao Paulo, Brazil
10:00 - 10:20
Synthesis, Stability Analysis,
and Experimental Implementation of a Multirate Repetitive Learning Controller
Courtney James,
Xerox Corporation; Nader Sadegh, Ai-Ping Hu, Georgia Institute of Technology,
USA
10:20 - 10:40
Multi-level Intelligent
Control Using Three-step Learning Strategy: Analysis and Implementation
Minrui Fei, Lixiong
Li, Shanghai University, Xiaoming Niu, Science and Technology Commission
of Shanghai Municipality, China
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Room: Atlanta C/D
Chair: Benedetto Allotta,
Italy
Co-Chair: Kevin Craig,
USA
09:00 - 09:20
A Compliant Semi-Autonomous
Reactive Control Architecture Applied to Robotic Holonomic Wheelchairs
Karim A. Tahboub,
Harry H. Asada, Massachusetts Institute of Technology, USA
09:20 - 09:40
Robot Arm Surface Covers
for Physical Interference Adapting Motion
Hiroyasu Iwata, Hayato
Hoshino, Yoshihito Adachi, Shigeki Sugano, Waseda University, Japan
09:40 - 10:00
Robust Learning of Mobile
Robotic Motion
Tae-Yong Kuc, Seung-Min
Baek, Sung Kyun Kwan University, Korea
10:00 - 10:20
Global Exponential Setpoint
Control of Mobile Robots
W. E. Dixon, D. M.
Dawson, F. Zhang, E. Zergeroglu, Clemson University, USA
10:20 - 10:40
Evolution of Urban Robotic
System Developments
Hagen Schempf, Edward
Mutschler, Brian Chemel, Carnegie Mellon University; Shree Nayar, Columbia
Unviersity, Colin Piepgras, William Crowley, Scott Boehmke, Carnegie Mellon
University, USA
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Room: Peachtree
Chair: Koji Ito, Japan
Co-Chair: Toshio Noritsugu,
Japan
09:00 - 09:20
Joint Torque Based Cartesian
Impedance Control for the DLR Hand
Hong Liu, G. Hirzinger,
DLR, Germany
09:20 - 09:40
Onboard Local Compensation
on ETS-VII Space Robot Teleoperation
Mitsushige Oda, Noriyasu
Inaba, Yutaka Takano, NASDA; Shin'ichiro Nishida, Masato Hayashi, Takashi
Sugano, Toshiba Co., Japan
09:40 - 10:00
Development of 2 DOF Force
Display System Using ER Actuators
Masamichi Sakaguchi,
Junji Furusho, Osaka University, Japan
10:00 - 10:20
Reactive Agent Based Planning
for an Avatar
Owen Waller, G. Dodds,
Queen's University, UK
10:20 - 10:40
Virtual Reality for Planning
Robot Flexible Assembly System
Zhang Zheng, Xie Cunxi,
Shao Ming, Hu Qingchun, South China University of Technology, China
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Room: Atlanta A
Chair: Giuseppe De Maria,
Italy
Co-Chair: Wolfgang Moritz,
Germany
11:00 - 11:20
A Mechatronic Concept for
a Sewer Inspection Robot
V. Kepplin, Kay-U.
Scholl, K. Berns, Forschungszentrum Informatik Karlsruhe, Germany
11:20 - 11:40
Vehicle Dynamics Simulation
for the Development of an Extended Adaptive Cruise Control
Derek Ward, Torsten
Bertram, Manfred Hiller, Gerhard Mercator Universität GH Duisburg, Germany
11:40 - 12:00
A Mobile Micro-Robot Using
Centrifugal Forces
Kiyoshi Ioi, Kinki
University, Japan
12:00 - 12:20
Development of Automatic
Steel Coil Recognition System for Automated Crane
Kunihiko Nishibe,
Hitachi Kiden Kogyo Ltd.; Naofumi Fujiwara, Kanazawa University, Japan
12:20 - 12:40
H-infinity Yaw-Moment
Control with Brakes for Improving Driving Performance and Stability
Jong Hyeon Park, Woo
Sung Ahn, Hanyang University, Korea
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Room: Atlanta
B
Chair: Nader Sadegh,
USA
Co-Chair: Minrui
Fei, China
11:00 - 11:20
Disturbance Observation
Control - With Estimation of the Inertia Matrix
Jim Hewit, J. R. Morris,
University of Dundee, UK
11:20 - 11:40
System Identification Using
IDFT for Structural Dynamic Models
Hyeung Yun Kim, Agency
Defense Development Changwon Proving Ground, Korea
11:40 - 12:00
Random Contact Strategy
Using the Kalman Filter to Solve the Robotic Contact Uncertainty Problem
Alvin Chua, De
La Salle Unviersity, Phillippines; Jayantha Katupitiya, University of New
South Wales, Australia; Joris De Schutter, Katholieke Universiteit Leuven,
Belgium
12:00 - 12:20
An Extended Parameter Plane
Method (I - Linear Continuous Systems)
Guoguang Zhang, Junji
Furusho, Osaka University, Japan
12:20 - 12:40
The Acceleration of Evolutionary
Computations Using Fitness Estimation
Yasushi Hanaki, Nagoya
University; Tomonori Hashiyama, Nagoya Industrial Science Research Institute;
Shigeru Okuma, Nagoya University; Japan
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Room: Atlanta C/D
Chair: Rajiv Dubey, USA
Co-Chair: Akio Gofuku,
Japan
11:00 - 11:16
Motion Control of Protozoa
for Bio MEMS
Akitoshi Itoh,
Tokyo Denki University, Japan
11:16 - 11:32
Experimental Video of a
Controller for Flexible-Joint Robots
W. E. Dixon, E. Zergeroglu,
D. M. Dawson, M. W. Hannan, Clemson University, USA
11:32 - 11:48
Intelligent
Space for Human and Mobile Robot
(PDF file)
Joo-Ho Lee, Noriaki
Ando, Hideki Hashimoto, University of Tokyo, Japan
11:48 - 12:04
The Sensor Arm and The Sensor
Glove IT - Haptic Devices for VR Interface
Toshiyuki Ohashi,
Masahiro Ohta, Hideki Hashimoto, University of Tokyo, Japan
12:04 - 12:20
Tele-Nanorobotics
2-D Manipulation of Micro/Nanoparticles Using AFM
Metin Sitti, Satoshi
Horiguchi, Hideki Hashimoto, University of Tokyo, Japan
12:20 - 12:36
The Haptic Lens ö a
Tactile Sensor
Peter Presti,
Georgia Institute of Technology, USA
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Room: Peachtree
Chair: Kok-Meng Lee,
USA
Co-Chair: Yifei Qian,
USA
11:00 - 11:20
Vibration Control of Flexible
Rotor Supported by Inclination Control Magnetic Bearings
Yohji Okada, Ibaraki
University; Takashi Saitoh, Aroka Corporation; Yoshihiko Shinoda, Japan
Nuclear Cycle Development Institute, Japan
11:20 - 11:40
Vector Control of an Induction
type Axial Gap Combined Motor-Bearing
Satoshi Ueno, Yohji
Okada, Ibaraki University, Japan
11:40 - 12:00
Adaptive Compensation of
Sensor Runout and Mass Unbalance in Magnetic Bearing Systems
Joga D. Setiawan,
Ranjan Mukherjee, Michigan State University; Eric H. Maslen, University
of Virginia; Gangbing Song, University of Akron, USA
12:00 - 12:20
Superconductor-Magnet Bearings
with Inherent Stability and Velocity-Independent Drag Torque
Eunjeong Lee, Ki Bui
Ma, University of Houston; Thomas L. Wilson, NASA Johnson Space Center;
Wei-Kan Chu, University of Houston, USA
12:20 - 12:40
Design of Air Bearing System
for Fine Motion Application of Multi-DOF Spherical Actuators
Dan E. Ezenekwe,
Corning Inc., Kok-Meng Lee, Georgia Institute of Technology, USA
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Room: Atlanta A
Chair: Kok-Meng Lee,
USA
Co-Chair: Ismet Erkmen,
Turkey
14:00 - 14:20
Methods and Tools for the
Design of Novel Multi-Functional Automotive Lighting
Thomas Börnchen,
Universität GH Paderborn; Roland Lachmayer, Hella KG Hueck & Company;
Jörg Wallaschek, Universität GH Paderborn, Germany
14:20 - 14:40
Thermodynamic Treatment
of Tug-and-Twist Technology Part 2: Thermodynamic Twistor Design
Henry M. Paynter,
Joseph M. Juarez, Jr., Massachusetts Institute of Technology, USA
14:40 - 15:00
Modeling and Simplification
of a Human Thermoregulation Model for Thermal Comfort Regulation in a Car Interior
Lakhdar Benasser,
PSA Peugeot-Citroën; Geneviève Dauphin-Tanguy, Ecole Centrale
de Lille; Jean-Christophe Riat, PSA Peugeot-Citroën, France
15:00 - 15:20
Backstepping Boundary Control
for Noise Reduction in Finite Ducts
S. P. Nagarkatti,
F. Zhang, C. D. Rahn, D. M. Dawson, Clemson University, USA
15:20 - 15:40
Experimental Characterization
of the Near Field Zones of Silence in an Active Sound Cancellation Scheme
A. B. Wright, A. Karthikeyan,
University of Arkansas, USA
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Room: Atlanta B
Chair: Jim Hewit, UK
Co-Chair: GianAntonio
Magnani, Italy
14:00 - 14:20
Two-Degree-of-Freedom Controller
Incorporating RBF Adaptation for Precision Motion Control Applications
K. K. Tan, National
University of Singapore, S. Y. Lim, Gintic Institute of Manufacturing Technology;
S. N. Huang, Singapore
14:20 - 14:40
Vision-Based
Nonlinear Tracking Controllers with Uncertain Robot-Camera Parameters
E. Zergeroglu, D.
Dawson, Clemson University, M. S. de Queiroz, Polytechnic University,
A. Behal, Clemson University, USA
14:40 - 15:00
GMDH-Based Autonomous Modeling
and Compensation for Nonlinear Friction
Makoto Iwasaki, Tomohiro
Shibata, Nobuyuki Matsui, Nagoya Institute of Technology, Japan
15:00 - 15:20
A Friction Constraint Optimization
Method for the Force Distribution of Quadruped Robots
Debao Zhou, K. H.
Low, Nanyang Technological University, Singapore
15:20 - 15:40
Friction Compensation Based
on Model Reference Adaptive Control
Li Shuxun, Yao Yu,
Wang Zicai, Harbin Institute of Technology, China
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Room: Atlanta C/D
Chair: Bruno Siciliano,
Italy
Co-Chair: Karon MacLean,
USA
14:00 - 14:20
Haptic Interface for Simulating
Push-Buttons
Benedetto Allotta,
Valentina Colla, , Scuola Superiore Sant' Anna; G. Bioli, S. M.
Scienzia Machinale S. r. L., Fabio Conticelli, Scuola Superiore Sant' Anna,
Italy
14:20 - 14:40
Path Following for Air Vehicles
in Coordinated Flight
Ruggero Frezza,
Università di Padova, Italy
14:40 - 15:00
Path Planning for Mobile
Robots that Sense Using a Video Camera Network
Adam Hoover, University
of California at San Diego, USA; Bent David Olsen, Aalborg University, Denmark
15:00 - 15:20
A Simple Motion Planner
for a Spherical Mobile Robot
Ranjan Mukherjee,
Mark A. Minor, Michigan State University, USA
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Room: Peachtree
Chair: Gary Anderson,
USA
Co-Chair: Gary McMurray,
USA
14:00 - 14:20
Improving Force Controlled
Planar Contour Following Using On-line Eye-in-hand Vision Based Feedforward
Johan Baeten, Joris
De Schutter, Katholieke Universiteit Leuven, Belgium
14:20 - 14:40
Multiple-Sensor Integration
for Rapid and High-Precision Coordinate Metrology
Tzung-Sz Shen, Jianbing
Huang, Chia-Hsiang Menq, Ohio State University, USA
14:40 - 15:00
Control System Design for
Spherical Direct Drive Actuators with the Hall Sensors
S. M. Sokolov, O.
V. Trifonov, V. S. Yaroshevsky, Russian Academy of Sciences, Russia
15:00 - 15:20
A Positioning Method for
Hard Disk Servowriter Using an Auto Focus Laser Encoder
Weidong Zhou, Lilong
Cai, Hong Kong University of Science and Technology, China
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Room: Atlanta A
Chair: Chia-Hsiang Menq,
USA
Co-Chair: Sergey Sokolov,
Russia
16:00 - 16:20
Global Asymptotic Stabilization
of Visually- Servoed Manipulators
Fabio Conticelli,
Benedetto Allotta, Valentina Colla, Scuola Superiore Sant'Anna, Italy
16:20 - 16:40
Development of a Video-Rate
Range Finder Using Dynamic Threshold Method for Characteristic Point Detection
Yutaka Tanaka, Akio
Gofuku, Nobuo Takeda, Isaku Nagai, Okayama University, Japan
16:40 - 17:00
Multisensor Industrial Inspection
and Grading Using ELSA
Michael D. Naish,
University of Toronto; Elizabeth A. Croft, University of British Columbia,
Canada
17:00 - 17:20
A Dynamic jacobian Estimation
Method for Uncalibrated Visual Servoing
Jenelle Armstrong
Piepmeier, Georgia Institute of Technology, Gary V. McMurray, Georgia Tech
Research Institute, Harvey Lipkin, Georgia Institute of Technology, USA
17:20 - 17:40
A Method for Optical Readout
Using Phase Jump
Weidong Zhou, Lilong
Cai, Hong Kong University of Science and Technology, China
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Room: Atlanta B
Chair: Makoto Kaneko,
Japan
Co-Chair: Paolo Rocco,
Italy
16:00 - 16:20
Robust Hybrid Force/Position
Control with Experiments on an Industrial Robot
Ciro Natale, Bruno
Siciliano, Luigi Villani, Università di Napoli Federico II, Italy
16:20 - 16:40
Task-Oriented Impedance
Adjustments of Human Arm Movements
Koji Ito, Xin-Zhi
Zheng, Tokyo Institute of Technology, Japan
16:40 - 17:00
An Automatic Procedure for
Force Controller Design
Ciro Natale, Università
di Napoli Federico II, Italy; Ralf Koeppe, Gerd Hirzinger, DLR, Germany
17:00 - 17:20
Position/Force Control with
a Frequency-Based Switch for Robots Interacting with a Compliant Environment
Erwin Satrya Budiman,
Masayoshi Tomizuka, University of California at Berkeley, USA
17:20 - 17:40
Using Damping Injection
and Passivity in Robotics Manipulation
Claudio Melchiorri,
, Università di Bologna, Stefano Stramigioli, Delft University of
Technology, The Netherlands; Stefano Andreotti, Università di Bologna,
Italy
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Room: Atlanta C/D
Chair: Ranjan Mukherjee,
USA
Co-Chair: Ruggero Frezza,
Italy
16:00 - 16:20
Improving Trajectory Tracking
Feedforward Evolutionary Multivariable Constrained Optimization
Mario Fravolini, Antonio
Ficola, Michele La Cava, Università di Perugia, Italy
16:20 - 16:40
Detection of Moving Obstacles
on Moving Vehicle
Naoki Amano, Hiroshi
Hashimoto, Minoru Higashiguchi, Yukio Kimura, Tokyo Engineering University, Japan
16:40 - 17:00
Development of Advanced
Parking Assistance System Using Human Guidance
Massaki Wada, Kangsup
Yoon, Hideki Hashimoto, University of Tokyo, Shinichi Matsuda, Yazaki
Corporation, Japan
17:00 - 17:20
Navigation of Autonomous
Robots with an Intelligent Oscillator Controller
Gary T. Anderson,
Murray R. Clark, University of Arkansas at Little Rock, USA
17:20 - 17:40
A Software Environment for
an Autonomous Unmanned Airship
Josué Jr. G.
Ramos, Silvio M. Maeta, Luiz G.B. Mirisola, Marcel Bergerman, Samuel S. Bueno,
Gustavo Sousa Pavani, Automation Institute; Augusto Bruciapaglia, Federal
University of Santa Catarina, Brazil
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Room: Peachtree
Chair: Riccardo Scattolini,
Italy
Co-Chair: Gi Choi, Korea
16:00 - 16:20
Vehicle Dynamics Simulation
Based on Hybrid Modeling
Henning Holzmann,
Oliver Nelles, Christoph Halfmann, Rolf Isermann, Technische Universität
Darmstadt, Germany
16:20 - 16:40
Mechatronic Design of a
Modular Railway Carriage
Joachim Lückel,
Horst Grotstollen, Karl-Peter Jäker, Markus Henke, Xiaobo Liu, Universität
GH Paderborn, Germany
16:40 - 17:00
Dynamic Modeling and Analysis
of Automatic Transmissions
Ali Haj-Fraj, Friedrich
Pfeiffer, Technische Universität München, Germany
17:00 - 17:20
Mechatronic Integration
Modeling
Kevin Craig, Mary
DeVito, Mike Mattice, Chris LaVigna, Carole Teolis, Rensselaer Polytechnic Institute,
USA
17:20 - 17:40
Mechatronic Design of a
Squeezing Flow Rheometer
Fred R. Stolfi,
Xerox Corporation; Kevin Craig, Rensselaer Polytechnic Institute, USA
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