conference booklet 2013 ieee international conference on

Conference Booklet 2013 IEEE International Conference on

Mechatronics (ICM)Vicenza - February 27 - March 1, 2013

with the support of:

Sezione Meccanica e Metallurgia

Fondazione Studi Universitari di Vicenza

Fondazione Studi Universitari di Vicenza

Welcome to ICM 2013 – Vicenza, Italy

On behalf of the Industrial Electronics Society of the IEEE, we welcome you at the 2013 IEEE International Conference onMechatronics (ICM 2013) . Since its first edition, held in Istanbul, Turkey, in 2004, this conference aims at providing a forumfor relevant information exchange among engineers and researchers in the area of Mechatronics. Our wish is to have in Vicenzamany chances to engage in fruitful discussions on mechatronics-related issues and open research problems.

Vicenza has been chosen to host ICM 2013 not only because it is a beautiful city, with many buildings and villas designed byAndrea Palladio (for this reason it has been awarded with the UNESCO World Heritage status), but also as the center of one ofthe most industrialized areas in Europe, with many industries and research centers in the field of Mechatronics.

We would like to thank the volunteers who spent their time to bring ICM 2013 to you. Especially, we want to acknowledge theeffort of the Program Chairs and Technical Program Committee members, the Special Sessions Chairs and Organizers and allthose persons in charge of all the conference-related activities, from local arrangements to conference secretariat.

We want also to gratefully acknowledge the support provided by the technical sponsors of the conference: The Institute ofElectrical and Electronics Engineers (IEEE) and the IEEE Industrial Electronics Society (IES). The conference organization hasbeen also supported by several organizations and entities: we deeply thank all of them.

The Technical Program Committee selected more than 140 papers from 19 countries for presentation. The three plenary lecturesand one keynote speech, provided by top researchers from USA, Japan and Europe, will give an opportunity to have somestimulating ideas in the field of Mechatronics.

We look forward to meeting you at ICM 2013 – Vicenza and we do hope that you will enjoy the Conference and the city ofVicenza.

Roberto OboeGeneral co-chairICM 2013 – Vicenza

Kouhei OhnishiGeneral co-chairICM 2013 – Vicenza

ICM 2013 Conference Booklet 3

ICM 2013 Organizing Committees

GENERAL CHAIRSProf. Roberto Oboe, University of Padova, ItalyProf. Kouhei Ohnishi, Keio University, Japan

PROGRAM CO-CHAIRSProf. Makoto Iwasaki (Asia and Oceania), Nagoya Institute of Technology, JapanProf. William Messner (America), Cargenie-Mellon University, Pittsburg, USAProf. Jan Swevers (Europe), Katholieke Universiteit Leuven, Belgium

WEB CHAIRDr. Antonio Mora, University of Padova, Italy

PUBLICATION CHAIRDr. Goele Pipeleers, Katholieke Universiteit Leuven, Belgium

FINANCE CHAIRProf. John Hung, Auburn University, USA

TREASURERProf. Terry Martin, University of Arkansas, USA

SPECIAL SESSION CHAIRSProf. Angelo Cenedese, University of Padova, ItalyProf. Hiroshi Fujimoto, University of Tokyo, Japan

LOCAL ORGANIZATION CHAIRProf. Kazuaki Ito, Toyota National College of Technology, Japan

TECHNICAL TRACKS CHAIRSComputer and Control SystemsProf. Asif SabanovicProf. Kiyoshi OhishiProf. John Hung

Networked Systems; Network-based Control Systems and ApplicationsProf. Yutaka UchimuraProf. Kenji Natori

Sensor, Actuators and System Integration; Sensors and ActuatorsProf. Yasutaka FujimotoProf. Kiyoshi OhishiProf. Toshiyuki Murakami

Robotics and Unmanned Vehicles; Control, Robotics and MechatronicsProf. Peter KorondiProf. Roberto OboeProf. Kazuaki Ito

Advanced Manufacturing and Automation Systems; Factory AutomationProf. Seta BogosyanProf. Seiichiro Katsura

4 ICM 2013 Conference Booklet

ICM 2013 Organizing Committees

Automotive and Transportation Systems; Automotive TechnologyProf. Giuseppe BujaProf. Francesco Biral

Mechatronics in Education; Education in Engineering and Industrial TechnologiesProf. Yousef Ibrahim

SPECIAL SESSIONS CHAIRSCompliant RobotsDr. Barkan UgurluDr. Matteo LaffranchiProf. Yasutaka FujimotoProf. Kiyoshi Ohishi

HapticsProf. Kiyoshi OhishiProf. Seiichiro KatsuraProf. Tomoyuki Shimono

Legged LocomotionProf. Yasutaka FujimotoProf. Kemalettin ErbaturProf. Naoki OdaDr. Barkan Ugurlu

Advanced Motion Control for Mechatronic SystemsProf. Hiroshi FujimotoProf. Makoto IwasakiProf. Roberto Oboe

Network-Based Control Systems and Its ApplicationsProf. Yutaka UchimuraProf. Kenji Natori


Technical Program Reviewers

A. Beghi John Hung Peter XuAlberto Trevisani Kana Kotaka Pinar BoyrazAles Hace Kazuaki Ito Ramez DaoudAlessio Merola Kazuhiro Yubai Riccardo AntonelloAmir Jafari Kazuyuki Hyodo Richard ZurawskiAndreja Rojko Kenji Natori Roberto OboeAngelo Cenede Kenta Seki Ryogo KuboAsif Sabanovic Kirill Van Heerden Seniz ErtugrulAtanas Popov Kiyoshi Ohishi Satoshi UekiBarkan Ugurlu Koichi Sakata Sehoon OhBertrand Tondu Luis Gome Seiichiro KatsuraCarlo Ferrari Luis Camarinha-Mato Seiji HashimotoChowarit Mitsantisuk M. Turan Soylemez Seppo SaarakkalaClaudio Semini Maarten Steinbuch Sergio Matteo SavareDaisuke Yashiro Makoto Iwasaki Seta BogosyanDaniele Bortoluzzi Marco Galvani Shin-ichi ItoEiichi Saito Mario Sarcinelli Filho Sho SakainoEmre Sariyildiz Masaaki Shibata Stefano GhidoniEngin Yesil Masafumi Yamamoto Susumu HaraFarhat Fnaiech Masahide Ito Tadanao ZanmaFrancesco Biral Masaru Hasegawa Takahiro EndoFrancois Auger Matteo Laffranchi Takatoshi HondoGianAntonio Magnani Matteo Massaro Takenori AtsumiGiovanni Boschetti Michael Ruderman Taro TakahashiGiulio Panzani Milos Manic Terry MartinGoele Pipeleers Mitsuo Hirata Tomoyuki ShimonoGustavo A Medrano-Cerda Monica Reggiani Toru NamerikawaHarald Aschemann Motohiro Kawafuku Toshiaki TsujiHendrik Van Brussel Naoki Motoi Toshima MiyazakiHideaki Minakata Naoki Oda Toshiyuki MurakamiHiroshi Fujimoto Nobutada Bando Uchiyama NaokiHiroyuki Tanaka Noriaki Hiro Wataru YamanouchiHouman Dallali Norihi Miki Yasue MitsukuraIoannis Havout Oktay Arslan Yasutaka FujimotoIrene Sardellitti Oreste Bur Yoshihiro MaedaJan Swevers Paolo Mattavelli Yuki YokokuraJing Zhou Paulo Leitao Yutaka UchimuraJoao Martin


Floor Plans

GROUND FLOOR

Room$VM2$

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Floor Plans

SECOND FLOOR

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Sala!3!Lunch!area!

The conference site is smoke-free. Smokers’ areas are located outside the building.

Wireless will be available inside the building. Access codes will be provided at the registration, with the conference kit.

Vending machines are available at the ground level.


General Information

SPONSORS AND SUPPORTERSICM 2013 is sponsored by The Institute of Electrical and Electronics Engineers (IEEE) and the IEEE Industrial ElectronicsSociety (IES). It is also supported by the Department of management and Engineering of the University of Padova, FondazioneStudi Universitari di Vicenza, Associazione Industriali di Vicenza, Distretto Meccatronica, Centro Produttività Veneto, Freescale,Vicenzaè and Comune di Vicenza

CONFERENCE LOCATIONThe Conference venue, provided by the Fondazione Studi Universitari di Vicenza is the at the following civic address:

Viale Margherita, 87 – 36100 Vicenza – Italy (GPS: 45.543498,11.553154)

HOW TO GET TO VICENZAThe following airports are the closest to Vicenza:

• Verona Catullo Airport• Venezia Marco Polo• Venezia – Treviso

Please find below more informations about the travel from each airport to Vicenza with public transportation. From each airportit is also possible to rent a car with or without driver.


General Information

From Verona Catullo AirportThe airport is connected via bus with Verona Train Station (Aerobus every 20 minutes from 6:30 to 23:10). From Verona TrainStation you can reach Vicenza in 40 minutes by train, please check timetable on Trenitalia. Userful links:

• Verona Catullo Airport (http://www.aeroportoverona.it/page_content.asp)• Trenitalia (http://www.trenitalia.it/en/index.html)

From Venezia Marco PoloThe Marco Polo airport is connected via bus with Mestre train station (ATVO FLY BUS and Autobus ACTV n. 15). There arealso connections with Venezia Santa Lucia train station (ATVO AIR TERMINAL and Autobus ACTV n. 5). From Mestre (orVenezia Santa Lucia) train station you can reach Vicenza in 1 hour. Please check timetable on Trenitalia website Useful links:

• Venice Airport (http://www.veniceairport.it/)• ATVO (http://www.atvo.it/eng/airport.php?ld=index_vat.php&id=1-0&var=v)• FLY BUS (http://www.atvo.it/eng/airport.php?ld=index_fly.php&id=1&var=v)• ACTV (http://www.actv.it/english/home.php)• Trenitalia (http://www.trenitalia.it/en/index.html)

From Venezia – TrevisoIf you use Ryanair, there is a bus connection to Mestre and Venezia train stations (EUROBUS ATVO/Ryanair). From Mestre orVenezia train station, you can reach Vicenza in 1 hour; please check timetable on Trenitalia website. Useful links:

• Treviso airport (http://www.trevisoairport.it/index.jhtml?lan=en)• ATVO/Ryanair (http://www.atvo.it/airport.php?ld=index_euro.php&id=0&var=t)• Trenitalia (http://www.trenitalia.it/en/index.html)

In any case Treviso airport is connected via bus to Treviso train station (bus every 30 minutes). From Treviso train station youcan reach Mestre train station (30 minutes) and then Vicenza.

OFFICIAL LANGUAGEPresentations and conference activities will be conducted in the English language.

REFRESHMENTS AND LUNCHESCoffee breaks and lunches are included in the registration fee. Coffee breaks and lunches will be served in the main hall situatedon the ground floor.

WELCOME RECEPTIONA welcome reception will be held on Wednesday February 27th, at the Club of Confindustria Vicenza Piazza Castello 3 36100Vicenza.

SOCIAL DINNERThe Social Dinner will be held on Thursday February 28th in the evening at 19.30 (7.30 p.m.) at the Villa Godi Malinverni, thefirst villa designed by Andrea Palladio in 1542 (http://www.villagodi.com/english/index.htm). During thisevent, we will have a keynote speech, given by prof. Yoichi Hori (University of Tokyo) on the technologies for the sustainablemobility. Both formal and smart casual dress are acceptable for the banquet. You should have your badge and/or your ticketin hand. Accompanying person must register or have acquired a ticket for this special event. A bus service will leave from theconference site at 18.45 (6.45 p.m.)

FREE GUIDED CITY TOURAt the end of the farewell party, all conference participants are invited to participate to a free guided city tour. This is a uniqueopportunity to visit the city of the Italian Renaissance architect Andrea Palladio and some of his masterpieces, like the TeatroOlimpico and the Basilica Palladiana.

The Teatro Olimpico (“Olympic Theatre”) was constructed in 1580-1585. The theatre was the final design by Palladio and wasnot completed until after his death. The trompe-l’œil on stage scenery, designed by Vincenzo Scamozzi, to give the appearance


General Information

of long streets receding to a distant horizon, was installed in 1585 for the very first performance held in the theatre, and is theoldest surviving stage set still in existence.

The Basilica Palladiana is a Renaissance building in the central Piazza dei Signori in Vicenza. The most notable feature of theedifice is the loggia, which shows one of the first examples of the what came to be known as the Palladian window, designed bya young Andrea Palladio, whose work in architecture was to have a significant effect on the field during the Renaissance andlater periods.

INTERNET SERVICESFree of charge internet wireless access will be provided to ICM 2013 participants during the Conference three days. Please dobring a laptop with Wi-Fi connection. The personal credentials for the access to the conference Wi-Fi will be included in theconference kit.

Additionally, there are many free Hot-Spots around the city. The service is named “Wifiplaza” and it is provided by Telemar.You will find signs around the city, with instructions for the access (you should send a short message using your phone, in orderto get back your access credentials).

BANKING FACILITIES AND FOREIGN EXCHANGEThe Italian monetary system is based on Euro and Euro cents. Bills in following denominations: 5, 10, 20, 50, 100, 200 and 500Euro. The coins in use are of the following denominations: 1, 5, 10, 20, 50 cents, one Euro and 2 Euro.

Banks (where you can exchange your currency into Euro) are open Monday through Friday, 8.30-13 14-16. ATMs can be foundeverywhere, operating 24/7.

PLUGS AND VOLTAGEElectricity in Italy, as in the rest of Europe, comes out of the wall socket at 220 volts alternating at a 50 cycles per second.Common sockets have 8-shaped holes to accept both 16A and 10A version of the L plug (CEE 7/16 Europlug).

TRANSPORTATIONVicenza bus service is safe and clean. Anyway, most of the conference hotels are at walking distance from the conference site.Details on route maps and fares can be found here: http://www.aim-mobilita.it.

WEATHERAt the end of February, the weather is usually cold in Vicenza. The average low temperature is 2◦C and the average hightemperature is 14◦C.

PARKINGShould you use your owm car or a rental one to get to the conference site, please contact the conference secretariat([email protected]) in order to get a pass to the underground parking.

SALES AND SERVICES TAXESValue Added Tax (VAT - IVA in Italian) of 21% is charged on most goods and services.

USEFUL ADDRESSESWeb site of the conference: www.gest.unipd.it/icm2013E-mail address of the conference: [email protected] address:

Attention to: Prof. Roberto OboeDipartimento di Tecnica e Gestione dei Sistemi IndustrialiUniversità di PadovaStradella S. Nicola, 3 – 36100 VICENZA – Italy


General Information

ACCOMMODATIONSSeveral hotels are at walking distance form the conference site. Details can be found here: http://static.gest.unipd.it/icm2013/Accommodation.html.

CAR RENTALSOne can find the counters of the major car rental companies at the airport and at the railways station in Vicenza.

REGISTRATIONRegistration is required for all Conference participants. Family members need not to register for the Conference but mustregister and prepay for the Social Dinner. The Conference registration fee includes admittance to all technical sessions, a copyof the conference program, the conference proceedings on USB, lunches and refreshments.

Registration DeskThe registration desk is located in the ground level hall and is open during the following hours:

• Tuesday February 26th 2013: 16:00 – 19:00• Wednesday February 27th 2013: 8:00 – 18:00• Thursday February 28th 2013: 8:00 – 18:00• Friday March 1st 2013: 8:00 – 10:00

BadgesBadges must be worn at all times in order to gain entry to the scientific sessions and other functions organized by the conference.Accompanying persons who complete the appropriate section of the registration form will be given distinctive badges.

REFRESHMENTSRefreshments (coffee, etc.) will be available both mid-morning and mid-afternoon during coffee breaks. They will be availablein the main hall.

AUDIO-VISUAL EQUIPMENTEach session room will be equipped with an electronic projector and a PC with Powerpoint and PDF reader. Each author/presentermust assure that all fonts needed for his presentation are embedded in the files. You should have your presentation on a USBport and download it 15 minutes before the session starts. There will be also the possibility for the author/presenter to useher/his own computer. In this case, the author/presenter is asked to check the VGA connection to the video projector before thesession starts.

ORAL PRESENTATIONFor all oral sessions, each paper is allotted 20 minutes for the presentation, including 5 minutes for questions. Session Chairpersonshave been asked to adhere strictly to the timetable to allow delegates to attend the papers of their choice where no conflictsexist; special effort been made to reduce such conflicts to the minimum possible. ICM 2013 presenters are required to meet theirsession chairman in the session room at least 15 minutes before the scheduled time in order to introduce themselves and receivethe appropriate instructions from the session chairs. Each author/presenter has to provide a short (10-line maximum) printed orhandwritten bio.

We strongly advise the following for oral presentation:

• Avoid using more than 6 lines of text and minimize the number of words on each visual aid.• Graphs should have a maximum of two data traces.• A fast presentation is one slide per minute. A more relaxed pace would be two minutes per slide. Adjust the number of

slides (15 to 20 slides max). Remember you have 15 minutes for the presentation and five minutes to answer all questions.• Simple is better, avoid a lot of unnecessary formatting. We are interested in your technical content, not your PowerPoint

skills.


Conference at a Glance

Wednesday February 27, 2013

08:45 – 09:15 AuditoriumOpening Ceremony

09:15 – 10:15 AuditoriumM. Kaneko: Where Future Robot Should Go and Should Not Go?

10:15 – 10:40 HallCoffee Break

10:40 – 12:40 Auditorium Room VM1 Room VM2 Room VM5Robotics 1 Computer and Control

1Transportation 1 Education

12:40 – 14:00 Sala 3Lunch

14:00 – 16:00 Auditorium Room VM1 Room VM2 Room VM5Advanced Motion

Control 1Computer and Control

2Transportation 2 Manufacturing



Control 2Sensors, Actuators and

System Integration 1Haptics 1 Robotics 2

19:00 – 21:00 Welcome Reception

Thursday February 28, 2013

09:00 – 10:00 AuditoriumM. Steinbuch: Design and Control of High Tech Systems



Control 3Robotics 3 Network Based Control

1Legged Locomotion 1

12:30 – 14:00 Sala 3Lunch


Control 4Robotics 4 Network Based Control

2Legged Locomotion 2




System Integration 2Haptics 2 Compliant Robots 1

18:30 – 23:59 Social Dinner


Conference at a Glance

Friday March 1, 2013

09:00 – 10:00 AuditoriumS.H. Collins: What Do Walking Humans Want From Biomechatronics?




System Integration 3Haptics 3 Compliant Robots 2

12:30 – 14:00 HallFarewell Party

14:00 – 17:00 Free Guided City Tour


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sed

cont

rol

logi

cfo

rvi

brat

ion

sup-

pres

sion

infle

xibl

est

ruct

ures

.

Obj

ectiv

epe

rfor

man

ceev

alua

tion

onm

ount

ain

rout

esof

dies

el-

elec

tric

hybr

idbu

sses

.

15:2

0–

15:4

0A

utom

atic

tuni

ngof

ase

rvo

driv

esp

eed

cont

rolle

rfor

indu

stri

alap

-pl

icat

ions

.

An

activ

eco

ntro

llo

gic

base

don

mod

alap

proa

chfo

rvi

brat

ion

re-

duct

ion

thro

ugh

the

eige

nstr

uc-

ture

assi

gnm

ent.

15:4

0–

16:0

0Im

pro v

edro

tor

posi

tion

estim

a-tio

nof

salie

nt-p

ole

PMSM

usin

ghi

ghfr

eque

ncy

carr

ier

sign

alin

-je

ctio

n.

Supe

rvis

ory

cont

rolo

fPV

-bat

tery

syst

ems

byon

line

tune

dne

ural

netw

orks

.



Wed

nesd

ayFe

brua

ry27

,201

316

:30

–18

:30

Aud

itori

umR

oom

VM

1R

oom

VM

2R

oom

VM

5A

dvan

ced

Mot

ion

Con

trol

2Se

nsor

s,A

ctua

tors

and

Syst

emIn

tegr

atio

n1

Hap

tics

1R

obot

ics

2

16:3

0–

16:5

0R

obus

tand

optim

altr

acki

ngco

n-tr

olfo

rman

ipul

ator

arm

driv

enby

pneu

mat

icm

uscl

eac

tuat

ors.

Exp

erim

enta

l mod

alan

alys

isan

dsh

akin

gte

stof

anab

solu

tedi

s-pl

acem

ents

enso

rfo

rsu

ppre

ssio

nof

high

freq

uenc

ydy

nam

ics.

FPG

A-b

ased

high

perf

orm

ance

bila

tera

lco

ntro

lof

diff

eren

tm

aste

r-sl

ave

mec

hani

smus

ing

high

orde

rdis

turb

ance

obse

rver

.

Aco

ntro

ller

desi

gnm

etho

dfo

rm

ultir

obot

syst

ems

base

don

task

proj

ectio

nm

atri

x.

16:5

0–

17:1

0C

lose

d-lo

oppo

sitio

nco

ntro

lof

artifi

cial

mus

cles

with

asi

ngle

in-

tegr

alac

tion.

Ada

pti v

eco

ntro

lof

piez

oele

ctri

cw

alke

ract

uato

r.T

hepo

wer

fact

orin

mec

hani

cal

syst

em.

Am

odel

-bas

edtr

ajec

tory

plan

-ni

ngap

proa

chfo

rfle

xibl

e-lin

km

echa

nism

s.

17:1

0–

17:3

0C

ompa

riso

nof

two

cont

rol

ap-

proa

ches

for

alin

ear

axis

with

pneu

mat

icm

uscl

esus

ing

one

ortw

ova

lves

.

Phen

omen

olog

ical

mod

elin

gan

dm

easu

rem

ent

ofpr

opor

tiona

lso

leno

idw

ithst

roke

-dep

ende

ntm

agne

tichy

ster

esis

char

acte

ris-

tics.

Switc

hing

oper

atio

nm

ode

reso

-na

nce

ratio

cont

rol

for

flexi

ble

robo

tsys

tem

.

De v

elop

men

tof

ape

rist

altic

craw

ling

robo

tfor

sew

erpi

pein

-sp

ectio

n.

17:3

0–

17:5

0Pr

opos

alof

redu

cing

impa

ctfo

rce

cont

rols

yste

mfo

rsca

nst

age

with

deco

upla

ble

stru

ctur

eof

coar

sean

dfin

epa

rts.

Obl

ique

coor

dina

teba

sed

mic

ro-

mac

robi

late

ral

cont

rol

usin

ga

piez

oele

ctri

cca

ntile

ver.

T ow

ards

perf

orm

ance

impr

ove-

men

tof

mot

ion

repr

oduc

tion

base

don

mot

ion-

copy

ing

syst

em.

On

the

mod

elin

gof

flexi

ble-

link

robo

ts:

first

expe

rim

enta

lva

lida-

tion

ofan

ER

LS-

FEM

dyna

mic

mod

el.

17:5

0–

18:1

0M

icro

-mac

robi

late

ral

cont

rol

with

com

pens

atio

nof

grav

ityan

dfr

ictio

n.

Ase

nsor

and

actu

ator

plac

emen

tte

chni

quef

orac

tivev

ibra

tion

con-

trol

usin

gH

2no

rm.

Rec

ogni

tion

ofob

stac

ledi

stri

bu-

tion

via

vibr

otac

tile

stim

ulat

ion

fort

hevi

sual

lydi

sabl

ed.

Hig

h-le

velu

nder

actu

ated

nonl

in-

ear

cont

rol

for

roto

rcra

ftm

a-ch

ines

.

18:1

0–

18:3

0M

aneu

v eri

ngas

sist

ant

for

truc

kan

dtr

aile

rco

mbi

natio

nsw

ithar

-bi

trar

ytr

aile

rhitc

hing

.

3-D

posi

tioni

ngta

sks

for

RU

AS

usin

gsw

itche

dPV

TOL

con-

trol

lers

.



Thu

rsda

yFe

brua

ry28

,201

310

:30

–12

:30

Aud

itori

umR

oom

VM

1R

oom

VM

2R

oom

VM

5A

dvan

ced

Mot

ion

Con

trol

3R

obot

ics

3N

etw

ork

Bas

edC

ontr

ol1

Legg

edLo

com

otio

n1

10:3

0–

10:5

0A

nef

ficie

ntal

gori

thm

fors

olvi

ngtim

e-op

timal

poin

t-to

-poi

ntm

o-tio

nco

ntro

lpro

blem

s.

Con

tact

dete

ctio

nus

ing

dith

erin

forc

ese

nsor

less

mot

ion

cont

rol.

Sens

or/a

ctua

tor

mob

ility

inno

isy

Wi-

Fiba

sed

netw

orke

dco

ntro

lsy

stem

.

Rob

ust

reso

nanc

esu

ppre

ssio

nco

ntro

lba

sed

onse

lfre

sona

nce

canc

ella

tion

dist

urba

nce

obse

rver

and

appl

icat

ion

tohu

man

oid

robo

t.10

:50

–11

:10

Ant

i-w

indu

pro

bust

cont

rolle

rco

nsid

erin

gm

otor

dyna

mic

sfo

rsp

eed

serv

osy

stem

.

Impr

o vem

ent

info

rce

cont

rol

with

forc

epr

ojec

tion

for

2-D

OF

tend

on-d

riven

sphe

rica

ljo

int

mec

hani

sms.

H∞

outp

utfe

edba

ckco

ntro

ller

base

don

com

plet

equ

adra

ticLy

apun

ov-K

raso

vski

ifu

nctio

nal

fort

ime

dela

ysy

stem

s.

Swin

gle

gco

ntro

lfor

effic

ient

and

repe

atab

lebi

ped

wal

king

toem

u-la

tebi

olog

ical

mec

hani

sms.

11:1

0–

11:3

0C

lass

ical

and

mod

ern

met

hods

for

time-

cons

trai

ned

ener

gyop

timal

mot

ion

appl

icat

ion

toab

adm

into

nro

bot.

Mot

ion

canc

elin

gbi

late

ralc

ontr

olan

alys

isfo

rta

rget

with

two

laye

rim

peda

nce

mod

el.

Perf

orm

ance

eval

uatio

nof

ener

gy-e

ffici

ent

PON

sfo

rla

rge-

scal

ese

nsor

-act

uato

rnet

wor

ks.

Vis

ualf

eedb

ack

cont

rolb

ased

onop

tical

flow

vect

orfie

ldfo

rbip

edw

alki

ngro

bot.

11:3

0–

11:5

0A

dapt

ive

dead

beat

feed

forw

ard

com

pens

atio

nfo

rrob

ustp

ositi

on-

ing

perf

orm

ance

agai

nstp

lant

per-

turb

atio

ns.

Snak

ero

bot

obst

acle

-aid

edlo

co-

mot

ion

onin

clin

edan

dve

rtic

alpl

anes

:m

odel

ing,

cont

rol

stra

te-

gies

and

sim

ulat

ion.

Dis

turb

ance

-atte

nuat

ion

char

ac-

teri

stic

ofas

truc

ture

oftim

e-de

lay

syst

emw

ithco

mm

unic

atio

ndi

s-tu

rban

ceob

serv

er.

Wor

kspa

ceco

ntro

lof

aw

heel

-le

gged

mob

ilero

bot

for

gyra

ting

loco

mot

ion

with

mov

able

leg.

11:5

0–

12:1

0R

educ

tion

ofco

ntro

lin

put

vari

-an

ceof

feed

driv

esy

stem

sus

ing

slid

ing-

mod

eco

ntro

lw

ithno

n-lin

ears

lidin

gsu

rfac

e.

Dyn

amic

anal

ysis

and

cont

rol

ofro

botic

man

ipul

ator

for

chem

i-ca

llyag

gres

sive

envi

ronm

ents

.

12:1

0–

12:3

0T i

me-

optim

alpa

rkin

gan

dfly

ing:

solv

ing

path

follo

win

gpr

oble

ms

effic

ient

ly.



Thu

rsda

yFe

brua

ry28

,201

314

:00

–16

:00

Aud

itori

umR

oom

VM

1R

oom

VM

2R

oom

VM

5A

dvan

ced

Mot

ion

Con

trol

4R

obot

ics

4N

etw

ork

Bas

edC

ontr

ol2

Legg

edLo

com

otio

n2

14:0

0–

14:2

0Po

stur

est

abili

zatio

nfo

ra

per-

sona

lm

obili

tyro

bot

usin

gfe

ed-

back

com

pens

atio

nw

ithan

unst

a-bl

epo

le.

Usi

ngm

ultic

orep

roce

ssor

sto

par-

alle

lize

3Dpo

int

clou

dre

gist

ra-

tion

with

the

coar

sebi

nary

cube

sm

etho

d.

Ade

sign

offo

ur-c

hann

elbi

late

ral

cont

rol

syst

emun

der

time

dela

yba

sed

onhy

brid

para

met

ers.

De v

elop

men

tof

ady

nam

icsi

m-

ulat

orfo

ra

com

plia

nthu

man

oid

robo

tbas

edon

asy

mbo

licm

ulti-

body

appr

oach

.

14:2

0–

14:4

0Pr

opos

alof

roll

angl

eco

ntro

lm

etho

dus

ing

posi

tive

and

nega

-tiv

ean

ti-di

vefo

rce

fore

lect

ric

ve-

hicl

ew

ithfo

urin

-whe

elm

otor

s.

The

Big

-Stiq

uito

:an

enla

rged

and

fast

erve

rsio

nof

the

auto

nom

ous

Stiq

uito

hexa

pod

robo

t.

Ade

sign

ofan

over

head

cran

ete

le-o

pera

tion

cont

rols

yste

m.

Qua

drup

edal

trot

ting

with

activ

eco

mpl

ianc

e.

14:4

0–

15:0

0A

nti-

sway

cont

rolo

fcra

nesy

stem

byeq

uiva

lent

forc

efe

edba

ckof

load

.

Opt

imal

optic

alm

ouse

plac

emen

tfo

rm

obile

robo

tvel

ocity

estim

a-tio

n.

Eva

luat

ion

ofQ

oSin

hapt

icco

m-

mun

icat

ion

base

don

bila

tera

lco

ntro

l.

Reg

ener

atio

nof

LIP

Mbi

peda

lw

alki

ngtr

ajec

tori

esfo

rmin

imum

ener

gyco

nsum

ptio

n.

15:0

0–

15:2

0H

ILte

stbe

nch

tote

stan

ti-sw

ing

fuzz

yco

ntro

lof

anov

erhe

adcr

ane.

An

appr

oxim

ate

ofth

eco

st-t

o-go

map

onro

ugh

terr

ains

.Pr

otot

ype

deve

lopm

ent

and

real

-tim

etr

ot-r

unni

ngim

plem

enta

tion

ofa

quad

rupe

dro

bot:

Rob

oCat

-1.

15:2

0–

15:4

0N

on-c

oloc

ated

path

trac

king

con-

trol

ofcr

ane

susp

ende

dlo

ads.

Ane

wap

proa

chfo

rter

rain

anal

y-si

sin

mob

ilero

bota

pplic

atio

ns.

15:4

0–

16:0

0V

ibra

tion

cont

rolo

fres

onan

tsys

-te

mby

usin

gre

flect

edw

ave

reje

c-tio

nw

ithfr

actio

nalo

rder

low

-pas

sfil

ter.



Thu

rsda

yFe

brua

ry28

,201

316

:30

–18

:30

Aud

itori

umR

oom

VM

1R

oom

VM

2R

oom

VM

5A

dvan

ced

Mot

ion

Con

trol

5Se

nsor

s,A

ctua

tors

and

Syst

emIn

tegr

atio

n2

Hap

tics

2C

ompl

iant

Rob

ots

1

16:3

0–

16:5

0M

otio

nco

ntro

lofm

obile

robo

tby

usin

gm

yoel

ectr

icsi

gnal

sba

sed

onfu

nctio

nally

diff

eren

teff

ectiv

em

uscl

eth

eory

.

Rea

ctio

nfo

rce

estim

atio

nof

piez

oele

ctri

cac

tuat

orby

char

geob

serv

atio

n.

Are

aliz

atio

nof

hapt

ictr

aini

ngsy

stem

base

don

forc

eco

ntro

l.A

push

reco

very

stra

tegy

fora

pas-

sive

lyco

mpl

iant

hum

anoi

dro

bot

usin

gde

cent

raliz

edL

QR

con-

trol

lers

.

16:5

0–

17:1

0V

ibra

tion

supp

ress

ion

feed

back

cont

rol

onan

gula

rtr

ansm

issi

oner

roro

fcyc

loid

gear

fori

ndus

tria

lro

bot.

De v

elop

men

tof

pneu

mat

icco

n-tr

olsy

stem

for

wal

king

assi

stus

-in

gdu

alon

/off

valv

es.

Var

iabl

ete

nsio

nco

ntro

lfo

rm

aste

r-sl

ave

tend

on-d

riven

robo

tha

nd.

Am

otio

nco

ntro

lmet

hod

ofdu

alar

mro

botb

ased

onen

viro

nmen

tal

mod

es.

17:1

0–

17:3

0Su

ppre

ssio

nof

reso

nant

vibr

atio

ndu

eto

angu

lart

rans

mis

sion

erro

rsof

redu

ctio

nge

arin

gin

indu

stri

alro

bots

.

Ev a

luat

ion

ofse

ism

icab

solu

tedi

spla

cem

ent

sens

ors

base

don

sens

itivi

tyca

libra

tion

and

cont

rol

test

sof

anan

ti-vi

brat

ion

appa

ra-

tus.

FPG

A-b

ased

broa

dban

dcu

rren

tco

ntro

lof

alin

ear

mot

orw

ithcl

ass-

Gpo

wer

ampl

ifier

s.

De v

elop

men

tof

two

type

sof

2-D

OF

wri

stjo

int

driv

enby

pneu

-m

atic

artifi

cial

mus

cles

.

17:3

0–

17:5

0A

ccel

erat

ion-

base

dpo

sitio

nan

dfo

rce

cont

rolf

ortw

istd

rive.

Pote

ntia

lof

FBG

sens

ors

for

vi-

brat

ion

cont

roli

nsm

arts

truc

ture

s.A

desi

gnm

etho

dof

scal

ing

bila

t-er

alco

ntro

lwith

drif

t.L

oad

dist

urba

nce

and

envi

ron-

men

teff

ecto

nbi

artic

ular

man

ip-

ulat

ordr

iven

bysp

iral

mot

ors.

17:5

0–

18:1

0O

nth

eus

eof

torq

uedi

stur

banc

eob

serv

ers

in2-

mas

ssy

stem

sw

ithap

plic

atio

nto

aro

botic

join

t.

Am

easu

rem

ent

prob

efo

rco

or-

dina

tem

easu

ring

mac

hine

sba

sed

onG

MR

tech

nolo

gy.

Perf

orm

ance

impr

ovem

ent

ofbi

-la

tera

lcon

trol

with

mul

ti-de

gree

-of

-fre

edom

base

don

dist

urba

nce

obse

rver

desi

gn.

18:1

0–

18:3

0C

lass

ifica

tion

ofa

hybr

idco

ntro

lsy

stem

forr

obot

icto

olus

e.



Frid

ayM

arch

1,20

1310

:30

–12

:30

Aud

itori

umR

oom

VM

1R

oom

VM

2R

oom

VM

5A

dvan

ced

Mot

ion

Con

trol

6Se

nsor

s,A

ctua

tors

and

Syst

emIn

tegr

atio

n3

Hap

tics

3C

ompl

iant

Rob

ots

2

10:3

0–

10:5

0Im

pro v

emen

tof

traj

ecto

rytr

ack-

ing

perf

orm

ance

usin

gps

eudo

feed

forw

ard

cont

rol.

Asm

artl

ight

ing

syst

emfo

rind

us-

tria

land

dom

estic

use.

Opt

imal

desi

gnof

ahi

ghpe

rfor

-m

ance

hapt

icde

vice

:ano

vela

p-pr

oach

.

Lon

gst

roke

cont

inuo

us-p

ath

po-

sitio

nco

ntro

lof

anSP

Msp

iral

mot

or.

10:5

0–

11:1

0C

onto

urin

gac

cura

cyim

prov

e-m

ent

ofpa

ram

etri

cfr

ee-f

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Technical Program for Wednesday February 27, 2013

Wed. 09:15 – 10:15 AuditoriumWhere Future Robot Should Go and Should Not Go? (Plenary Session)

Chair: Iwasaki, Makoto Nagoya Institute of Technology

09:15 – 10:15Where Future Robot Should Go and Should Not Go?

Kaneko, Makoto University of Osaka

“Where future robots should go and should not go?” and “What is an adequate style of collaboration between human and robots?”These questions are really interesting for discussing the future direction of robot, especially from the design point of view. Whileit is really hard to find a general answer for these questions, we try to provide our answers, particularly focusing on manipulationarea, by reviewing our former works. As for human/robot collaboration, we show two business examples; one is that robots helphuman with the function where human can not do, and the other is that the production cost can be reduced in global sense bycollaboration between human and robots.

Wed. 10:40-12:40 AuditoriumRobotics 1: Command and Control of Robots

Chair: Nakamura, Taro Chuo UniversityCo-Chair: Cenedese, Angelo University of Padova

10:40-11:00Advanced Observer Design for Multi-Task Control in Visual Feedback Based Redundant Manipulators

Wang, Hansheng Keio UniversityMurakami, Toshiyuki Keio University

Many people expect robots to assist us in our daily lives. In this case, visual information is necessary in human-robot cooperation.In general, by using visual information feedback, the posture error between manipulators and fingers is computed to adjust thesystem input. Because robotic manipulators have redundant degree-of-freedom (DOF), a variety of tasks can be performed at thesame time. However, conflicts may occur be-tween tasks and the stability of the system cannot be guaranteed. The control spacesof redundant manipulators are divided into work-space and null-space. As the number of the DOF increases, the calculation ofthe null-space term becomes more complicated. This paper describes a novel approach of advanced observer design of visualfeedback redundant manipulators by using the task-priority control strategy. In order to avoid the conflicts of multiple tasks, thetask-priority control strategy is employed in our system. In the proposed approach, a RIC structure based work-space observeris designed. We also utilize this work-space observer in hierarchical null-spaces to simplify the calculation. The validity of theproposed approach is verified by a simulation. The results suggest that the proposed work-space observer has better performancethan the conventional work-space observer in hierarchical null-spaces.

11:00-11:20Algorithm for Three-Dimensional Control of Needle Steering via Duty-Cycled Rotation

Wood, Nathan A. Carnegie Mellon UniversityLehocky, Craig A. Carnegie Mellon UniversityRiviere, Cameron N. Carnegie Mellon University

Proportional control of curvature of a flexible bevel-tipped needle can be accomplished by rotating the needle shaft with a dutycycle. Using this technique, an algorithm for image-guided path-following control in two dimensions, based on an autonomousvehicle controller, has been previously demonstrated. This paper describes a computationally simple algorithm that extends thepath-following control to three dimensions. Results from simulation are presented.

11:20-11:40Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot

Holden, Christian Norwegian University of Science and TechnologyPettersen, Kristin Y. Norwegian University of Science and TechnologyStavdahl, Øyvind Norwegian University of Science and Technology



Gravdahl, Jan Tommy Norwegian University of Science and TechnologyIn this paper, motion planning of snake robots is considered. In particular, we develop a mapping from a continuous 3D curveto the position and shape of a snake robot. The snake robot’s position is the x, y, z coordinates of its center of mass; its shapeis defined by a series of angles representing the rotation of each joint relative the the inertial reference frame. Smooth curvesare often easier to use in path planning and design of gait patterns, but snake robots are non-smooth. A mapping is thereforenecessary. The mapping is optimal in the least squares sense. The optimal configuration is found by explicitly differentiating thecost function, and finding the equilibria. The method is compared to two other methods in literature, and has lower mean squareerror than both these other methods.

11:40-12:00Design and Implementation of a Kalman State Estimator for Balancing of Uniaxial Vehicles for Goods Transport

Bruening, Matthias Fraunhofer IPKHeinemann, Fabian Fraunhofer IPKSchoenewolf, Werner Fraunhofer IPKKrueger, Joerg Fraunhofer IPK

Uniaxial vehicles for goods transport such as hand trucks offer intuitive manoeuvrability with little space requirements and theability to overcome obstacles such as steps and kerbs. This is why this class of vehicles is popular with many transport tasks.The disadvantage of this pedestrian controlled means of transportation is the need for the user to apply the force for stabilisationand propulsion. A solution approach is to equip the uniaxial vehicle with a controlled drive system providing force for bothstabilisation and propulsion. To realise such balance control the vehicle frame’s pitch angle must be adopted with every changeof load. This is a fundamental difference to uniaxial vehicles without payload or for passenger transportation. In this paper wepresent a Kalman state estimator for identification of the frame’s and load’s combined center of gravity’s pitch angle. It is notmeasureable using sensors installed on the vehicle frame but must be known for the vehicle’s balance control. The estimatorwas designed and implemented using our new uniaxial vehicle system for freight transport. The experimental results show thecorrect operation of the approach. The estimator provides a basis for further research in the field of control strategies both forstable operation of this type of vehicle under real-life conditions and for its intuitive manual guidance based on low interactionforces.

12:00-12:20Optimal Robot Path Following for Minimal Time versus Energy Loss Trade-Off using Sequential Convex Programming

Debrouwere, Frederik KU LeuvenVan Loock, Wannes KU LeuvenPipeleers, Goele KU LeuvenTran Dinh, Quoc KU LeuvenDiehl, Moritz KU LeuvenDe Schutter, Joris KU LeuvenSwevers, Jan KU Leuven

This paper focusses on the time-energy optimal path following for robots. This considers the problem of moving along apredetermined geometric path with a minimal trade-off between the motion time and the two major thermal energy losses inelectric actuators. Theses losses consist of resistive electrical losses and mechanical friction losses. When only taking intoaccount the electrical losses for a simplified robotic manipulator, a convex reformulation has been derived previously [1]. Inthis paper we include the dynamic joint friction losses into the objective. This also implies that we have to include the dynamicjoint friction into the robot equations of motion, which appear in the torque constraints. Both the resulting objective and torqueconstraints are non-convex. The present paper proposes an efficient sequential convex programming (SCP) approach to solvethe resulting optimal control problem. A key step here is to decompose the non-convex functions involved as a difference ofconvex functions. Numerical simulations illustrate the fast convergence of the proposed method in only a few SCP iterations,confirming the efficiency of the proposed framework. This high efficiency allows for an efficient tool to investigate the trade offbetween time-optimality and energy-optimality.

12:20-12:40Center of Mass States and Disturbance Estimation for a Walking Biped

Hahlamon, Iyad Sabanci UniversityErbatur, Kemalettin Sabanci University

An on-line assessment of the balance of the robot requires information of the state variables of the robot dynamics and mea-surement data about the environmental interaction forces. However, modeling errors, external forces and hard to measure states



pose difficulties to the control systems. This paper presents a method of using the motion information to estimate the centerof mass (CoM) states and the disturbance of walking humanoid robot. The motion is acquired from the inertial measurementunit (IMU) and forward kinematics only. Kalman filter and disturbance observer are employed, Kalman filter is used for thestates and disturbance estimation, and the disturbance observer is used to decompose the disturbance into modeling error andacceleration error based on the frequency band. The disturbance is modeled mathematically in terms of previous CoM andZero moment point (ZMP) states rather than augmenting it in the system states. The ZMP is estimated using the quadraticprogramming method to solve the constraint dynamic equations of the humanoid robot in translational motion. A biped robotmodel of 12-degrees-of-freedom (DOF) is used in the full-dynamics 3-D simulations for the estimation validation. The resultsindicate that the presented estimation method is successful and promising.

Wed. 10:40-12:40 Room VM1Computer and Control 1

Chair: Jara, Carlos University of AlicanteCo-Chair: Wakui, Shinji Tokyo University of Agriculture and Technology

10:40-11:00Direct Visual Servoing of a Redundant Robot with Chaos Compensation

Pomares, Jorge University of AlicantePerea, Ivan University of AlicanteJara, Carlos University of AlicanteTorres, Fernando University of Alicante

This paper presents a direct visual servoing system to control a redundant robot. To solve the redundancy the concepts ofmanipulability and perceptibility are combined in a priority based scheme. The proposed dynamic controller determines theappropriate motor references such that the robot-end and joints behave correctly. In order to guarantee the applicability of thisapproach, a repetitive path tracked by the robot-end must produce a periodic joint motion. The paper describes experiments inwhich a non-periodic joint motion is obtained during the tracking of repetitive image trajectories. To solve this problem, delayedfeedback control is integrated in the dynamic controller in order to avoid chaotic behavior in the joint space during the trackingof these image trajectories. Furthermore, a method to adjust this last controller is proposed based on experimental results.

11:00-11:20Pressure Estimation of Pneumatic Anti-Vibration Apparatuses Using an Identity Observer

Hotta, Daigo Tokyo University of Agriculture and TechnologyNakamura, Yukinori Tokyo University of Agriculture and TechnologyWakui, Shinji Tokyo University of Agriculture and Technology

This paper considers the parameter tuning of the identity observer and the implementation method of the estimated pressurefeedback for a pneumatic anti-vibration apparatus. To tune the observer’s parameters efficiently, the number of parameters isreduced by equivalent transformation of the block diagram of the observer. The pole assignment of the observer is verifiedbased on the time response of the position error. Moreover, by considering the saturation of output voltage of the driver circuit,estimation error is reduced. Experimental results show the effectiveness of the proposed method.

11:20-11:40Unbalance Vibration Control for Active Magnetic Bearing Using Automatic Balancing System and Peak-of-Gain Control

Okubo, Shinya Tokyo University of Agriculture and TechnologyNakamura, Yukinori Tokyo University of Agriculture and TechnologyWakui, Shinji Tokyo University of Agriculture and Technology

This paper considers unbalance vibration for five-axes active magnetic bearing systems. To suppress the vibration, the automaticbalancing system (ABS) and the peak-of-gain control (PGC) are utilized. By using the ABS (the PGC), the bearing stiffnessat rotational frequency is increased (decreased). In previous works, implementation methods for these have not been presentedfully. Thus, in this paper, we considered the implementation of the ABS and the PGC. Moreover, in the conventional PGC, thefeedback gain must be tuned according to the rotational speed of the rotor. This results in the increase of tuning cost. In order tosolve this problem, the structure of the PGC is improved. Practical advantages of the PGC/ABS are demonstrated by rotationaltests of a turbo molecular pump.



11:40-12:00A New Solution for the Robust Control Problem of Non-minimum Phase Systems using Disturbance Observer

Sariyildiz, Emre Keio UniversityOhnishi, Kouhei Keio University

Plants, which have Right Half Plane (RHP) zero(s), are called as non-minimum phase systems due to their specific phase responsecharacteristics. They have several constraints, such as bandwidth limitation, achievable sensitivity reduction etc., in the designof feedback control systems. Furthermore, the conventional Disturbance Observer (DOB) cannot be directly applied to the non-minimum phase systems due to internal stability problem. This paper proposes a new solution for the robust control problemof non-minimum phase systems by using the DOB. A non-casual, minimum phase transfer function is proposed to remove theinternal stability problem in the design of DOB. The Poisson integral formula is used so that the bandwidth constraints of DOB,which occurs due to non-minimum phase characteristic, are analytically derived. The proposed method is applied to a generalsecond order plant model with a RHP zero and system uncertainties. Simulation results are given to show the validity of proposedmethod.

12:00-12:20Design Constraints of Disturbance Observer in the Presence of Time Delay

Sariyildiz, Emre Keio UniversityOhnishi, Kouhei Keio University

The design of disturbance observer (DOB) requires a low pass filter (LPF) to satisfy the causality and prevent the inner-loop fromalgebraic loop. The bandwidth of the LPF is desired to be as high as possible to estimate the disturbances in a wide frequencyrange. However, it is very-well known that the bandwidth of DOB is limited by noise and robustness. This paper shows that thebandwidth limitation of DOB becomes more severe if the plant includes time delay. Furthermore, a new design constraint onthe parameters of the LPF of DOB is proposed to obtain predefined performance and robustness criteria. A second order plantmodel that includes time delay is analyzed and simulation results are given to show the validity of the proposed method.

12:20-12:40Spiking Neural Networks for the Control of a Servo System

Oniz, Yesim Bogazici UniversityKaynak, Okyay Bogazici UniversityAbiyev, Rahib Near East University

This paper presents the design of a Spiking Neural Network (SNN) structure for control applications and evaluates its performanceon a servo system. The design of SNN is per-formed using Spike Response Model (SRM). A gradient algorithm is applied forlearning of SNN. The coding and decoding is applied for converting real numbers into spikes. A number of different loadconditions including nonlinear and time-varying ones are used to investigate the performance of the proposed control algorithmon a laboratory setup that regulates the speed of a DC motor. It is seen that the control structure proposed has the ability toregulate the servo system around the set point signal in the presence of load disturbances.

Wed. 10:40-12:40 Room VM2Transportation 1

Chair: Fujimoto, Hiroshi University of TokyoCo-Chair: Massaro, Matteo University of Padova

10:40-11:00Electric Vehicle Stability Control Based on Disturbance Accommodating Kalman Filter Using GPS

Nguyen, Binh Minh The University of TokyoWang, Yafei The University of TokyoFujimoto, Hiroshi The University of TokyoHori, Yoichi The University of Tokyo

This paper describes a new electronic stability control system of electric vehicles based on sideslip angle estimation throughKalman filter. Vehicle course angle obtained from single antenna GPS receiver and yaw rate obtained from gyroscope are usedas measurements for Kalman filter. By treating the combination of model errors and external disturbances as extended states inthe Kalman filter algorithm, accurate sideslip angle estimation was achieved. A new scheme was proposed for integrating activefront steering angle and yaw moment as control inputs. The extended states are utilized for disturbance rejection that improves



the robustness of the control system.

11:00-11:20A Portable Driving Simulator for Single-Track Vehicles

Massaro, Matteo University of PadovaCossalter, Vittore University of PadovaLot, Roberto University of PadovaSartori, Roberto University of TrentoRota, Stefano University of PadovaFerrari, Marco University of PadovaFormentini, Matteo Dynamotion SrL

The paper describes the new portable driving simulator for powered two wheelers (PTW) designed and built in 2011 at theUniversity of Padova. The simulator is mainly to train riders and to study their behaviors in different scenario, but also toinvestigate different design choices on PTW dynamics, to develop and test new electronic devices and advanced driver assistancesystems. Several examples of telemetry logged from the simulator are presented and discussed to highlight how the simulatorcaptures the most important PTW dynamics, such as the counter-steering, tire skidding, weave/wobble instability, etc.

11:20-11:40Optimization of the Centre of Mass Position of a Racing Motorcycle in Dry and Wet Track by means of the “Optimal ManeuverMethod”

Cossalter, Vittore University of PadovaLot, Roberto University of PadovaTavernini, Davide University of Padova

The “Optimal Maneuver Method” is an application of the optimal control theory that basically simulates an ideal driver andcomputes the actions and the trajectory to complete a maneuver in the minimum time. As an application of this method a 125cc motorcycle and a real race circuit, in both dry and wet conditions, have been simulated, and the validation of the results bymeans of a comparison with real telemetry data is discussed.

Afterwards two significant quantities, the height and the longitudinal position of the centre of mass of the vehicle, have beenconsidered. The influence of variation on the minimum lap time, in the two track conditions discussed above, is presented.

11:40-12:00Adaptive Neural-Fuzzy Inference System based Method to Modeling of Vehicle Crash

Zhao, Lin University of AgderPawlus, Witold University of AgderKarimi, Hamid Reza University of AgderRobbersmyr, Kjell G. University of Agder

Various areas of research need to be considered in order to establish a mathematical model of a vehicle crash. To enhancethe modeling process, a novel ANFIS-based approach to reconstruct behavior of impacting vehicles is presented in this paper.Kinematics of center of gravity (COG) a vehicle involved in an oblique barrier collision is reproduced by application of afive-layered ANFIS structure. Then, the same ANFIS system is used to simulate a different collision type than the one which wasused in the training stage. The points of interests are selected to be the locations of accelerometers mounting. The accuracy of theproposed method is evaluated by the comparative analysis with the reference measurements from full-scale vehicle collisions.

12:00-12:20Improving EV Lateral Dynamics Control Using Infinity Norm Approach with Closed-form Solution

Viehweider, Alexander The University of TokyoSalvucci, Valerio The University of TokyoHori, Yoichi The University of TokyoKoseki, Takafumi The University of Tokyo

Over-actuated EVs offer a high degree of freedoms that can be exploited for better vehicle dynamic behaviour, energy efficiency,vehicle safety and comfort. If the cost of the actuators can be brought to a reasonable level, then sophisticated control algorithmshould make the most out of the over-actuation property.

A key aspect in lateral dynamics control of an over actuated EV with In Wheel motors and active front and/or rear steering is theso called control allocation problem. Often such problems are solved using the 2 norm (weighted least square solution) as it is



expressed in a closed form-solution and has a low fixed number of arithmetic operations suited for real time control. In this worka closed-form solution based on the infinity norm for the case of 2 to 3 control allocation problem in EV lateral dynamic controlis derived, and validated by means of simulation runs considering an electric vehicle with In-Wheel-Motor traction and activefront and rear steering. During a “sine with a dwell” steering command at a constant velocity the superiority of the proposedalgorithm based on the infinity norm is shown.

Wed. 10:40-12:40 Room VM5Education

Chair: Boschetti, Giovanni University of Padova

10:40-11:00Dry Friction Modeling in Dynamic Identification for Robot Manipulators: Theory and Experiments

Kammerer, Nolwenn CEA-LISTGarrec, Philippe CEA-LIST

Nowadays, many robotic applications require an accurate model to perform tasks where dynamics is significant. The frictionmodel discussed in this paper aims at improving the existing rigid robot model. The losses in joint transmission originate infriction between moving parts in contact or between moving parts and the ambient fluid. Commonly, robotic identificationmodels represent joint transmission friction force as a viscous friction force, depending on the velocity, added to a constant dryfriction force. However, the tribology science field teaches that friction in general depends on load (reaction force normal to thecontact surface). It is important to consider this dependence when variable loads are applied on the joint transmission (externalpayloads, inertial load and gravity forces). Since these mechanisms are lubricated, it is appropriate to refer to the Stribeck curve(rather than Coulomb). This curve describes the friction coefficient as being dependent on a parameter (Hershey) combining thevelocity and the load.

This paper proposes a new expression of the load-velocity friction model, in order to identify a serial n degrees of freedom(DOF) robot. The friction force of this new inverse dynamic identification model is a linear function of both inertial and externalforces. An experimental validation on an industrial manipulator used as a force feedback telerobot in nuclear plant concludesthis paper.

11:00-11:20Tolerance Synthesis Using Bond Graph Inversion and Fuzzy Logic

Van Hoa, Nguyen Université de LyonEberard, Damien Université de LyonMarquis-Favre, Wilfrid Université de LyonKrahenbuhl, Laurent Université de Lyon

In the context of mechatronic systems design, this paper addresses a parameter tolerance synthesis with respect to specificationsincluding output epistemic uncertainties. The methodology proposed here concerns uncertainties modelled with fuzzy logic. Theprocedure relies on output uncertainties propagation through an inverse model. Design parameter tolerance is then synthesized.The results are validated injecting designed parameters in the direct model. The methodology is illustrated on a linear modelwith specifications including combined uncertainties.

11:20-11:40Swarm-based Evaluation of Nonparametric SysML Mechatronics System Design

Chami, Mohammad University of LuxembourgBou Ammar, Haitham Maastricht UniversityVoos, Holger University of LuxembourgTuyls, Karl Maastricht UniversityWeiss, Gerhard Maastricht University

The design of a mechatronics system is considered one of the hardest challenges in industry. This is mainly due to the multidisci-plinary nature of the design process that requires the knowledge integration of the participating disciplines. Previously, we haveproposed SysDICE a framework that is capable of: (1) modeling the multidisciplinary information of mechatron-ics systemsusing SysML and (2) adopting a nonparametric technique for evaluating such a SysML model. In SysDICE the optimization thatled to the determination of the best alternative combinations for satisfying the requirements was time-costly and discarded pro-hibited combinations. This paper contributes by: (1) proposing an effective method for restricting the set of possible alternative



combinations and (2) employing a swarm intelligence based optimization scheme which significantly reduces the computationalcost of SysDICE.

11:40-12:00Optimal Design, Simulation and Experimental Tests of an 5R PKM Manipulator

Cinquemani, Simone Politecnico Di MilanoGiberti, Hermes Politecnico Di MilanoBassetti, Marco Politecnico Di Milano

The design of an automatic system requires a synergistic collaboration between several disciplinary areas, involving know-howand expertise in mechanical, electrical and technical fields. A robot is a complex automatic system, which carries on morethan the common features of a simple machine, since it is usually designed to accomplish tasks which are not known duringthe design phase. This paper deepens the design of a five-bar parallel manipulator with two degrees of freedom high-lightingthe multidisciplinary approach used in its development. Starting from the machine requirements, the process of kinematicoptimization, the structural design phase, the dynamic analysis and the sizing of the driving systems are deeply described.Finally the designed PKM is realized and tested, comparing experimental results with those obtained from numerical analysis.

Wed. 14:00-16:00 AuditoriumAdvanced Motion Control 1: Actuators and Motion Control

Chair: Aschemann, Harald University of RostockCo-Chair: Iwasaki, Makoto Nagoya Institute of Technology

14:00-14:20Control of Variable Speed Wind Energy Conversion Systems by a Discrete-time Sliding Mode Approach

Cimini, Gionata Università Politecnica delle MarcheCorradini, Maria Letizia Università di CamerinoIppoliti, Gianluca Università Politecnica delle MarcheMalerba, Nazario Università Politecnica delle MarcheOrlando, Giuseppe Università Politecnica delle Marche

This paper presents a discrete-time variable-structure-based control designed for a variable speed wind energy conversionsystem based on a permanent magnet synchronous generator. A cascade control scheme is proposed to obtain the maximumpower efficiency. The analysis of the control stability is given and the ultimate boundedness of the speed tracking error is proved.Reported numerical simulations show that the proposed controller enhances the overall performance obtaining the maximumpower efficiency and it is robust under variable operating conditions and in the presence of disturbances affecting the system.

14:20-14:40Adaptive Inverse Dynamics Control for a Hydrostatic Transmission with Actuator Uncertainties

Sun, Hao University of RostockAschemann, Harald University of Rostock

Commercially used controllers for drive chains based on a hydrostatic transmission cannot guarantee acceptable tracking per-formance in the presence of uncertainty in the system dynamics, e.g., in the case of only imperfectly known actuator parameters.Hence, in this paper, an adaptive inverse dynamics control is presented that addresses this problem. The nonlinear controllerconsists of two main parts: an inverse dynamics controller to stabilize the tracking of desired trajectories for the difference pres-sure and the motor angular velocity, and an adaptation law to determine the actuator parameters online. An unknown disturbancetorque is estimated using a reduced-order disturbance observer. Simulation results show that with the proposed adaptive controlstructure an accurate trajectory tracking is achieved despite uncertainty in the system dynamics.

14:40-15:00Variable Proportional-Integral-Resonant (PIR) Control of Actuators with Harmonic Disturbances

Ruderman, Michael TU-Dortmund, RSTBertram, Torsten TU-Dortmund, RST

Harmonic disturbances in servo applications, in particular rotating actuators, are common and lead to a non-smooth motion withripples. A novel variable proportional-integral-resonant (PIR) control which combines a PI and PR regulation is proposed. Themain PIR control feature is its ability to track both dc and ac quantities at the same time. The design and analysis of the closedcontrol loop are performed in frequency-domain via the open loop characteristics. The control gain boundaries due to the time



delays are addressed. The experimental evaluation of compensating two first harmonics at different reference velocities disclosesthe variable PIR control as superior in comparison to the underlying optimal PI one.

15:00-15:20Controller Design for Dual-Stage Actuator-Driven Load Devices Considering Suppression of Vibration Due to Input Saturation

Shinohara, Yusaku Nagoya Institute of TechnologySeki, Kenta Nagoya Institute of TechnologyIwasaki, Makoto Nagoya Institute of TechnologyChinda, Hiroshi Fujikura Composites Co., Ltd.Takahashi, Masaki Fujikura Composites Co., Ltd.

This paper presents a controller design approach considering vibration suppression due to input saturation for load devices. In thetarget load device, a pneumatic actuator and a voice coil motor are combined as a dual-stage actuator to expand the control servobandwidth. However, vibrations due to the input saturation of the voice coil motor deteriorate the force tracking performancefor the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibration, wherea compensator is designed to improve the disturbance suppression at the plant resonant frequency. The proposed approach hasbeen verified by experiments using a prototype of load device.

15:20-15:40Automatic Tuning of a Servo Drive Speed Controller for Industrial Applications

Weissbacher, Joachim Bernecker + RainerGruenbacher, Engelbert Bernecker + RainerHorn, Martin Klagenfurt University

This paper deals with an automatic tuning approach of a servo drive speed controller for industrial applications. Data drivenmodels of different order are generated during an identification process an yield a low order nominal model with an estimation ofa multiplicative uncertainty model. The nominal model and the uncertainty model are then applied to define a mixed sensitivitycontrol problem which is solved by standardH∞ control tools. In view of the given fixed controller structure the control problemis defined in such a way that the resulting controller can directly be used without a controller order reduction procedure. Theeffectiveness of the concept is demonstrated on an industrial application.

15:40-16:00Improved Rotor Position Estimation Of Salient-Pole PMSM Using High Frequency Carrier Signal Injection

Mansouri-Toudert, Ouiza Mouloud Mammeri UniversityZeroug, H Houari Boumediene University of Sciences and TechnologyAuger, Francois LUNAM University, IREENAChibah, Arezki LUNAM University, IREENA

This paper presents a new rotor position estimator for salient-pole permanent magnet synchronous machines (PMSM) basedon carrier signal injection. This method first uses a new way to extract the negative frequency component of the current, whichcontains the rotor position information. Compared to the classical approach, this method uses only one filter. It also performsan on line compensation of the phase shift of the filter used for this extraction. This method is used for sensorless field-orientedcontrol, confirming then its effectiveness under various operating conditions.

Wed. 14:00 – 16:00 Room VM1Computer and Control 2

Chair: Antonello, Riccardo University of PadovaCo-Chair: Ripamonti, Francesco Politecnico di Milano

14:00 – 14:20Nonlinear Function Approximation based on Fuzzy Algorithms with Parameterized Conjunctors

Aras, Ayse C. Bogazici UniversityKaynak, Okyay Bogazici UniveristyBatyrshin, Ildar Mexican Petroleum Institute

In this study, two fuzzy algorithms, type-1 fuzzy algorithm with parameterized conjunctors and a novel approach interval type-2 fuzzy algorithm with parameterized conjunctors are used in the modeling application for nonlinear functions. The aim of



using parameterized conjunctors as fuzzy operators in these algorithms is not to lose or distort the expert knowledge about thesystem during the optimization process. In this study, this linguistic information about the system is obtained by using fuzzyc-means clustering algorithms. Then, the designed fuzzy algorithms are tested on two benchmark nonlinear functions in modelingapplication.

14:20 – 14:40A Differential-Algebraic Approach for Robust Control Design and Disturbance Compensation of Finite-Dimensional Models ofHeat Transfer Processes

Rauh, Andreas University of RostockDittrich, Christina University of RostockAschemann, Harald University of RostockNedialkov, Nedialko S. McMaster UniversityPryce, John D. Cardiff University

Control design for heat transfer processes usually has to deal with significant uncertainty in parameters of finite-dimensionalsystem models. These finite-dimensional models are used as an approximation for the underlying infinite-dimensional repre-sentation of the system dynamics governed by partial differential equations. To obtain control laws that can be evaluated in realtime, the infinite-dimensional representation usually has to be replaced by a finite-dimensional one. However, the resulting ap-proximation errors as well as the parameters characterizing heat transfer and heat conduction properties are typically not directlymeasurable in experiments. Therefore, control strategies have to be derived that are able to cope with the before-mentionedsources of uncertainty. In this paper, a robust combination of feedforward and feedback control laws is derived that guaranteesasymptotic stability and accurate trajectory tracking. The robust-ness of the control structure is obtained by an offline controlsynthesis by means of linear matrix inequalities for a linear system model with polytopic uncertainty. Moreover, an efficientapproach for solving high-dimensional and high-index differential algebraic equations, implemented in DAETS, is employed tonumerically compute dynamic feedforward control sequences.

14:40 – 15:00A Sensitivity-Based Approach for the Control of Repetitive Processes

Rauh, Andreas University of RostockSenkel, Luise University of RostockDittrich, Christina University of RostockAschemann, Harald University of RostockGalkowski, Krzysztof Nicolaus Copernicus UniversityDabkowski, Pawel Nicolaus Copernicus University

For a large number of technical processes, it is desirable to design control strategies which allow for tracking desired state or outputprofiles which are repeated periodically. Such tasks are commonly solved by means of iterative learning control strategies as wellas by the concept of repetitive control. Most of these before-mentioned techniques are designed in such a way that the linearity ofthe underlying system model is exploited. If a dynamic system is nonlinear, techniques for gain scheduling, corresponding to anonline adaptation of a quasi-linear system model, are commonly applied. However, such adaptation strategies, depending on statemeasurements or estimated variables, have to be derived specifically for each problem at hand. Therefore, a sensitivity-basedcontrol approach is presented in this paper that can be employed for tracking control of both linear and nonlinear dynamic systemsin spite of non-modeled disturbances. This control strategy makes use of a real-time capable sensitivity analysis of dynamicsystem models and comprises aspects of model-predictive and iterative learning control. The applicability of the correspondingalgorithm is demonstrated in simulation and experiment for a distributed heating system.

15:00 – 15:20An Adaptive Non-Model Based Control Logic for Vibration Suppression in Flexible Structures

Ripamonti, Francesco Politecnico di MilanoMorlacchi, Matteo Politecnico di MilanoResta, Ferruccio Politecnico di Milano

During the last decades, in order to reduce the vibrations in flexible structures, many active control strategies have been introduced.Among the other techniques, adaptive active controls are particularly attractive for time-varying and nonlinear systems. Thegoal of this work is to propose an adaptive version of Direct Velocity Feedback (DVF) using a non model-based identificationsystem, which identifies the parameters of the mechanical system and uses them to set the gain of the control law.



15:20 – 15:40An Active Control Logic Based on Modal Approach for Vibration Reduction Through the Eigenstructure Assignment

Ripamonti, Francesco Politecnico di MilanoResta, Ferruccio Politecnico di MilanoSerra, Mattia Politecnico di Milano

This paper presents a new control technique for vibration reduction based on modal approach and named Dependent ModalSpace Control (DMSC). It is an active control logic that allows to assign the closed loop poles and the corresponding modeshapes of a system in a discrete number of degree of freedom depending on the amount of the sensors and actuators available. Inorder to perform the eigenstructure assignment, modal sensors and actuators are necessary unless both control and observationspillover are minimized.

15:40 – 16:00Supervisory Control of PV-Battery Systems by Online Tuned Neural Networks

Ciabattoni, Lucio Università Politecnica delle MarcheIppoliti, Gianluca Università Politecnica delle MarcheLonghi, Sauro Università Politecnica delle MarcheGrisostomi, Massimo Università Politecnica delle MarcheMainardi, Emanuele Energy Resources SPACimini, Gionata Università Politecnica delle Marche

The paper deals with a neural network based supervisor control system for a PhotoVoltaic (PV) plant. The aim of the work is tofeed the power line with the 24 hours ahead forecast of the PV production. An on-line self-learning prediction algorithm is usedto forecast the power production of the PV plant. The learning algorithm is based on a Radial Basis Function (RBF) networkand combines the growing criterion and the pruning strategy of the minimal resource allocating network technique. The powerfeeding the electric line is scheduled by a Fuzzy Logic Supervisor (FLS) which controls the charge and discharge of a batteryused as an energy buffer. The proposed solution has been experimentally tested on a 14 KWp PV plant and a lithium batterypack.

Wed. 14:00 – 16:00 Room VM2Transportation 2

Chair: Biral, Francesco Univerity of TrentoCo-Chair: Buja, Giuseppe University of Padova

14:00 – 14:20Adaptive Robust Gain Scheduled Control of Vehicle Semi-active Suspension for Improved Ride Comfort and Road Handling

Ahmed, Mahmoud M. University of the Federal Armed Forces MunichSvaricek, Ferdinand University of the Federal Armed Forces Munich

An adaptive robust controller is presented and applied on a vehicle semi-active suspension system. Due to the variation of thechassis mass, a robust controller was designed, such that two linear H-infinity controllers are used for both the minimum andmaximum limits of the mass variation. The outputs of the two controllers are interpolated to obtain a desired control forcesignal that corresponds to the variation of the estimated chassis mass. To apply the control algorithm, one acceleration sensor isused. The performance of the proposed controller is compared with the Skyhook, SH-ADD, and Groundhook algorithms. Thesimulation and experimental results have shown a higher performance regarding ride comfort and road handling.

14:20 – 14:40Optimal Synthesis of a Cam Mechanism for Train Pantograph

Gritti, Matteo Giovanni Politecnico Di MilanoGiberti, Hermes Politecnico Di MilanoCollina, Andrea Politecnico Di Milano

In this work is developed a method for the project of train pantograph; in particular we focused on the cam mechanism, typicalof the railway pantographs; in fact the cam profile affects the whole behavior of the machine, making the link between theactuation system and the rest of the pantograph; which is why we can regulate the functioning of the pantograph acting only onthis particular component; will then be shown, in general, the setting of the problem, the method of calculation and optimizationof the cam and the results obtained.



14:40 – 15:00On-Road Measurements of High Speed Bicycle Shimmy, and Comparison to Structural Resonance

Magnani, Gianantonio Politecnico di MilanoPapadopoulos, Jim Northeastern UniversityCeriani, Nicola Maria Politecnico di Milano

This paper first presents original data records of the linear accelerations, along with angular velocities and forward velocity, fora high-speed hands-on bicycle shimmy. These describe the oscillation in terms of duration, magnitude, correlation with forwardspeed, and related danger for the rider. Then additional experimental data are reported which support the conjecture that theshimmy while riding occurs essentially at the same frequency as the lateral resonance of the head tube when the saddle of astationary bicycle is laterally constrained.

15:00 – 15:20Objective Performance Evaluation on Mountain Routes of Diesel-Electric Hybrid Busses

Biral, Francesco University of TrentoGalvani, Marco University of TrentoZucchelli, Michele University of TrentoGiacomelli, Giuliano Trentino Trasporti spa

The application of hybrid buses for public transport on mountain route is an attractive idea because of the low pollutant emissionfootprint in touristic areas and the possibility to exploit the down hill route and the frequent stops to recover energy. Neverthelessthe use of these vehicles is challenging for many aspects: technologically, the winter weather conditions may have a detrimentaleffect on batteries and electrical components, and road profile elevation may not allow to satisfy the target speeds requiredby the traditional bus’ stop-to-stop schedule. In order to objectively assess the possibility to employ such type of vehicles onmountain routes, the actual fuel consumption and emission, logged in field operational tests, are compared with reference optimalstop-to-stop manoeuvres calculated a posteriori, which also include the interaction with the front traffic situation. The optimalreference manoeuvres are calculated based on two multi-physics dynamic models of the series hybrid diesel-electric buses,one with lithium batteries and the second with ultra-capacitors. Here the details of the two model developed are presented anddiscussed together with the first stage of the validation process carried out with the experimental data collected on-board.

Wed. 14:00 – 16:00 Room VM5Manufacturing

Chair: Katsura, Seiichiro Keio UniversityCo-Chair: Karimi, Hamid Reza University of Agder

14:00 – 14:20Changeability of Requirements – Usable Indicators for Product Development

Mamrot, Michel University of WuppertalMarchlewitz, Stefan University of WuppertalWinzer, Petra University of Wuppertal

The reuse of information and knowledge is an established principle for designing variants of a mechatronic product subject tochanging requirements. To assist in the application of this principle a new way of classifying requirements into changeable andunchangeable is introduced. This approach focuses on those requirements that remain unchanged and are therefore associatedwith design knowledge that can be reused. From the set of changeable and unchangeable requirements indicators are derived toassess the effort needed for the development of a new variant. This, in turn, aids in choosing an appropriate product variant asthe starting point for the development of a new variant, such that the development, production and service effort is reduced.

14:20 – 14:40A Fuzzy Programming Method for Optimization of Autonomous Logistics Objects

Mehrsai, Afshin University of BremenThoben, Klaus-Dieter University of BremenKarimi, Hamid Reza University of Agder

Recently several studies have explored the realization of autonomous control in production and logistic operations. In doingso, it has been tried to transmit the merit of decision-making from central controllers with offline decisions to decentralizedcontrollers with local and real-time decision makings. However, this mission has still some drawbacks in practice. Lack of global



optimization is one of them, i.e., the lost chain between the autonomous decentralized decisions at operational level and thecentralized mathematical optimization with offline manner at tactical and strategic levels. This distinction can be reasonablysolved by considering fuzzy parameters in mathematical programming to meet the required tolerances for autonomous objectsat operational level. This claim is recommended and partially experimented in this paper. An assembly scenario is modeled bya discrete-event simulation, in which autonomous pallets carry products throughout the system. This scenario is optimized withregard to its objectives in a simulation, while fuzzy parameters in optimization programming can consider autonomous decisionsdone at operational level.

14:40 – 15:00The SPES Target Chamber Remote Handling System

Vasquez, Jesus INFN PadovaOboe, Roberto University of PadovaAndrighetto, Alberto INFN PadovaCristofolini, Ilaria University of TrentoGuerzoni, Marco INFN BolognaMargotti, Alfonso INFN BolognaMeneghetti, Giovanni University of PadovaBertocco, Matteo University of PadovaPrete, Gianfranco INFN PadovaScarpa, Fabio INFN Padova

In the framework of the EURISOL [1] program to define a second generation RIB (Radioactive Ion Beam) facility, LNL-INFNis constructing in the next five years a specialized national facility for exotic beams based on ISOL method with a uraniumcompound target, named SPES (Selective Production of Exotic Species) [2]. The RIBs are produced inside the target chambercomplex. For radioprotection issues, the SPES target chamber [3] must be easily and safely removed, for servicing or storing,from the beam lines after the irradiation process.

The design of the SPES layout strongly takes into account this effect. In fact, two independent devices are designed for thehandling process, one in horizontal and the other in vertical direction, of the target chamber unit device, which contains theproduction target and ion source complex. The remote handling system, at present adopted for the SPES project, is presentedand discussed in this work.

Wed. 16:30 – 18:30 AuditoriumAdvanced Motion Control 2: Interaction and Motion Control

Chair: Tondu, Bertrand LAAS/CNRS and INSA/University of ToulouseCo-Chair: Fujimoto, Hiroshi University of Tokyo

16:30 – 16:50Robust and Optimal Tracking Control for Manipulator Arm Driven by Pneumatic Muscle Actuators

Amato, Francesco Università degli Studi Magna Græcia di CatanzaroColacino, Domenico Università degli Studi Magna Græcia di CatanzaroCosentino, Carlo Università degli Studi Magna Græcia di CatanzaroMerola, Alessio Università degli Studi Magna Græcia di Catanzaro

In this paper, a robust and optimal control problem for uncertain bilinear systems is formulated via a guaranteed-cost approachand then applied to tracking control design of a robotic arm actuated by Pneumatic Artificial Muscles (PAMs). Taking intoaccount the nonlinear dynamics of the pneumatic actuators, the tracking error dynamics has been described as an uncertainbilinear systems, whereas unknown perturbations on robot dynamics and modelling mismatch are regarded as an externaldisturbance to be attenuated. Some numerical simulations are also given to demonstrate both robustness and optimality of thecontrol performance in tracking desired trajectories with the required accuracy.

16:50 – 17:10Closed-Loop Position Control of Artificial Muscles with a Single Integral Action

Tondu, Bertrand LAAS/CNRS and University of ToulouseArtificial muscles constitute a large class of non-linear actuators characterized by their own stiffness and damping. We analyzein the case of an axial contraction artificial muscle the relevance of a single integral action closed-loop controller. The basic idea



of our approach consists in taking advantage of artificial muscle own stiffness and damping in order to substitute for a classicPID-controller an I-controller with as a consequence only one parameter to tune. Step and tracking responses performed with apneumatic textile-braided McKibben muscle are reported showing the practical efficiency of the method to combine accuracyand load robustness performances.

17:10 – 17:30Comparison of Two Control Approaches for a Linear Axis with Pneumatic Muscles Using One or Two Valves

Schindele, Dominik University of RostockAschemann, Harald University of Rostock

This paper presents two control approaches for a linear axis with pneumatic muscles. Its guided carriage is driven by a nonlineardrive system consisting of two pulley tackles with pneumatic muscle actuators arranged at both sides. This innovative driveconcept allows for an increased workspace as well as higher carriage velocities as compared to a direct actuation. Both proposedcontrol schemes have a cascaded structure, where the control design is based on backstepping techniques. Remaining uncertaintiesare compensated using a recursive least squares algorithm. The main difference between both approaches is the usage of eitherone or two proportional valves for control of the mass flow in or out of the pneumatic muscles. The control approaches havebeen implemented on a test-rig and show an excellent closed-loop performance.

17:30 – 17:50Proposal of Reducing Impact Force Control System for Scan Stage with Decouplable Structure of Coarse and Fine Parts

Tokuyama, Kyota The University of TokyoFujimoto, Hiroshi The University of TokyoYumiza, Daisuke Nikon CorporationSaiki, Kazuaki Nikon Corporation

The upsizing and obtaining higher control accuracy are required for many large industrial machines. However, the requirementsare trade-off against each other from the viewpoint of the conventional machine structure. In this paper, a novel structure ofhigh-precision prototype stage consists of coarse driving part and fine driving part, which can be decoupled with each other, isdeveloped. In this case, the fine part can be simplified so that it would be more rigid and has higher resonant frequencies. Oneproblem of the structure is that the impact between the fine part and the coarse part would be easily occurred at the beginning ofthe acceleration/deceleration. Therefore, we also design an practical control approach for reducing the impact force to improvethe control performance. A control approach is also proposed for reducing the impact force between the coarse part and the finepart. The effectiveness of the proposed approach is verified via simulations and experiments.

17:50 – 18:10Micro-Macro Bilateral Control with Compensation of Gravity and Friction

Mizutani, Yosuke Keio UniversityKatsura, Seiichiro Keio University

In the macro–micro bilateral control, external force added to the slave motor is scaled. In the control, gravity and friction ofthe slave motor is scaled. Therefore, when the scaling rate is large, adverse effects of the gravity and friction become large. Foraccurate control, these factors must be compensated.

Environment quarrier is proposed as the real time identification and compensation of the gravity and friction. It uses dummymotor and operate motor. These motors have same structure and same position. By assuming that the gravity and friction of themotors are same, the system achieves real time identification and compensation of the gravity and friction.

This paper proposes micro macro bilateral control with compensation of the gravity and friction. The system consists of mastermotor, slave motor and dummy motor. The master and slave motors are controlled by macro–micro bilateral control. The dummymotor compensates gravity and friction of the slave motor. The proposed system decreases the negative effect of the gravity andfriction when the scaling rate is large.

18:10 – 18:30Maneuvering Assistant for Truck and Trailer Combinations with Arbitrary Trailer Hitching

Sklyarenko, Yevgen TU BraunschweigSchreiber, Frank TU BraunschweigSchumacher, Walter TU Braunschweig

Stabilizing controllers can assist the driver to safely maneuver of truck and trailer combinations like the EuroCombis. Thispaper presents a novel nonlinear controller for combinations of a nonholonomic tractor car with two semi-trailers based upon a



instantaneous approximation of the vehicle kinematics, an exact input-state linearization technique and a model-reference controlscheme. The main advantage of the suggested controller is its universality, as it can be applied to truck and trailer combinationswith an arbitrary hitching offset as well as in both driving directions. Convergence and robustness properties of the proposedcontroller have been validated by series of simulations and experiments with a combination, which possesses one off-axle andone on-axle joint. The presented method can also be extended to other truck and trailer combinations.

Wed. 16:30 – 18:30 Room VM1Sensors, Actuators and System Integration 1

Chair: Braghin, Francesco Politecnico di MilanoCo-Chair: Ito, Kazuaki Toyota National College of Technology

16:30 – 16:50Experimental Modal Analysis and Shaking Test of an Absolute Displacement Sensor for Suppression of High Frequency Dynamics

Uemoto, Takaaki Tokyo University of Agriculture and TechnologyKai, Takashi Tokyo University of Agriculture and TechnologyNakamura, Yukinori Tokyo University of Agriculture and TechnologyWakui, Shinji Tokyo University of Agriculture and Technology

In the field of vibration control, accelerometers are widely used as feedback sensors. However, it is desirable to use a velocitysensor or a displacement sensor without integral operators. Effects of damping and a skyhook spring are obtained by velocityand displacement feedback, respectively. Therefore, an absolute displacement sensor has proposed to be utilized as feedbacksensors of semiconductor exposure apparatuses. The proposed displacement sensor has the same mechanical structured havinga detector and pendulum as a commercial velocity sensor. In previous works, the proposed sensor is applied as feedback andfeedforward sensors. However, detection bandwidth is limited due to mechanical resonances called high frequency dynamics.In this paper, causes of the resonances are identified and we carry out to suppress the resonances. At first, control structureand operating principle of the proposed sensor are described. Next, we carry out experimental modal analysis and suppressthe resonances by using viscoelastic materials. Finally, we try addition of mass damper in consideration of vibration mode andsuppress the same resonances, which are appeared in shaking test.

16:50 – 17:10Adaptive Control of Piezoelectric Walker Actuator

Golubovic, Edin Sabanci UniversityUzunovic, Tarik University of SarajevoZhakypov, Zhenishbek Sabanci UniversitySabanovic, Asif Sabanci University

This work focuses on the design of adaptive con-troller for high precision positioning purposes using PiezoLegs actuator. Actuatoris driven with the set of periodical sine shaped voltages with known frequency, amplitude and phase shift between the phases.Clear relationships between the amplitude and phase shifts between the phases and actuator step size have been established.Based on these relationships adaptive controller has been designed. Controller is a linear, cascaded type of feedback controllerthat uses position feedback from an encoder. Based on the information of the absolute error controller performs the adaptive stepsize modulation by chang-ing amplitude or phase shift of the driving voltages. Proposed algorithm is validated experimentally.Experimental results show satisfactory level performance, controller achieves fast settling time, no overshoot response and highaccuracy of positioning with small steady state errors.

17:10 – 17:30Phenomenological Modeling and Measurement of Proportional Solenoid with Stroke-dependent Magnetic Hysteresis Charac-teristics

Ruderman, Michael TU-Dortmund, RSTGadyuchko, Andrey Steinbeis Innovation Centrum

In this paper, a phenomenological model of stroke-dependent magnetic characteristics of proportional solenoids is proposed.The Discrete Dynamic Preisach hysteresis model is extended so as to map a bivariate hysteresis of the flux linkage depending onboth, the coil current and anchor stroke. Moreover an elaborated and hardware implemented method for measuring the magneticcharacteristics using the primary excitation coil only is addressed. Is is shown how the model can be identified by a set ofquasi-static magnetic measurements. The dynamic measurement with time-varying current and stroke is used to evaluate the



model-based flux linkage prediction.

17:30 – 17:50Oblique Coordinate Based Micro-Macro Bilateral Control Using a Piezoelectric Cantilever

Matsumi, Yoshitomo Keio UniversityNakajima, Yu Keio UniversityYamaoka, Shinnosuke Keio UniversityOhnishi, Kouhei Keio University

In this paper, oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever is proposed. Haptic feedbackis provided to an operator through the system utilizing a reaction force observer (RFOB) taking hysteresis and linear dynamics ofthe piezoelectric cantilever into account. Scaling of the position and the force enables operator to manipulate micro objects, andto feel the slight reaction force from the objects. RFOB makes it possible to estimate the reaction force without force sensors.Oblique coordinate based control indicates how to tune the gain ratio between a master robot and slave robot when the actuatorof the master robot is different from that of salve. An experiment is conducted to verify the proposed method by using a linearmotor and a piezoelectric cantilever. The results showed that the operator could feel the reaction force applied to the slave robotwhich was scaled up 500 times. It also showed precise position tracking with the error of ±1.1 µm. The force estimation on thepiezoelectric cantilever was achieved with error of only ±0.003 N.

17:50 – 18:10A sensor and actuator placement technique for active vibration control using H2 norm

Ripamonti, Francesco Politecnico di MilanoAmbrosio, Pasquale Politecnico di MilanoBraghin, Francesco Politecnico di MilanoResta, Ferruccio Politecnico di Milano

In Active Vibration Control of smart structures, the actuator and sensor placement is a key point of the control system design.The objective of this paper is to propose an H2 norm approach for the actuator and sensor placement, which aims not only tomaximize the norms of the controlled modes but also to reduce spillover problems by taking into account the residual modes andminimizing their H2 norms. It discusses optimal actuator and sensor configuration on a finite element model of a square carbonfiber plate fixed on three sides with piezoelectric patch actuators and acceleration sensors. Finally, downstream the actuator andsensor positioning, the well known IMSC control logic have been applied in order to test the optimal positioning.

Wed. 16:30 – 18:30 Room VM2Haptics 1

Chair: Ohishi, Kiyoshi Nagaoka University of TechnologyCo-Chair: Katsura, Seiichiro Keio University

16:30 – 16:50FPGA-based High Performance Bilateral Control of Different Master-Slave Mechanism using Highorder Disturbance Observer

Tran Phuong, Thao Nagaoka University of TechnologyYokokura, Yuki Nagaoka University of TechnologyOhishi, Kiyoshi Nagaoka University of TechnologyMitsantisuk, Chowarit Kasetsart University

This paper presents a new force sensing approach for a bilateral control system with different mechanisms of the master andthe slave devices. A linear shaft motor and a ball screw perform the roles of the master and the slave, respectively. Using africtionless mechanism as the master while the slave mechanism is affected by high friction, together with an appropriate forcescaling ratio between the master and the slave, the human operator can easily manipulate the device and perceive the interactionof the slave and environments. To reduce the friction effect on force estimation due to the ball screw mechanism, a periodic signalis inserted into the control signal of the slave side. A high-order disturbance observer is designed for force sensing operation onthe slave side to reduce the effect of oscillatory disturbance on force information. The control algorithm consists of a conventionaldisturbance observer and a high-order disturbance observer for the master and the slave, respectively. All the control algorithmsare implemented in FPGA to achieve a high sampling rate of the control cycle. The effectiveness of the proposed method isverified by the experimental results.



16:50 – 17:10The Power Factor in Mechanical System

Mizoguchi, Takahiro Keio UniversityNozaki, Takahiro Keio UniversityOhnishi, Kouhei Keio University

This paper represents a analytical, simulation and experimental study of power factor in mechanical system. In electrical system,power factor is often used to evaluate how intense we can use the electrical power as a active electrical power. It is useful whenconsidering the power consumption of the electrical system. However, this kind of approach did not exist in mechanical system.In mechanical system, we consider mechanical loss of energy, however we did not consider the amount of power used in thephase change. Thus this study introduces the power factor in the mechanical system and investigates how much power is actuallyused in the motion. Power factor of certain frequency of the motion was analyzed and compared with the simulation results.Experiments were conducted to further study the behavior of power factor in many situations. Experimental results signify powerfactor changes due to the speed of the motion and also path of the motion.

17:10 – 17:30Switching Operation Mode Resonance Ratio Control for Flexible Robot System

Mitsantisuk, Chowarit Kasetsart UniversityOhishi, Kiyoshi Nagaoka University of TechnologyYokokura, Yuki Nagaoka University of Technology

Controlling robot with the mechanical resonance has been receiving increased attention. A new effective control method, aresonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during taskexecutions for position and force control system. This work presents a new approach to the controlling of flexible robot systemby a switching operation mode resonance ratio control. To calculate the optimal parameters of position/force servoing basedon resonance ratio control, a Coefficient Diagram Method (CDM) is employed. In this paper, we introduce a novel approachthat automatically adapt algorithm parameters conditional based on the operational tasks. Moreover, a multi-encoder baseddisturbance observer (MEDOB) is shown to estimate the external force on the load side, rather than using a force sensor. Theexperiments with a linear motor and spring show the validity of the approach. From the experiments, it can reject vibration toimprove controlling performance.

17:30 – 17:50Towards Performance Improvement of Motion Reproduction Based on Motion-Copying System

Yajima, Shunsuke Keio UniversityKatsura, Seiichiro Keio University

This paper proposes a novel motion-copying system for performance improvement of motion reproduction. For storage andreproduction of human motion information, a motion-copying system was proposed previously. The motion-copying systemis based on the bilateral control, and the stored motions which are obtained by the master-slave system can be reproducedby the slave. In the conventional method, however, precise motion reproduction can not be always attained because the slavereproduces the motion data which are acquired at the master. On the other hand, the proposed method stores the motion data atthe slave, and the slave reproduces this data. In the proposed method, force, position, and acceleration reference at the slave arestored and reproduced. Furthermore, this paper analyzes the performances of the conventional method and the proposed method,and reveals that the proposed method shows the better performance with respect to motion reproduction than the conventionalmethod. Finally, the validity of the proposed method is verified by some experiments.

17:50 – 18:10Recognition of Obstacle Distribution via Vibrotactile Stimulation for the Visually Disabled

Yu, Kee-Ho Chonbuk National UniversityYoon, Myoung-Jong Chonbuk National UniversityJeong, Gu-Young Chonbuk National University

A tactile display is able to help the walking support system of a visually disabled person. A walking guide system must detectan obstacle’s distribution in walking space including hanging and/or protruding obstacles, and provide useful feedback for safewalking. In this study, we investigate the applicability of a tactile display to the walking guide. The obstacle information istransmitted to the palm by tactile stimulation. The three dimensional (3D) detection of an obstacle’s distribution using ultrasonicsensors, the fabrication of a tactile stimulator using vibration motors, and the mapping of the detected results to an array-typetactile stimulator are proposed. An experiment on the recognition of an obstacle’s distribution via tactile stimulation is performed



to evaluate the possibility of a walking guide. In the experimental result, the average recognition rate was 95.14 % (5.73, standarderror).

Wed. 16:30 – 18:30 Room VM5Robotics 2: Mechatronics and Robotics

Chair: Murakami, Toshiyuki Keio UniversityCo-Chair: Holden, Christian Norwegian University of Science and Technology

16:30 – 16:50A Controller Design Method for Multirobot Systems Based on Task Projection Matrix

Nozaki, Takahiro Keio universityMizoguchi, Takahiro Keio universityOhnishi, Kouhei Keio university

Future motion systems should interact with other systems and unstructured environments. Therefore, a realization of multirobotsystems and impedance control systems is necessary in order to adapt to various environments. This paper proposes a taskprojection control in an attempt to achieve a unified control of multirobot systems. First, the interactions are abstracted byusing a quarry matrix. Then, the center of the motion is changed based on a task projection matrix. The task projection matrixconsists of a quarry matrix, normalization matrix, and a projection matrix. Each desired motion can be designed and achievedindependently, though the target object is an entirely-unknown object. This paper also proposes a novel control index named“hybrid angle” The hybrid angle is defined as a ratio of an effect of a position control system and a force control system. Therelationship between the hybrid angle and the control stiffness is clarified in this paper. The proposed task projection control isapplied for grasping motion by multirobot systems. Two kinds of experiments are conducted. One is a motion division based onthe task projection matrix, and the other is an impedance control based on the hybrid angle. The experimental results show theviability of the proposed method.

16:50 – 17:10A Model-based Trajectory Planning Approach for Flexible-link Mechanisms

Boscariol, Paolo Università di Udine - DIEGMGasparetto, Alessandro Università di Udine - DIEGMVidoni, Renato Free University of Bolzano - BozenRomano, Armando Università di Udine - DIEGM

In this paper the problem of trajectory planning for flexible-links mechanisms is dealt with. The method proposed here is suitablefor the determination of model-based optimal point-to-point trajectories with bounds on kinematic and dynamic characteristicsof the mechanism. An open-loop optimal control strategy is applied to an accurate dynamic model of flexible multi-bodyplanar mechanisms. The model, which has already been fully validated through experimental tests, is based on finite elementdiscretization and accounts for the main geometric and inertial nonlinearities of the linkage. Exploiting an indirect or variationalsolution method, the necessary optimality conditions deriving from the Pontryagin’s minimum principle are imposed, and leadto a differential Two-Point Boundary Value Problem (TPBVP); numerical solution of the latter is accomplished by means ofcollocation techniques. Considering a lightweight RR robot, simulation results are provided for rest-to-rest trajectories withbounded speed and bounded elastic deformation. However, the strategy under investigation has general validity and can beapplied to other types of mechanisms, as well as with different objective functions and boundary conditions.

17:10 – 17:30Development of a Peristaltic Crawling Robot for Sewer Pipe Inspection

Harigaya, Kensuke Chuo universityAdachi, Kazunori Chuo universityYanagida, Takaichi Chuo universityYokojima, Masato Chuo universityNakamura, Taro Chuo university

We have developed a robot to inspect narrow sewer pipes. Periodic inspections of sewer pipes are necessary to prevent accidentssuch as road cave-ins. However, the means to inspect narrow sewer pipe are limited. For example, conventional endoscopesare difficult and sometimes impossible to pass through a complex network of pipes. To address this issue, we developed aperistaltic crawling robot that imitates the locomotion of an earthworm. The actuator of the robot is composed of bellows-typeartificial rubber muscles contracting and extending using air pressure. We confirmed that the robot can pass through straight,



bent, successively bent, and more complex shaped pipes. The robot can also move in a vertical pipe, a pipe in water, and throughpipes coated with lubricant. Finally, we evaluated the robot’s traveling performance by measuring its speed.

17:30 – 17:50On the Modeling of Flexible-Link Robots: First Experimental Validation of an ERLS-FEM Dynamic Model

Boscariol, Paolo Università di Udine - DIEGMGasparetto, Alessandro Università di Udine - DIEGMGiovagnoni, Marco Università di Udine - DIEGMMoosavi, Amir Kiaeian Università di Udine - DIEGMVidoni, Renato Free University of Bozen-Bolzano

The task of modelling and control of lightweight robots is directly related to a suitable motion planning and control. To achievesuch results and increase performances, accurate dynamic models that take into account the usually neglected inertial and elasticterms can be adopted in model-based approaches.

In this paper, the experimental validation of an effective method based on an Equivalent Rigid Link System approach has beenassessed. To this end, a dynamic simulator implementing the formulation has been exploited and an experimental test-benchhas been set-up. The experimental tests carried out with a benchmark L-shape mechanism show a good agreement between thenumerical model and the experimental measurements.

17:50 – 18:10High-Level Underactuated Nonlinear Control for Rotorcraft Machines

Brandao, Alexandre Federal University of ViçosaSarcinelli-Filho, Mário Federal University of Espírito SantoCarelli, Ricardo National University of San Juan

This paper proposes a high-level underactuated nonlinear controller capable to guide a RUAV during a 3D flight. First, it presentsa dynamic model to represent the dynamics of the aircraft, explicitly showing its underactuated character. Following, a suitablecontroller based on partial feedback linearization is designed for stabilizing the rotorcraft dynamics. A proof of the stability ofthe closed-loop control system in the sense of Lyapunov, including modeled disturbances and parametric errors, is also presented,as well as experimental results obtained with a quadrotor, which validate the proposed model and controller.

18:10 – 18:303-D Positioning Tasks for RUAS Using Switched PVTOL Controllers

Brandao, Alexandre Federal University of ViçosaSarcinelli-Filho, Mário Federal University of Espírito SantoRosales, Claudio National University of San JuanCarelli, Ricardo National University of San Juan

In this work a switching strategy associated to three PVTOL controllers is proposed to guide a rotorcraft during 3-D navigation.The proposal is to orientate the rotorcraft to the desired point (using a Z-PVTOL controller) and then to move it ahead (using aXZ-PVTOL controller), considering the body reference frame. In such goal search, if a lateral displacement error greater thana threshold value is observed an YZ-PVTOL controller is run to minimize it. The stability proof for each of such sub-systemsis also included, as well as a strategy to switch between them without affecting the stability of the whole system. Finally,experimental results are presented to validate the proposed approach and its performance during a flight mission is compared tothe performance of a controller based on partial nonlinear feedback, proposed to control all degrees of freedom simultaneously.


Technical Program for Thursday February 28, 2013

Thu. 09:00-10:00 AuditoriumDesign and Control of High Tech Systems (Plenary Session)

Chair: Jan Swevers KU Leuven

09:00-10:00Design and Control of High Tech Systems

Steinbuch, Maarten TU EindhovenAdvanced motion systems like pick-and-place machined used in the semiconductor industry challenge the frontiers of mecha-tronic design, systems and control theory and practice. In the design phase, control oriented design of the electro-mechanics isnecessary in order to achieve the tight performance specifications. Once realized, and since experimentation is fast, a machine inthe loop procedure can be explored to close the design loop from experiment, experimental model building, model-based controldesign, implementation and performance evaluation. Nevertheless, reliable numerical tools are required to meet the challengesposed with respect to dimensionality and model complexity, including the open problem of determining disturbance models andsuitable specification models. Extension of linear modelling techniques towards some classes of nonlinear systems is relevantfor improved control of specific motion systems, such as with friction. Finally, medical robotics can greatly benefit from theexperiences in high tech motion systems, and an eye surgical robot with haptics will be shown as an example. Other challengingapplications in need for advanced modelling and control are fuel-efficient vehicles, including ultra-clean engines, and vehicleelectric and hybrid power trains.

Thu. 10:30 – 12:30 AuditoriumAdvanced Motion Control 3: Robust and Optimal Control

Chair: Antonello,Riccardo University of PadovaCo-Chair: Ohishi, Kiyoshi Nagaoka University of Technology

10:30 – 10:50An Efficient Algorithm for Solving Time-Optimal Point-to-Point Motion Control Problems

Janssens, Pieter KU LeuvenVan Loock, Wannes KU LeuvenPipeleers, Goele KU LeuvenSwevers, Jan KU Leuven

Time-optimal point-to-point motion trajectories are typically computed by solving a sequence of linear feasibility problems andusing a bisection algorithm. This paper presents a more efficient iterative algorithm, inspired by Newton-Raphson’s root-findingalgorithm, to solve time-optimal point-to-point mo-tion control problems for discrete-time linear time-invariant systems withlinear system constraints. In each iteration a maximum range problem is solved, maximizing the travel range of a system for agiven motion time and system constraints. Although each iteration of the proposed algorithm is computationally more expensivethan an iteration of the bisection algorithm, the presented approach is generally more efficient thanks to a great reduction in thenumber of optimization problems to be solved.

10:50 – 11:10Anti-windup Robust Controller Considering Motor Dynamics For Speed Servo System

Kaneko, Kazuhide Nagaoka University Of TechnologyOhishi, Kiyoshi Nagaoka University Of Technology

A robust servo system is important for improving the performance of motion control systems in several industry applications.In general, a speed servo system has a controller with an integrator, such as a PI controller. When its output variable is saturatedby a current and/or voltage limiter, a wind-up phenomenon and an unstable response often occur. We have already proposed ananti-windup algorithm considering voltage saturation for speed servo system, that regulates the current response smoothly andstably. Moreover, we considered the saturation of current and speed for position servo system, and the anti-windup algorithmregulated the speed response stably. However, the speed response has the overshoot, which is caused by current saturation andthe speed controller not keeping the response performance. This paper proposes an anti-windup algorithm considering the motordynamics and current saturation for speed servo system of SPM synchronous motor. The experimental and numerical simulationresults confirm that the speed servo system having the proposed algorithm regulates the motor speed smoothly and stably.



11:10 – 11:30Classical and Modern Methods for Time-constrained Energy Optimal Motion Application to a Badminton Robot

Stoev, Julian Flanders’ Mechatronics Technology CentreWang, Xin KU LeuvenPinte, Gregory Flanders’ Mechatronics Technology CentreSwevers, Jan KU Leuven

Two control approaches are presented to improve the energy efficiency of a robot which has to perform point-to-point motionsduring a fixed time interval. The first approach is based on a time-optimal servo control algorithm whose parame-ters areoptimized in order to achieve energy efficient behavior. The second approach is a energy-optimal model predictive controlapproach. The developed approaches are applied to a robot playing badminton. The robot is still able to intercept most of theopponent shuttles on time, while a significant reduction of the energy consumption is demonstrated in both cases.

11:30 – 11:50Adaptive Deadbeat Feedforward Compensation for Robust Positioning Performance Against Plant Perturbations

Toyama, Souichi Hitachi Via MechanicsOkado, Yousuke Nagoya Institute of TechnologyMaeda, Yoshihiro Nagoya Institute of TechnologyIwasaki, Makoto Nagoya Institute of TechnologyHirai, Hiromu Nagoya Institute of Technology

This paper presents an adaptive feedforward (FF) compensation technique on the basis of the deadbeat control framework for thefast and precise positioning of mechatronic systems. Plant perturbations due to temperature variations or aging in mechanismsand/or actuators generally deteriorate the positioning performance with response variations. A robust controller design againstthe perturbations, therefore, is one of important issues for industrial applications. In this research, an adaptive deadbeat FFcontrol approach is applied to provide the robustness against the plant parameter perturbations due to temperature variations.The proposed approach identifies the parameter in on-line manner using an adaptive identification system, and then, redesigns thedeadbeat FF controller according to the identified parameters to achieve the nominal performance under different temperatureconditions. Effectiveness of the propose approach has been verified by numerical simulations using a prototype of galvanoscanners.

11:50 – 12:10Reduction of Control Input Variance of Feed Drive Systems Using Sliding-Mode Control with Non-linear Sliding Surface

Mohammad Ahmad Mohammad, Abd El Khalick Toyohashi University of TechnologyNaoki, Uchiyama Toyohashi University of TechnologyShigenori, Sano Toyohashi University of Technology

Ball-screw drives have been widely used in industrial applications delivering high precision motion in work machines, suchas machine tools, where both high speed and positioning accuracy are required. Most of control schemes used in industrialapplication have a constant damping ratio leads to make a trade-off between the low overshoot and small settling time of thesystem. This paper presents a novel sliding-mode controller with a non-linear sliding surface to improve the machining accuracyof ball-screw feed drive systems. Unlike the conventional sliding-mode control design, the proposed non-linear sliding surfacevaries due to the output so that the damping ratio of the system changes from its initial low value to its final high value asthe output changes from its initial value to the reference point. Hence, the proposed algorithm allows a closed-loop system tosimultaneously achieve low overshoot and a small settling time, resulting in a smaller error and control input variance. Computersimulation and experimental results for a ball-screw feed drive system show that the proposed approach reduces the control inputvariance by an average of 19.1% than using the conventional linear sliding surface.

12:10 – 12:30Time-optimal Parking and Flying: Solving Path Following Problems Efficiently

Van Loock, Wannes KU LeuvenBellens, Steven KU LeuvenPipeleers, Goele KU LeuvenDe Schutter, Joris KU LeuvenSwevers, Jan KU Leuven

Path following deals with the problem of following a geometric path without any preassigned timing information and constitutesan important step in solving the general motion planning problem. The current paper considers path following for differentially



flat systems. In this case the dynamics of the system can be projected along the path to a single input system, resulting in afree end-time optimal control problem. We propose to rewrite the problem in terms of the velocity along the path and the pathitself. This way, we arrive at a fixed end-time optimal control problem that can be solved efficiently by interior-point solvers.Two challenging examples, a truck-trailer parking simulation and a quadrotor mission, illustrate the efficiency of the problemformulation and the practicality of the developed software.

Thu. 10:30 – 12:30 Room VM1Robotics 3: Motion Control

Chair: Hirose, Noriaki Toyota Central R&D Labs., Inc.Co-Chair: Richiedei, Dario University of Padova

10:30 – 10:50Contact Detection using Dither in Force Sensorless Motion Control

Mizuochi, Mariko Hitachi, Ltd.Ohnishi, Kouhei Keio University

Demand for using robots in unstructured environments has been increasing. When operating robots in unstructured environments,the robots often come into contact with objects intentionally or unintentionally. Since it is necessary to make contact with anobject in order to execute complicated tasks, not only contact avoidance but also contact detection and stabilization of contact arerequired. This paper focuses on detecting contact during operation. A real-time force sensorless contact detection method basedon applying dither and time-frequency analysis is proposed. Since the influence of dither on acceleration is attenuated whencontact occurs, the proposed method judges the state of contact by monitoring the decrease in the dither frequency componentof acceleration. The validity of the proposed method was shown by the improvement in contact detection performance verifiedthrough experiments.

10:50 – 11:10Improvement in Force Control with Force Projection for 2-DOF Tendon-Driven Spherical Joint Mechanisms

Shimamoto, Keita Keio UniversityWatanabe, Kento Keio UniversityOhnishi, Kouhei Keio University

Recently, more and more master-slave robots have been developed. Those robots can make contacts with remote environmentwith appropriate force when force sensation is transmitted to operators with bilateral control. The transmitted force sensationdepends on the performance of force control. In addition, human cannot feel clear force sensation when the robot has large inertiabecause manipulating them smoothly is hard. Therefore, tendon-driven spherical joint mechanisms are suited for the system.However, precise force control for the mechanisms has not been proposed. In this research, force control for the mechanismsis proposed. The method utilizes projection of force acting on the sphere. In addition, the compensation of disturbance forceis also realized by projecting the force to the plane. The results of experiments show realization of precise force control andcompensation of disturbance force.

11:10 – 11:30Motion Canceling Bilateral Control Analysis for Target with Two Layer Impedance Model

Nakajima, Yu Graduate school of Keio UniversityOhnishi, Kouhei Keio University

Motion Canceling Bilateral Control (MCBC) is one of the tele-operation method which reduces the workload of an operatorby synchronizing the robot with a target to treat with. The performance was evaluated by a previous work, but unfortunatelyin the analysis, target was modeled as one layer impedance. This assumption is valid when target motion and robot motion areindependent. Hence in this research, performance and stability of MCBC are analyzed with two layer impedance model consistsof target impedance and trajectory impedance. The model expands the applicability of analysis for the case when the targetmotion is affected by the robot. Frequency characteristics is observed to evaluate the performance and the root locus methodis adopted to evaluate the stability. The analyses clarifies that a bandwidth of the impedance transmission is determined by thecontroller gains, regardless of the target or trajectory impedance. Moreover, operational force is suppressed in wide bandwidthif the target impedance is lower than the trajectory impedance. The root locus method clarifies the relationship between targetimpedance, trajectory impedance, and stability. The total system become unstable if the target impedance exceeds the trajectoryimpedance.



11:30 – 11:50Snake Robot Obstacle-aided Locomotion on Inclined and Vertical Planes: Modeling, Control Strategies and Simulation

Transeth, Aksel A. Sintef ICTFjerdingen, Sigurd A. Sintef ICTLiljebäck, Pål Sintef ICT/ NTNU

Snake robots have the potential of similar traversability capabilities as biological snakes by utilizing terrain irregularities forefficient propulsion, i.e. obstacle-aided locomotion (OAL). In order to realistically model and understand this issue we presenta mathematical model for wheel-less snake robot OAL on inclined planes. The model is based on the framework of convexanalysis and non- smooth dynamics, which facilitates true stick-slip descriptions as well as efficient numerical integration ofthe normal contact forces involved with robot -obstacle and robot- ground contact. In addition to the model, we present a shapecurve-based approach to OAL where new push-points for robot - obstacle contact are identified online and a corresponding robotshape curve is calculated. Simulation results show that shape-curves are suitable for OAL both on inclined and vertical planes.

11:50 – 12:10Dynamic Analysis and Control of Robotic Manipulator for Chemically Aggressive Environments

Svejda, Martin University of West Bohemia, PilsenGoubej, Martin University of West Bohemia, Pilsen

The paper deals with newly developed industrial robotic manipulator with special serio-parallel architecture which was designedfor operation in chemically aggressive environment. Dynamical analysis of the manipulator is performed for the purpose ofcontrol law synthesis. General method for derivation of static models is presented.

Thu. 10:30 – 12:30 Room VM2Network Based Control 1

Chair: Uchimura, Yutaka Shibaura Institute of TechnologyCo-Chair: Natori, Kenji Chiba University

10:30 – 10:50Sensor/Actuator Mobility in Noisy Wi-Fi based Networked Control System

Halawa, Hassan H. American University in CairoElhamy, Ahmed American University in CairoIbrahim, Mohamed A. American University in CairoAbdel Reheem, Ehab E. American University in CairoEl Faramawy, Yomna I. American University in CairoRefaat, Tarek K. American University in CairoDaoud, Ramez M. American University in CairoAmer, Hassanein H. American University in Cairo

The increase in the application of Wireless Networked Control Systems (WNCS) in industrial automation motivates the studyof the effect of mobility of WNCS nodes in the presence of noise. A WNCS system should satisfy certain end-to-end delayconstraints, with all types of propagation, queuing, encapsulation/decapsulation and processing delays. Also, no data packetsshould be lost. These requirements should be met in the existence of 2.4GHz Industrial, Scientific and Medical (ISM) bandinterference.

In this paper, an enhanced WNCS system is studied based on previous publications using unmodified Wi-Fi and Ethernet. Thesystem is modified to include Sensor/Actuator mobility. A comparison between network and medium congesting interferencein the presence of mobility is also presented and analyzed. Simulations are conducted on OPNET Network Modeler and allsimulation results are subjected to a 95% confidence analysis. The system presented is shown to meet all control systemrequirements.

10:50 – 11:10H∞ Output Feedback Controller Based on Complete Quadratic Lyapunov-Krasovskii Functional for Time Delay Systems

Uchimura, Yutaka Shibaura Institute of TechnologyMinagawa, Daiki Shibaura Institute of Technology

This paper describes an output feedback controller design method based on a complete Lyapunov-Krasovskii functional for timedelay systems. Conventional design methods based on the Lyapunov-Krasovskii stability theorem may be conservative because



they choose the Lyapunov functional to achieve a sufficient condition. In addition, conventionalH∞ performance design methodsdo not focus on the frequency property of a closed loop system; hence, it is difficult to obtain a controller that achieves the desiredperformance. This paper proposes a stabilizing condition based on a complete quadratic Lyapunov-Krasovskii functional and acontroller design that considers the frequency-dependent performance.

11:10 – 11:30Performance Evaluation of Energy-Efficient PONs for Large-Scale Sensor-Actuator Networks

Kubo, Ryogo Keio UniversityTadokoro, Masashi NTTKubo, Takahiro NTTSuzuki, Ken-Ichi NTTYoshimoto, Naoto NTT

This paper proposes a next-generation optical access architecture supporting machine-to-machine (M2M) communication inlarge-scale sensor-actuator networks. Especially, in this paper, we focus on a smart grid system, which is an application of thelarge-scale sensor-actuator networks. As a communication infrastructure in the smart grid, optical communication has manyadvantages over other communication technologies such as wire-less communication and power line communication. However,the current optical access systems, e.g. Ethernet passive optical network (EPON) systems, cannot satisfy all requirements forthe smart grid communication. In this research, some applicable optical access technologies are discussed from the viewpoint ofcapacity, reliability, security, energy efficiency and so on. In addition, the existing power-saving mechanism for EPON systems isevaluated using M2M traffic. The proposed architecture can be applied to a communication system in future smart communitiesincluding the smart grid, intelligent transport systems and other Internet services.

11:30 – 11:50Disturbance-Attenuation Characteristic of A Structure of Time-Delay System with Communication Disturbance Observer

Natori, Kenji Chiba UniversityOhnishi, Kouhei Keio University

In this paper, we study disturbance-attenuation characteristic of a structure of time-delay system with communi-cation disturbanceobserver (CDOB). A time-delay compensation method based on network disturbance (ND) concept and CDOB has been proposedand used in various kinds of time-delay systems and the effectiveness has been verified theoretically and experimentally. Theadvantage is that it works even when a time-delay value is unknown or a time-delay model is unavailable, since it does not need atime-delay model. However, it has been pointed out that the system-model error seriously affects the steady-state characteristicsand causes steady-state error. Then, some approaches to handle such a problem have been proposed so far. It has turned outthat one of those proposed approaches overcomes such a problem and achieves zero steady-state error in case that there aresystem-model errors. However, the robustness against disturbance, or the disturbance-attenuation characteristic has not beenstudied. Therefore, in this paper, the disturbance-attenuation characteristic of the structure is studied. The characteristic is studiedcompared with that of the conventional structure.

Thu. 10:30 – 12:30 Room VM5Legged Locomotion 1

Chair: Oda, Naoki Chitose Institute of Science and TechnologyCo-Chair: Ugurlu, Barkan Toyota Technological Institute

10:30 – 10:50Robust Resonance Suppression Control based on Self Resonance Cancellation Disturbance Observer and Application to Hu-manoid Robot

Aoki, Motonobu The University of TokyoFujimoto, Hiroshi The University of TokyoHori, Yoichi The University of TokyoTakahashi, Taro Toyota Motor Corporation

In this paper, a robust control method for two-inertia systems is proposed based on the self resonance cancellation control(SRC) and the self resonance cancellation disturbance observer (SRCDOB). The SRCDOB proposed in this paper improvesthe robustness of control system by rejecting disturbances and compensating for deviation of plant dynamics. The feedbackcontroller for two-inertia systems is designed based on a nominalized plant model by SRCDOB and its effectiveness is verified



through simulation study. In addition, the proposed robust resonance suppression control method is applied to a humanoid robotcontrol system and experimental results demonstrate the effectiveness of the proposed robust resonance suppression controlmethod.

10:50 – 11:10Swing Leg Control for Efficient and Repeatable Biped Walking to Emulate Biological Mechanisms

Kawabe, Takayuki The University of TokyoHonda, Takuma The University of TokyoKoseki, Takafumi The University of Tokyo

This paper presents a energy efficient swing leg control method based on biological structures in the swing phase. In this method,structural features and the activation pattern of muscles are taken into account.

An electromyogram result of human walking indicates that humans use the passive and active mode change and also theyhave typical activation pattern of muscles, especially hamstrings. Hamstrings are a pair of bi-articular muscles of a lower limb.The straight line relationship connected between hip and ankle joint is derived from structural features of this muscles. Thisrelationship is incorporated into muscle-based landing position control in order to achieve more intuitive and effective control.

Finally, the effectiveness of the proposed control method is evaluated by comparison with a conventional walking control in anumerical case study.

11:10 – 11:30Visual Feedback Control Based on Optical Flow Vector Field for Biped Walking Robot

Oda, Naoki Chitose Institute of Science and TechnologyYoneda, Junichi Chitose Institute of Science and Technology

The paper presents a visual feedback control using optical flow vectors detected from camera image for biped walking robot.The authors have proposed the vision-based stabilization control for walking motion in the past research. In the approach, thezero moment point (ZMP) is related with the visual target position in the field of camera view, and the ZMP stabilizer usingrotational motion around center of gravity is designed by image-based motion controller. For more improved performance ofthe motion stability, the optical flow field of the camera image is additionally employed for generating the recovery momentof modifying the ZMP, and it enable quick and stable recovery of ZMP against the disturbances.The validity of the proposedmethod is evaluated by several experimental results.

11:30 – 11:50Workspace Control of a Wheel-Legged Mobile Robot for Gyrating Locomotion with Movable Leg

Suzumura, Akihiro Yokohama National UniversityFujimoto, Yasutaka Yokohama National University

We discuss motion generation problems of a wheel-legged mobile robot (WLMR) with movable legs. We consider and solvetwo problems of inverse kinematics of WLMRs. The first problem occurs in the generation of steering commands for WLMRs,which is due to the mechanism of the structure of the wheels. In general, inverse kinematics for WLMRs are applied in thevelocity level. However, in our case, it is not possible to generate the proper steering motion. To solve this problem, we showthat for WLMRs, the application of inverse kinematics in the acceleration level is effective. The second problem addressed isa singularity problem that occurs when controlling the contact point of legs during the wheeled locomotion of the WLMR. Weshow that this singularity problem can be avoided by utilizing the redundancy present in the wheel-leg mechanism. Finally, theeffectiveness of our motion generation schemes is validated by conducting precise, three-dimensional simulations.

Thu. 14:00 – 16:00 AuditoriumAdvanced Motion Control 4: Oscillating Loads

Chair: Oboe, Roberto University of PadovaCo-Chair: Hirose, Noriaki Toyota Central R&D Labs., Inc.

14:00 – 14:20Posture Stabilization for a Personal Mobility Robot using Feedback Compensation with an Unstable Pole

Hirose, Noriaki Toyota Central R&D Labs., INC.Tajima, Ryosuke Toyota Central R&D Labs., INC.Sukigara, Kazutoshi Toyota Central R&D Labs., INC.



Tsusaka, Yuji Toyota Central R&D Labs., INC.The present paper introduces a novel posture control approach using feedback compensation with an unstable pole. A narrowand small personal mobility robot (PMR) requires control of its posture in order to achieve quick turning and high acceleration.However, in the conventional control approach that uses the posture angle as a controlled variable, the zero moment point(ZMP) cannot be set to the desired point if an unknown disturbance force acts on the PMR, if the center of gravity of the PMRfluctuates, or if the conditions between the tires and the road surface change. In the present paper, a novel control method usingfeedback compensation with an unstable pole is proposed in order to achieve the desired ZMP at the steady state. The proposedcontroller changes the control input for the actuator of the posture control to zero in order to achieve the desired posture angle.The effectiveness of the proposed approach is verified experimentally using a prototype PMR.

14:20 – 14:40Proposal of Roll Angle Control Method Using Positive and Negative Anti-dive Force for Electric Vehicle with Four In-wheelMotors

Ochi, Naoya The University of TokyoFujimoto, Hiroshi The University of TokyoHori, Yoichi The University of Tokyo

Electric vehicles (EVs) have been gaining a lot of attention due to its environmental friendliness. EVs can be controlled preciselywith the quick response of the motor. Moreover, using in-wheel motors, several types of motion controls can be performed.Therefore, such motion control of EVs have been intensely researched.

This paper focuses on the control of roll angle which occurs during cornering. If this roll angle becomes large, steering responsewill be deteriorated, and also stability will decrease. Therefore, it is necessary to appropriately control the roll angle. In thispaper, roll angle control method using positive and negative anti-dive force for EVs with four in-wheel motors has been proposed.Using positive and negative anti-dive force, the number of necessary actuators such as active suspensions can be reduced. Theproposed method is also considering workload control of each wheel based on least square method. By estimating the roll momentdisturbance using the roll moment observer, roll angle control has become a robust control system against disturbances. Thus, theproposed method allows improvement of vehicle’s stability, safety and riding comfort during cornering. The effectiveness of theproposed method is verified by simulation and experimental results. Results of the roll angle control system without workloadconsideration and results of the case with workload consideration are also compared.

14:40 – 15:00Anti-Sway Control of Crane System by Equivalent Force Feedback of Load

Suzuki, Ken Keio UniversityMurakami, Toshiyuki Keio University

In this paper, assist-control of crane system for human operator is considered. The objective of this paper is to achieve easyoperating with less sway. In previous work, it is proved that force feedback is effective to operate crane system. To improvethe previous work, force feedback system with Lyapunov based controller is proposed. The effectiveness of Lyapunov basedcontroller was proved in automatic control. Assisted force is inserted in the master system, therefore operator can feel how tocontrol master system to reduce oscillation. Experimental results shows that better design of the automatic anti-sway controlimprove human-machine interaction.

15:00 – 15:20HIL Test Bench to Test Anti-swing Fuzzy Control of an Overhead Crane

Carmeli, Maria Stefania Politecnico di MilanoMauri, Marco Politecnico di Milano

This paper proposes an anti-swing fuzzy control system for an overhead crane. It focuses on industrial crane with the aim ofminimizing load swinging to avoid safety problems. Both speed and position control scheme have been considered and twodifferent solutions have been proposed. The results have been validated during an experimental phase using an innovative realtime test bench.

15:20 – 15:40Non-Colocated Path Tracking Control of Crane Suspended Loads

Boschetti, Giovanni DTG - University of PadovaCaracciolo, Roberto DTG - University of PadovaRichiedei, Dario DTG - University of Padova



Trevisani, Alberto DTG - University of PadovaThis paper proposes and validates experimentally a non-time based scheme for the non-colocated path tracking control of acrane suspended load. The controller is named Delayed Reference Non-Colocated Control (DRNC) and extends the idea ofthe Delayed Reference Control (DRC) schemes. The DRNC action is exerted by shaping the crane moving platform referencetrajectory for making the load track the planned path. Such a goal is achieved by both shifting in time the trajectory executionand modifying the platform path with respect to the reference path defined for the load. DRNC schemes have two relevantadvantages. On the one hand they provide accurate path tracking and also allow coping with unexpected obstacles: if an obstacleis hit, path execution is indefinitely delayed until the load is removed. On the other hand they necessitate a very simple softwareand hardware implementation, which is basically traced back to the closure of an additional feedback loop outside the cranenative position controller.

15:40 – 16:00Vibration Control of Resonant System by Using Reflected Wave Rejection with Fractional Order Low-Pass Filter

Saito, Eiichi Keio UniversityKatsura, Seiichiro Keio University

This paper proposes a novel vibration control of a resonant system by using a reflected wave rejection with a fractional orderlow-pass filter. In a conventional research, a vibration control using a reflected wave rejection based on wave equation wasproposed. From the viewpoint of the wave, vibrations are suppressed by eliminating a reflected wave. The conventional methodcan suppress the all resonances by using a reflected wave rejection. However, the conventional reflected wave rejection assumesthat poles of the resonant system are located on the imaginary axis at regular intervals. Considering real industry application,there is few case that the above assumption is realized. Therefore, in this paper, the resonant system is modeled as a wave equationincluding not only spring but also damper. Considering the damper effect, the proposed method is not restricted by the aboveassumption. In addition, based on the wave equation including the damper effect, this paper presents the method of eliminatingthe reflected wave. The reflected wave is eliminated by a novel reflected wave rejection with a fractional order low-pass filter.Finally, the validity of the proposed method is verified by simulation and experimental results.

Thu. 14:00 – 16:00 Room VM1Robotics 4: Autonomous Mobile Robots

Chair: Magnani, Gianantonio Politecnico di MilanoCo-Chair: Transeth, Aksel SINTEF ICT

14:00 – 14:20Using Multicore Processors to Parallelize 3D Point Cloud Registration with the Coarse Binary Cubes Method

Martínez, Jorge L. Universidad de MálagaReina, Antonio J. Universidad de MálagaMorales, Jesús Universidad de MálagaMandow, Anthony Universidad de MálagaGarcía-Cerezo, Alfonso Universidad de Málaga

This paper pursues speeding up 3D point cloud matching, which is crucial for mobile robotics. In previous work, we devisedthe Coarse Binary Cubes (CBC) method for fast and accurate registration of 3D scenes based on an integer objective function.Instead of point distance calculations, the method optimizes the number of coincident binary cubes between a pair of rangeimages. In this paper, we propose taking advantage of widespread multicore and multithreaded processors to further speed-upCBC by parallel evaluation of prospective solutions in a globalized Nelder-Mead search. A performance analysis on two typesof multicore processors is offered for indoor and outdoor scans from a 3D laser rangefinder. The proposed solution achieves acomputational time gain close to the number of physical cores.

14:20 – 14:40The Big-Stiquito: An Enlarged and Faster Version of the Autonomous Stiquito Hexapod Robot

Février, Arnaud INSA/University of ToulouseFauvel, Quentin INSA/University of ToulouseCarbonel, Nicolas INSA/University of ToulouseTondu, Bertrand INSA/University of Toulouse and LAAS/CNRSSoueres, Philippe LAAS/CNRS

Mill’s Stiquito hexapod mobile robot is based on the use of antagonist active Nitinol (NiTi) wire/passive music wire couples



to produce moving insect-like legs. We show that it is possible to over-dimension the wire diameters and to re-arrange thepositioning of active and passive actuator elements in order to develop a bigger and heavier autonomous version of the Stiquitowith a power autonomy of about 30min and a mean speed of about 20cm/min, twice the original Stiquito speed. While theoriginal Stiquito is essentially an educational tool, this bigger version could lead to new applications for shape memory alloys(SMA) mini-robots in service robotics such as exploration or supervision.

14:40 – 15:00Optimal Optical Mouse Placement for Mobile Robot Velocity Estimation

Kim, Sungbok Hankuk Univ. of Foreign StudiesKim, Hyunbin Hankuk Univ. of Foreign Studies

This paper presents the optimal placement of optical mice for the velocity estimation of a mobile robot. It is assumed that therecan be some structural restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocitykinematics of a mobile robot equipped with an array of optical mice is obtained, which maps the velocity of a mobile robot inthe world coordinate frame to the velocities of optical mice in their local frames. Second, the error characteristics of the mobilerobot velocity estimation using optical mice is represented by the so-called uncertainty ellipsoid, and then the performance indexfor the optimal optical mouse placement is defined as the inverse of the volume of the uncertainty ellipsoid. Third, the globaloptimization strategy is stated in terms of the distance to each optical mouse and the geometrical center of optical mice, andthe local optimization strategy is stated as the condition of the positional change of each optical mouse leading to the optimalplacement. Fourth, simulation results for the optimal placements of three optical mice within a given elliptical region are given.

15:00 – 15:20An Approximate of the Cost-To-Go Map on Rough Terrains

Tahirovic, Adnan Faculty of Electrical Engineering SarajevoMagnani, Gianantonio Politecnico di MilanoKuwata, Yoshiaki Jet Propulsion Laboratory

The Roughness based Navigation Function (RbNF) is a numerical map that estimates the mobility measure (cost-to-go) from eachterrain location toward the goal position. This paper compares the RbNF and the optimal cost-to-go map in terms of computationalburden and solution quality. When the terrain is very large and obtaining the optimal cost-to-go map is computationally tooexpensive, the RbNF is shown to be able to compute an approximate solution much more quickly. As an application example,in which the RbNF is shown to be a powerful tool, the paper considers a Mars rover mission that finds the possible landing siteusing a mobility cost-to-go map constructed from a Mars terrain data.

15:20 – 15:40A New Approach for Terrain Analysis in Mobile Robot Applications

Bellone, Mauro University of SalentoMessina, Arcangelo University of SalentoReina, Giulio University of Salento

This paper presents a novel approach to detect traversable and non-traversable regions of the environment from a depth imagethat could enhance mobility and safety of mobile robots through integration with localization, control and planning methods.The proposed system is based on Principal Component Analysis (PCA). PCA theory provides a powerful means to analyze 3Dsurfaces widely used in computer vision. It can be successfully applied, as well, to increase the degree of perception in autonomousvehicles, as new generations of 3D imaging sensors, including stereo and RGB-D-cameras, are increasingly introduced. Theapproach described in this paper is based on the estimation of the normal vector to a local surface leading to the definitionof a novel, so-called, Unevenness Point Descriptor. Experimental results, obtained from indoor and outdoor environments, arepresented to validate the system. It is demonstrated that the proposed approach can be effectively used for scene segmentationand it can efficiently handle difficult scenarios, including the presence of terrain slopes.

Thu. 14:00 – 16:00 Room VM2Network Based Control 2

Chair: Natori, Kenji Chiba UniversityCo-Chair: Uchimura, Yutaka Shibaura Institute of Technology

14:00 – 14:20A Design of Four-Channel Bilateral Control System under Time Delay Based on Hybrid Parameters



Morimitsu, Hidetaka Keio UniversityKatsura, Seiichiro Keio University

This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters ofbilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or atleast to remove the adverse effect of the element in some parameters important for stability. The developed system keeps thesymmetric property of control structure that realizes the performance of force rendering and stability which are independent ofmanipulating side. The validity of proposed system will be shown by experiments.

14:20 – 14:40A Design of an Overhead Crane Tele-operation Control System

Kato, Hiroto Toyota National College of TechnologyUeki, Satoshi Toyota National College of TechnologyKaneshige, Akihiro Toyota National College of TechnologyMiyoshi, Takanori Toyohashi University of TechnologyTerahima, Kazuhiro Toyohashi University of Technology

This paper presents a design method for a tele-operation controller for an overhead crane system that allows the operator tocontrol the speed of the overhead crane freely and to feel the swing of the rod instinctively through the reaction force. Feelingthe reaction force makes it easier for the operator to know about the swing of the rod than simply seeing the rod’s movementthrough cameras. This system can be used via the internet and can be controlled from everywhere. For example, operating in aplace such as a nuclear power plant, where it could be dangerous for humans to be in the case of an accident, this tele-controlsystem using the internet as its communication line can be useful, since it allows the operator to control the crane from a saferplace. The use of our system is demonstrated by an experiment run jointly by Toyohashi and Toyota.

14:40 – 15:00Evaluation of QoS in Haptic Communication Based on Bilateral Control

Suzuki, Nozomi Keio UniversityKatsura, Seiichiro Keio University

Recently, a transmission of tactile sensation has actively been researched following visual and audio information. In order totransmit tactile sensation to a remote place, it is necessary to utilize a network. However, there is communication delay in network,and it becomes difficult to realize “law of action and reaction”. In order to guarantee constant transmission rate, a system securescommunication band for a real-time communication such as video streaming. This method is called QoS (Quality of Service).Hence, this study evaluates the performance and proposes the index for QoS of haptic communication. In order to design QoS,this study considers QoE (Quality of Experience) and transmissibility by using experimental results of bilateral control.

Thu. 14:00 – 16:00 Room VM5Legged Locomotion 2

Chair: Fujimoto, Yasutaka Yokohama National UniversityCo-Chair: Motoi, Naoki Yokohama National University

14:00 – 14:20Development of a Dynamic Simulator for a Compliant Humanoid Robot Based on a Symbolic Multibody Approach

Dallali, Houman Istituto Italiano di TecnologiaMosadeghzad, Mohamad Istituto Italiano di TecnologiaMedrano-Cerda, Gustavo Istituto Italiano di TecnologiaDocquier, Nicolas Université Catholique de LouvainKormushev, Petar Istituto Italiano di TecnologiaTsagarakis, Nikos Istituto Italiano di TecnologiaLi, Zhibin Istituto Italiano di TecnologiaCaldwell, Darwin Istituto Italiano di Tecnologia

This paper reports on development of an open source dynamic simulator for the COmpliant huMANoid robot, COMAN. Thekey advantages of this simulator are: it generates efficient symbolic dynamical equations of the robot with high degrees offreedom, it includes a user-defined model of the actuator dynamics (the passive elasticity and the DC motor equations), userdefined ground models and fall detection. Users have the freedom to choose the proposed features or include their own models.



The models are generated in Matlab and C languages, where the user can leverage the power of Matlab and Simulink to carryout analysis to parameter variations or optimization and also have the flexibility of C language for real-time experiments on aDSP or FPGA chip. The simulation and experimental results of the robot as well as an optimization example to tune the groundmodel coefficients are presented. This simulator can be downloaded from the IIT website [1].

14:20 – 14:40Quadrupedal Trotting with Active Compliance

Havoutis, Ioannis Istituto Italiano di TecnologiaSemini, Claudio Istituto Italiano di TecnologiaBuchli, Jonas ETH ZurichCaldwell, Darwin G. Istituto Italiano di Tecnologia

We present a trotting controller for a torque controlled quadruped robot. Our approach uses active compliance to overcomedifficulties that are crucial for the realisation of symmetric gaits, i.e. force equalization, disturbance rejection and impactabsorption. We present a scheme for the compliant control of each leg that is based on a virtual spring abstraction. This activecompliance scheme allows us to greatly vary the dynamical behaviour of the system on-the-fly, without altering the physicalcharacteristics of the robot, by changing the parameters of the virtual springs. This way we are able to evaluate a wide range oftrotting gaits with varying parametrizations. We report results of robust trotting in various speeds and push recovery in simulation,and continue with results of actively compliant trotting on the real quadruped robot. We further discuss difficulties and limitationswith the implementation of such dynamic gait controllers on the real system.

14:40 – 15:00Regeneration of LIPM Bipedal Walking Trajectories for Minimum Energy Consumption

Che Amran, Aliza Yokohama National UniversityMotoi, Naoki Yokohama National UniversityKawamura, Atsuo Yokohama National University

This paper introduces a method that is able to regenerate joint trajectories based on LIPM walking trajectories for minimalenergy consumption during a single support phase. Using variational approach and B-spline curve, this method is able to solvefor new set of joint configurations that consumes lower energy while keeping the center of mass almost at the same position inx,y and z direction. From simulation results, it is verified that the proposed method is effective.

15:00 – 15:20Prototype Development and Real-time Trot-Running Implementation of a Quadruped Robot: RoboCat-1

Kotaka, Kana Toyota Technological InstituteUgurlu, Barkan Toyota Technological InstituteKawanishi, Michihiro Toyota Technological InstituteNarikiyo, Tatsuo Toyota Technological Institute

This paper is written to report our research group’s recent activities that are concerning quadruped locomotion control. To thisend, we primarily constructed an electrically-actuated quadruped robot which is employed as an experimentation platform to testthe locomotion control algorithm. An overall motion control scheme is introduced to reveal the main principles for achievingfast and agile locomotion scenarios. Having disclosed prototype development and real-time control procedures, trot-runninglocomotion experimental results are presented. In these experiments, the robot exhibited successful trot-running cycles in arepetitive, dynamically-equilibrated, agile, and compliant manner; demonstrating that the control algorithm has potentials to beutilized in fast locomotion tasks.

Thu. 16:30 – 18:30 AuditoriumAdvanced Motion Control 5: Robot Control

Chair: Seki, Kenta Nagoya Institute of TechnologyCo-Chair: Ito, Kazuaki Toyota National College of Technology

16:30 – 16:50Motion Control of Mobile Robot by Using Myoelectric Signals Based on Functionally Different Effective Muscle Theory

Ohkubo, Hiromi Yokohama National UniversityShimono, Tomoyuki Yokohama National University

This paper proposes the control interface of robotic wheelchair by combination use of electromyogram (EMG) signals and



functionally different effective muscle (FEM) theory. One of the conventional control interfaces of the robotic wheelchair is ajoystick. However, there is many people unable to operate a joystick like sufferers from rheumatism. Sufferers from rheumatismcan not move his joints but move muscles. Therefore, EMG signals have potential to become the helpful interface for sufferersfrom rheumatism. FEM theory represents the relation between the direction of output force at the end effector such as a wrist(or an ankle) and the collaborative control by 3 pairs of 6 muscles composed of the mono-articular muscles and the bi-articularmuscles of human arm (or leg). An experiment using the mobile independent two wheel driven robot shows the validity of theproposed interface.

16:50 – 17:10Vibration Suppression Feedback Control on Angular Transmission Error of Cycloid Gear for Industrial Robot

Kawahara, Shouta Nagaoka university of technologyOhishi, Kiyoshi Nagaoka university of technologyMiyazaki, Toshimasa Nagaoka university of technologyYokokura, Yuki Nagaoka university of technology

This paper proposes a method for suppressing the speed vibration caused by the angular transmission error in the cycloid gearused in industrial robots. It is important for industrial robots to have high accuracy. The arms of robot, however, are caused tovibrate by cycloid gears that have an angular transmission error. The proposed method for compen-sating for the speed vibrationuses a speed vibration observer that is based on the model of an cycloid gear with angular transmission error. A compensationcurrent is produced from the torque vibration, which is converted by the estimated speed vibration. The experimental resultsshow that the proposed system suppresses the vibration of load speed.

17:10 – 17:30Suppression of Resonant Vibration Due to Angular Transmission Errors of Reduction Gearing in Industrial Robots

Seki, Kenta Nagoya Institute of TechnologyNakamura, Hiroyuki Nagoya Institute of TechnologyIwasaki, Makoto Nagoya Institute of TechnologyZanetti, Mirko University of PadovaOboe, Roberto University of Padova

This paper presents a vibration suppression approach by variable notch filters for mechanical resonant vibrations due to angulartransmission errors (ATEs) of harmonic drive gearings (HDGs) in industrial robots. Robot arm joints including HDGs especiallyexcite resonant vibrations in the condition that frequency of synchronous components in ATEs corresponds to the critical oneof mechanical resonance. In this research, a variable notch filter whose angular frequency is synchronizing with motor velocityis designed to suppress the vibration during the robot motion. The proposed control approach has been verified by experimentsusing an actual industrial 6-axis robot.

17:30 – 17:50Acceleration-based Position and Force Control for Twist Drive

Saito, Yuki Keio UniversityNishio, Uichiro Keio UniversityNozaki, Takahiro Keio UniversityOhnishi, Kouhei Keio University

This paper proposes a method to achieve high-precision control for Twist Drive system by using acceleration based control.Twist Drive is one of the transmission system. the transmission converts torque into a pulling force by using a pair of strings thattwist on each other. Work space observer is possible to design by realization of the acceleration based control. And the workspace observer is able to improve accuracy of the system and estimate force in the work space without any force sensors. Theproposed method is only to use angular information not to use work space information. The proposed method was applied toposition control and force control of Twist Drive system. The effect of the proposal is verified through experiments.

17:50 – 18:10On the Use of Torque Disturbance Observers in 2-Mass Systems with Application to a Robotic Joint

Magnani, Gianantonio Politecnico di MilanoRocco, Paolo Politecnico di MilanoBascetta, Luca Politecnico di MilanoRusconi, Andrea Selex Galileo

Two-mass systems with elastic behaviour have long been studied to provide solutions for vibration suppression. Imperfections in



the torque delivered by the commonly adopted brushless motor, as well as pulsating disturbances originating in the transmissionsystem (e.g. in the gearbox), generate disturbances on the motor side that can compromise the overall performance of the system.Torque Disturbance Observer (TDO) is a quite effective method to estimate and then compensate for such disturbances, butthe application to an elastic system can yield loss of performance on the load side, as discussed in the present paper. Makingreference to a joint of the space robotic arm DEXARM, endowed with a measurement of the transmittion torque, a modifiedTDO system is then proposed. Experimental validation of the modified TDO scheme performed on the DEXARM joint is finallydiscussed.

18:10 – 18:30Classification of a Hybrid Control System for Robotic Tool Use

Matsuzaki, Ryohei Saitama UniversityKamibayashi, Makoto Saitama UniversitySakaino, Sho Saitama UniversityTsuji, Toshiaki Saitama University

Most of existing robots in industry are specialized for a single work. This paper aims at developing a versatile robotic systemwith the ability to use many tools. The tools are classified into groups and the most part of the programs for the classified toolsare unified. Experimental verification shows that the robot is able to handle multiple tools by the unified controller.

Thu. 16:30 – 18:30 Room VM1Sensors, Actuators and System Integration 2

Chair: Kawafuku, Motohiro Nagoya Institute of TechnologyCo-Chair: Ippoliti, Gianluca Università Politecnica Delle Marche

16:30 – 16:50Reaction Force Estimation of Piezoelectric Actuator by Charge Observation

Yamaoka, Shinnosuke Graduate school of Keio universityOhnishi, Kouhei Keio university

Stacked piezoelectric actuators are suitable for micro manipulation, because they have high resolution and large thrust force.However, thrust force of the actuator contains hysteresis. The hysteresis deteriorates robust control performance and the accuracyof reaction force estimation. Hysteresis compensation methods using models have been proposed, although the accuracy of themodel is deteriorated in high-frequency input. Hence, disturbance observer (DOB) and reaction force observer (RFOB) withouthysteresis model are proposed in this paper. The RFOB estimates reaction force by observing accumulated charge on the actuator.In order to verify the validity of the proposal, experiments were performed. Experimental results showed that proposed methodenabled robust control and reaction force estimation.

16:50 – 17:10Development of Pneumatic Control System for Walking Assist using Dual On/Off valves

Takanaka, Kenta Chuo UniversityNakamura, Taro Chuo University

In recent years, the population that requires assistance with walking has increased owing to a decrease in leg muscular powerwith age. To address this need, we develop a walking assist orthosis using a pneumatic artificial muscle to assist leg muscularpower. Air pressure must be controlled and maintained at a stable level because the human walk is performed in a very shorttime interval, and becomes unstable with age. The objective of this study is to propose a new pneumatic control system withpulse-width modulation (PWM). In this system, two On/Off valves receive different PWM signals to control air pressure. Webuild theoretical equations and conduct experiments with actual walk data, and verify the proposed approach through theoreticaland experimental studies.

17:10 – 17:30Evaluation of Seismic Absolute Displacement Sensors Based on Sensitivity Calibration and Control Tests of an Anti-VibrationApparatus

Kai, Takashi Tokyo University of Agriculture and TechnologyNakamura, Yukinori Tokyo University of Agriculture and TechnologyWakui, Shinji Tokyo University of Agriculture and Technology

In the field of vibration control of aero space structures, Direct Velocity and Displacement FeedBack (DVDFB) is well-known



as an effective control scheme in terms of robustness. However, according to the skyhook control theory, Direct Acceleration,Velocity, and Displacement FeedBack (DAVDFB) is preferable as to manipulate seismic parameters of controlled objects. Tocontribute for implementation of the DAVDFB, we have proposed a seismic displacement sensor, which can simultaneouslydetect absolute acceleration, velocity and displacement signals. Prototype sensors have been applied as feedback or feedforwardsensors in vibration control of anti-vibration apparatuses. However, due to low detection sensitivity and narrow bandwidth,control performance is not enough for practical use in industrial scenes. Thus, the detection sensitivity is mechanically improvedby increasing the number of coil turns, and this effect is evaluated by sensitivity calibration. Moreover, to confirm the effecton practical applications, we carry out control tests of an anti-vibration apparatus with one degree-of-freedom by using theimproved displacement sensor.

17:30 – 17:50Potential of FBG Sensors for Vibration Control in Smart Structures

Cinquemani, Simone Politecnico di MilanoBraghin, Francesco Politecnico di MilanoCazzulani, Gabriele Politecnico di MilanoResta, Ferruccio Politecnico di Milano

The large use of lightweight structures has emphasized the need to reduce undesired vibrations which can compromise the integrityand the safety of flexible structures. The advancements in materials technology have made available a new generation of materialsregarded as smart. Thanks to the results obtained in this field, many research are focusing on the study of intelligent structures,able to modify their mechanical properties. Composite materials are interesting in the construction of smart structures, thanksto their high mechanical properties which allow to obtain lightweight structures with high resistance and due to the possibilityof embedding sensors and actuators inside the structure. Among all, optical fiber sensors are widely used in the development ofsmart structures. However, while they are usually considered for structural health monitoring, this paper proposes their use inactive control application. A structure made of carbon fiber with Fiber Bragg Grating (FBG) sensors and piezoelectric actuatorsis able to self-sense its state of vibration and to provide control forces to reduce it. The peculiarity of this structure is representedby the possibility to monitor a large number of sensors (to approximate distributed measurements), suitable for physical feedbackor modal control. The experimental tests carried out allow to investigate the effectiveness of these setup in the active vibrationcontrol and to evaluate the limits of this technology.

17:50 – 18:10A Measurement Probe for Coordinate Measuring Machines Based on GMR Technology

Karuc, Emre Turkish Aerospace IndustriesKilic, Ergin Suleyman Demirel UniversityDolen, Melik Middle East Technical University

A novel measurement probe system is introduced in this paper. The stylus shaft of the probe is mounted on a special diaphragmspring that is exclusively designed with the utilization of finite element analysis. In the probe system, Giant Magneto-Resistive(GMR) sensors are utilized to measure the motion of the stylus shaft in the fundamental directions. The proposed/ implementedprobe is tested on a three-axis CNC electrical discharge machine and the position estimation performance of the proposedparadigm is discussed briefly. The preliminary work presented in this paper demonstrates the capabilities of GMR based probingtechnology in dimensional metrology.

Thu. 16:30 – 18:30 Room VM2Haptics 2

Chair: Motoi, Naoki Yokohama National UniversityCo-Chair: Mitsantisuk, Chowarit Kasetsart University

16:30 – 16:50A Realization of Haptic Training System Based on Force Control

Ohnishi, Yoshihiro Keio UniversityKatsura, Seiichiro Keio University

Haptic information has been attracting the attention in many fields such as multimedia, industry, medicine. This informationis effective for not only communication and surgery but also training of some techniques. Recently, a decrease of craftsmen isbecoming great issue in some countries. Thus, importing advanced techniques to next generation is very important. Conventional



haptic training system is based on position control. It is not enough because trainer touch trainee directory in real training. Becausethe stiffness of position control is very large, it is difficult to import advanced technique. Thus, in this research, haptic trainingsystem based on force control is proposed. This method is based on bilateral control similar to conventional method. However,assist force is generated by force control. By applying assist force according to force control, training system can touch humancompliantly. It is effective for importing of skill. The viability of proposed method is confirmed by motion search experiment.

16:50 – 17:10Variable Tension Control for Master-Slave Tendon-Driven Robot Hand

Nakano, Tomohiro Keio UniversitySaito, Yuki Keio UniversityNozaki, Takahiro Keio UniversityOhnishi, Kouhei Keio University

The teleoperation using a multi-degree of freedom tendon-driven robot hand is suitable for human support because intuitiveoperations can be conducted. In the teleoperation, bilateral control is used to transmit tactile sensation. It is necessary for bilateralcontrol to achieve high operationality and high resonant frequency of force control at one time. Unfortunately, in the tendon-driven system, operationality and resonant frequency of force control are affected by wire tension. Low tension force is betterto get high operationality. On the other hand, resonant frequency of force control becomes higher as the tension force increases.Therefore, in this paper, variable tension control is proposed to improve the performance of the tendon-driven bilateral control.Variable tension commands are derived from the joint torque responses. High operationality can be achieved in free motion andhigh resonant frequency of force control can be achieved in contact motion. The validity of the proposed method was confirmedthrough experiments of bilateral control.

17:10 – 17:30FPGA-based Broadband Current Control of a Linear Motor with Class-G Power Amplifiers

Yokokura, Yuki Nagaoka University of TechnologyOhishi, Kiyoshi Nagaoka University of Technology

In this paper, a broadband current control system using a FPGA and Class-G power amplifiers is realized. The current controllerswith general PWM inverter, which is classified as Class-D power amplifier, does not operate in case that bandwidth of currentcontrollers is enlarged due to PWM switching operations. On the contrary, the current control system using Class-G poweramplifiers is able to be operated normally, even where the bandwidth is set as 25100 rad/s (' 4kHz). By the numerical simulationsand the experiment, validity of the current controllers with Class-G power amplifiers is verified. The broadband current controlrealized in this paper is useful for servo systems in the field of fast motion control and real-world haptics.

17:30 – 17:50A Design Method of Scaling Bilateral Control with Drift

Watanabe, Kento Keio University, Department of System Design EngineeringOhnishi, Kouhei Keio University, Department of System Design Engineering

In this paper, a scaling bilateral control method with drift is proposed. The control targets of the general bilateral control aresimply defined as the each position difference and the each force sum. On the other hand, the different control targets aredefined in scaling bilateral control. In the proposed method, by introducing the drift function, the form of these control targetsare unified. Then, the precision of position control is improved. In addition, the proposed one enables to realize some complexscaling bilateral control methods. In this paper, the proposed one is applied to micro-macro bilateral control and dimensionalscaling bilateral control. When the proposed one is not utilized, the form of the these control targets are defined differently.Therefore, according to scaling bilateral control, the controllers need to be designed one by one. Utilizing the proposed one, thedrift function only needs to be derived with the same controllers. In the experiments, it validated that the proposed one could beimplemented. Moreover, it also validated that the precision of position control was improved with the proposed one.

17:50 – 18:10Performance Improvement of Bilateral Control with Multi-Degree-of-Freedom based on Disturbance Observer Design

Togashi, Nobuyuki Yokohama National UniversityShimono, Tomoyuki Yokohama National UniversityMotoi, Naoki Yokohama National University

This paper proposes a disturbance observer (DOB) design method for bilateral control systems with multi-degree-offreedom(MDOF). DOB is one of the robust control methods based on acceleration. DOB uses the nominal mass or nominal inertia for theestimation of disturbance force. A control performance of the bilateral control with DOB is changed according to the design of the



nominal mass in DOB. This paper firstly discusses the relationship between nominal mass in DOB and the control performance.Then, the design method of bilateral control with low nominal parameter is proposed. The effectiveness of proposed method isconfirmed from the experimental results.

Thu. 16:30 – 18:30 Room VM5Compliant Robots 1

Chair: Laffranchi, Matteo Italian Institute of TechnologyCo-Chair: Fujimoto, Yasutaka Yokohama National University

16:30 – 16:50A Push Recovery Strategy for a Passively Compliant Humanoid Robot using Decentralized LQR Controllers

Spyrakos-Papastavridis, Emmanouil Fondazione Istituto Italiano di Tecnologia (IIT)Medrano-Cerda, Gustavo Fondazione Istituto Italiano di Tecnologia (IIT)Tsagarakis, Nikos Fondazione Istituto Italiano di Tecnologia (IIT)Dai, Jian King’s College London (KCL)Caldwell, Darwin Fondazione Istituto Italiano di Tecnologia (IIT)

This paper presents a control scheme that is directed towards the performance of push recovery on the compliant humanoidrobot, COMAN. The novelty offered by this work is related to the use of a decentralized controller based on an initial LimitedQuadratic Regulator (LQR) design on a humanoid robot in addition to the regulation of the actual joint positions instead ofthe motor positions. Moreover, the ankle -knee strategy is examined through the use of a compliant double inverted pendulummodel. A key feature of the propounded approach lies in the controller’s ability to regulate the system’s inherently compliantdynamics through considering not only the motor-related variables but also those of the link-side, appearing after the passivecompliant element. Consequently, this leads to a control method that is capable of stabilizing the robot by means of increasingthe damping on the link, which is essential given the system’s oscillatory behaviour once it has been perturbed.

16:50 – 17:10A Motion Control Method of Dual Arm Robot Based on Environmental Modes

Kenmochi, Takuya Yokohama National UniversityMotoi, Naoki Yokohama National UniversityShimono, Tomoyuki Yokohama National UniversityKawamura, Atsuo Yokohama National University

This paper proposes a motion control method based on environmental mode for a dual arm robot. By controlling mode information,particular features or trends can be given to robot’s motion. Then a distinctive complex motion can be realized. In addition,because environmental mode is information based on the coordinate system which is fixed in the environment, environment-based motion can be realized. Because of these two advantages, it is thought that the proposed method makes a contribution torealization of interactive motion between robots and ambient environment like human being’s complex motion.

17:10 – 17:30Development of two Types of 2-DOF Wrist Joint Driven by Pneumatic Artificial Muscles

Tanaka, Dai Chuo universityKamo, Daichi Chuo universityMaehara, Masanori Chuo universityNakamura, Taro Chuo university

The demand for robots engaged in human activities, such as nursing care and housework, is presently growing. In the vicinity ofhumans, these robots must operate taking into consideration the human safety. Therefore, the actuator in these robots needs tobe soft, light, and powerful. To fulfill these demands, we adopted artificial muscles as actuators of the manipulator. However, theMcKibben-type artificial muscle commonly used for this purpose is problematic; therefore, we developed a straight-fiber-typeartificial muscle that surpasses the output of the McKibben-type. We also developed two types of wrist joint manipulator for the7-degree-of-freedom (7-DOF) manipulator. In this paper, we compare and evaluate the performance of the two types of wristjoints. Moreover, we propose a control system for this manipulator regarding the joint angle and stiffness. We used the PI controlmethod to control the joint angle, and the torque feedback control method to control the joint stiffness. Finally, we performedexperiments to verify the control system.



17:30 – 17:50Load Disturbance and Environment Effect on Biarticular Manipulator driven by Spiral Motors

Hj Shukor, Ahmad Zaki Yokohama National UniversityFujimoto, Yasutaka Yokohama National University

In this paper, we propose passive control of a musculoskeletal biarticular structure driven by direct-drive spiral motors. Thespiral motor is a three-dimensional helical three-phase PM motor without any additional mechanism that achieves forward andbackward direct-drive linear actuation by magnetic levitation of the rotor and angle control. At first the dynamics of the structureincluding the spiral motor are shown. Then the passive control scheme of the spiral motor is explained. By giving zero muscleforce reference to each muscles, the angle control variables compensates gap control variables to realize passive control ofthe manipulator. The simulation results on the manipulator show feasibility of maintaining air-gaps during passive control andexperimental results on single monoarticular structure validates the control.


Technical Program for Friday March 1, 2013

Fri. 09:00 – 10:00 AuditoriumWhat Do Walking Humans Want From Biomechatronics? (Plenary Session)

Chair: Messner, William Tufts University

09:00 – 10:00What Do Walking Humans Want From Biomechatronics?

Collins, Steven H. Carnegie Mellon UniversityIt is an exciting time to be developing robotic prostheses, exoskeletons, and gait trainers, with clever new innovations emergingat a rapid pace. But are these the droids we’re looking for? It is very difficult to predict how humans will respond and adapt toforceful interactions with an electromechanical device, and many years of development are typically required before proposeddesigns can be tested on humans. What if we could test our ideas for device function quickly, without the overhead of designinga product-ready prototype? This might lead to faster identification of design requirements and meaningful trade-offs for humanusers. We will describe a system that we have developed for rapid emulation of robotic ankle prostheses and orthoses, and presentinitial results from the high-throughput experiments that this technology has enabled. Experiments with our robotic prosthesistestbed have revealed quantitative relationships between user preferences and optimal prosthesis motor and battery size, as wellas between balance, energy cost, and kinematic variability during gait. Experiments with our exoskeleton testbed show that it ispossible to systematically alter the relationship between human energy cost and gait parameters such as step length, revealingthat least-effort drives can be harnessed to shape self-selected coordination patterns and suggesting powerful new approaches togait rehabilitation. We think this approach will facilitate the identification of the features that humans need in wearable robots,providing detailed design requirements for engineers and resulting in better assistive technologies, sooner.

Fri. 10:30 – 12:30 AuditoriumAdvanced Motion Control 6: Tracking

Chair: Swevers, Jan KU LeuvenCo-Chair: Ito, Kazuaki Toyota National College of Technology

10:30 – 10:50Improvement of Trajectory Tracking Performance using Pseudo Feedforward Control

Ito, Kazuaki Toyota National College of TechnologyIwasaki, Makoto Nagoya Institute of TechnologyHirai, Hiromu Nagoya Institute of Technology

This paper presents a novel design framework of feedback controllers in the trajectory tracking control system. In order toimprove tracking performance, model-based pseudo feedforward controllers are introduced as a part of feedback system, wherethe target trajectory is estimated using the target trajectory observer and the estimated trajectory applies as reference for pseudofeedforward controllers. The pseudo feedforward controllers are designed based on a coprime factorization description for amathematical model of control system. Thus trajectory tracking performance is drastically improved. The effectiveness of theproposed control system has been verified by the experiments using a prototype of tracking control systems.

10:50 – 11:10Contouring Accuracy Improvement of Parametric Free-form Curves – a Fuzzy logic-based Disturbance Compensation Approach

Su, Ke-Han National Cheng Kung UniversityCheng, Ming-Yang National Cheng Kung UniversityChang, Yu-Chen National Cheng Kung University

In high-precision manufacturing, the paramount issue is to diminish contour error regarding multi- axis contour following tasks.In particular, machining problems such as large contouring errors will likely occur in a complex shape machining task due tothe inherent friction force and/or external disturbances. Among the possible solutions to dealing with this difficulty, the Cross-Coupled Controller (CCC) is arguably the most commonly used approach for contouring accuracy improvement in multi-axiscontouring control systems. Therefore, to attain satisfactory contouring accuracy, this paper exploits the CCC approach forcontrol of free-form contour following tasks in biaxial motion control systems. Additionally, a Fuzzy Logic-based DisturbanceCompensator (FLDC) is presented to enhance tracking performance as well as contouring accuracy. Moreover, an integratedmotion control structure consisting of a modified version of CCC and two proposed FLDCs is further developed in this paper



to improve contouring performance. Several experiments on free-form contour following tasks have been performed on an X-Ytable driven by two linear motors. Experimental results validate the feasibility of the proposed approach.

11:10 – 11:30A New Hardware-in-the-Loop Simulator for CNC Machine Applications

Usenmez, Serdar Middle East Technical UniversityMutlu, Baris Ragip University of MinnesotaYaman, Ulas Middle East Technical UniversityKilic, Ergin Middle East Technical UniversityDolen, Melik Middle East Technical UniversityKoku, Ahmet Bugra Middle East Technical University

This study focuses on an integrated software and hardware platform that is capable of performing (real-time/non-real-time)hardware-in-the-loop simulation of dynamic systems, including electrical machinery, CNC machine tools. In this approach,once the dynamics of the plant to be controlled is defined via C++ language, the resulting code is cross-compiled automaticallyon a PC. Executable files along with the necessary drivers are downloaded onto the composite hardware platform that consistsof a Field Programmable Gate Array (FPGA) along with a powerful DSP board. The paper elaborates the overall performanceof this novel hybrid HILS platform on a CNC machine tool application.

11:30 – 11:50High Accuracy Tracking Control using Friction Model with Velocity Characteristic in Short Span Seeking Operation

Kawafuku, Motohiro Nagoya Institute of TechnologyMizoguchi, Masato Nagoya Institute of TechnologyIwasaki, Makoto Nagoya Institute of Technology

This paper describes a head positioning controller in HDDs based on a dynamic characteristic of rolling friction. In the con-trol system in HDDs, the head assembly was influenced the effect of several disturbances, e.g., RRO, flutter vibration, forcedisturbance, and so on. At the force disturbance, it caused by wind force, external shock, tension force of Flexible PrintedCircuit, and rolling friction around pivot bearing. In these force disturbances, the influence of the rolling friction is large atpositioning in minute area. Therefore, controlling the rolling friction is important at short span seeking for the high performancetrajectory. In the past research, we proposed the friction model that considered about the dynamic characteristics of rollingfriction. However, this model expressed only the friction motion of short span seeking operation, and was not able to express thefriction characteristic of various operations. Therefore, we present a new friction model that considered a velocity characteristicbased on Koizumi’s model. And we propose a 2 DOF control system to suppress the effect of the rolling friction with dynamiccharacteristic. The effects of the proposed friction model and controller performance are verified by experimental results of shortspan seeking operation.

11:50 – 12:10A New Asymptotic Tracking Approach for Robot Manipulators with Actuator Saturation

Su, Yuxin KU LeuvenSwevers, Jan KU Leuven

This paper revisits the asymptotic tracking of robot manipulators with actuator constraints. Different from the existing controlmethods, the proposed saturated control algorithm is developed based on a proportional-derivative (PD) feedback control schemewith computed feedforward of robot dynamics. The benefit of the developed design approach is that it offers a new bound toshape the actuator signal that is less conservative than bounds specified by previously developed saturated control schemes,hence allowing more freedom to design the feedback gains for the given actuator constraints. Lyapunov’s direct method is usedto prove semi-global asymptotic stability. Simulations performed on a two-degree-of-freedom (DOF) manipulator are providedto illustrate the effectiveness and improved performance of the proposed approach.

Fri. 10:30 – 12:30 Room VM1Sensors, Actuators and System Integration 3

Chair: Wakui, Shinji Tokyo University of Agriculture and TechnologyCo-Chair: Seki, Kenta Nagoya Institute of Technology



10:30 – 10:50A Smart Lighting System for Industrial and Domestic Use

Marchei, Davide Università Politecnica Delle MarcheIppoliti, Gianluca Università Politecnica Delle MarcheCiabattoni, Lucio Università Politecnica Delle MarchePirro, Matteo Università Politecnica Delle MarcheMarcantonio, Maurizio Università Politecnica Delle MarcheFreddi, Alessandro Università Politecnica Delle MarcheMonteriù, Andrea Università Politecnica Delle Marche

The goal of this work is to develop a smart LED lighting system for industrial and domestic use, taking into account visualcomfort and energy saving of interior lighting. The idea is to control the lighting level in an energy efficient way, keeping adesired light level where it is needed, while regulating it to a minimum where not required. In order to achieve this goal, a singlecontrol unit is needed for each lamp. In this way the system can individually control the desired light level, adapting the LEDillumination according to the environment in which it is installed, by means of light sensors, motion sensors and a smart controlsystem. Experimental results are provided to show the effectiveness of the proposed solution.

10:50 – 11:10Multi-Accelerometer-Based Method for Environmental Vibration Compensation in Load Cell Measurements

Boschetti, Giovanni DTG - University of PadovaCaracciolo, Roberto DTG - University of PadovaRichiedei, Dario DTG - University of PadovaTrevisani, Alberto DTG - University of Padova

Environmental vibrations can considerably affect sensor measurements in industrial equipments. In particular, in those machineswhere load cells are employed, environmental vibrations can impact on performances, both in terms of accuracy and produc-tivity. Trying to overcome this problem by low-pass filtering load cell measurements is usually inconvenient since these filtersunavoidably downgrade machine speed. This paper proposes a method for compensating environmental vibrations in load cellmeasurements which makes use of a suitable redundant set of distributed accelerometers, simplified kinematic relations anda load cell second order dynamic model. The method is validated by applying it to a multi-head weighing machine for thepackaging industry. Experimental results are provided to prove the effectiveness of the method.

11:10 – 11:30IMU-Based Image Stabilization in a HSM-Driven Camera Positioning Unit

Antonello, Riccardo University of PadovaOboe, Roberto University of PadovaPilastro, Davide University of PadovaViola, Simone University of PadovaIto, Kazuaki Toyota National College of TechnologyCenedese, Angelo University of Padova

Camera positioning units are widely used in surveillance and they are sometimes mounted on floating supports, e.g. on patrollingships or buoys. The support motion, in turn, induces an apparent motion in the image plane, which can create troubles to the imageprocessing, especially when a specific feature must be tracked (e.g. a distant ship, getting close to a forbidden area). Low costdevices are often characterized by low frame rate and low image resolution, for which traditional image stabilization techniquesusually results to be rather ineffective. Additionally, low-end camera units are usually driven by hybrid stepper motors and, beingconceived to work in an harsh environment, they do not mount any optical image stabilization (OIS) system, either in the cameralenses or in the image sensor. In this paper, the image acquired by a pan–tilt camera positing unit mounted on a moving supportis stabilized by exploiting the camera attitude information provided by a MEMS-based IMU with an embedded magnetometer.In particular, two independent integral control loops are designed for the pan and tilt motors in order to compensate for the yawand pitch motions of the support. As for the roll motion, since it relates to an unavailable degree of freedom in the positioningunit, it can be compensated only on the captured image. The proposed solution is experimentally tested on a real device mountedon a moving table actuated by a 6 degrees–of–freedom pneumatic hexapod. Realistic motions are recreated by using the datarecordings taken aboard of a patrolling ship and a costal buoy. Experimental results show that the proposed solution is capableof keeping the camera pointing at a fixed target with a good accuracy, thus making higher-level image processing easier andmore effective.



11:30 – 11:50Unsupervised Low-key Image Segmentation Using Curve Evolution Approach

Mei, Jiangyuan Harbin Institute of TechnologySi, Yulin University of AgderKarimi, Hamid Reza University of AgderGao, Huijn Harbin Institute of Technology

Low-key images widely exist in imaging-based systems such as space telescopes, medical imaging equipment, machine visionsystems. Unsupervised low-key image segmentation is an important process for image analysis or digital measurement in theseapplications. In this paper, a novel active contour model with the probability density function (PDF) of gamma distributionfor image segmentation is proposed. The flexible gamma distribution is used to describe both of the heterogeneous foregroundand dark background in a low-key image. Besides, an unsupervised curve initialization method is also designed in this paper,which helps to accelerate the convergence speed of curve evolution. The effectiveness of the proposed algorithm is demonstratedthrough comparison with the CV model. Finally, an industrial application based on proposed approach is described in this paper.

11:50 – 12:10Parametric Identification of PM Synchronous Motors: a Hammerstein-Model Approach

Antonello, Riccardo University of PadovaCarraro, Matteo University of PadovaTinazzi, Fabio University of PadovaZigliotto, Mauro University of Padova

In this paper, the problem of estimating the (quadrature) magnetic flux linkage in permanent magnet synchronous motors (PMSM)is solved by using an off–line closed–loop system identification procedure for Hammerstein models recently proposed in [1].By parametrizing the magnetic flux nonlinearity in terms of a linear combination of triangular basis functions, a standard outputerror identification problem can be formulated and solved in a pseudo–optimal way using an iterated instrumental variable (IV)method. After discussing some details related to the design of the closed–loop identification experiment, the paper presents someexperimental results that highlight the potentials of the proposed method.

Fri. 10:30 – 12:30 Room VM2Haptics 3

Chair: Shimono, Tomoyuki Yokohama National UniversityCo-Chair: Yokokura, Yuki Nagaoka University of Technology

10:30 – 10:50Optimal Design of a High Performance Haptic Device: a Novel Approach

Dang, Quoc Viet LAMIH-University of ValenciennesDequidt, Antoine LAMIH-University of ValenciennesVermeiren, Laurent LAMIH-University of ValenciennesDambrine, Michel LAMIH-University of Valenciennes

Stability and transparency are very important performance measures in the design of haptic devices. This paper addressesthe design of haptic device in the case of interaction to a virtual wall. A novel optimal design method for high performance(stability and low inertia) haptic devices is presented. In which, the influences of mechanical and command specifications on theperformance of haptic devices are studied in the same mechanical pre-design process. An algorithm for optimal design procedureis proposed. As a results, a low inertia haptic device with designed parameters satisfy the desired contact stiffness of virtual wallis archived.

10:50 – 11:10Development of 3-DOF Haptic Surgical Trocar Robot using Tendon-drive

Tanida, Kazuki Keio UniversityMizoguchi, Takahiro Keio UniversityOhnishi, Kouhei Keio University

The most construction of conventional forceps robots developed for minimally invasive surgery are arm robots. Due to itsconfiguration and motor alignment, arm robots are effected by large inertia force. These large inertia force make operators todrive robots difficulty. Therefore, in order to operate easily, the moving parts which are effected from gravity force should be



small. Arm robots are made to imitate construction of the human. But since the motion is restricted by trocar in minimallyinvasive surgery, the arm construction may not be suitable. The one of the best way to move forceps is to drive trocar directly.In proposed mechanism, robots move trocar parts directly to make end effector small. Trocar has 3 degrees in one joint andtendon-drive system can realize multi degrees of freedom in one joint. Thus, tendon-drive is applied in proposed mechanism.Experiments show the validity of proposed method.

11:10 – 11:30Motion Reproducing System for Pinching and Rotational Tasks with Different Size of Objects by Using A Transformation toPolar Coordinates

Nagatsu, Yuki Keio UniversityKatsura, Seiichiro Keio University

This paper proposes a motion reproducing system for human pinching and rotational tasks in the two dimension. By usingcoordinate transformation to polar coordinates from Cartesian coordinates of grasping motion, internal force control and attitudecontrol motions are able to reproduce independently. Proposed method makes it possible to reproduce human pinching androtational motions even if the size of target objects are different compared to motion saving phase. In the experiments, resultsdemonstrate that conventional method to deal with the difference about the size of objects cannot reproduce the motions concernpinching motions and validity of the proposed method is confirmed.

11:30 – 11:50Motion Analysis of Interaction Mode Control Using Principal Component Analysis

Nagashima, Hiroki Keio UniversityKatsura, Seiichiro Keio University

Recently, robot application has been widely used not only in industry but also human society. Hereafter, in order to extend therange of work and kinds of motion in human society, it is needed to think about what human is and what human motion is. Inconventional method for analysis of human motion, visual-based approach has widely researched. However, force adjustmentis important information for many kinds of task such as processing technology and surgical operation. In addition, in orderto acquire the advanced motion for robots, feature amount of advanced motion is needed to analyze. First step of motionanalysis based on position and force information, the condition which has theoretical value is conducted. This paper proposesmotion analysis method for interaction mode control systems using principal component analysis (PCA). Using the proposal,the dominant component is directly estimated from the motion information. To confirm the effectiveness of the method, motiondata abstracted by automated control is used. Validity of the proposal is confirmed by experiment of interaction mode control.Experimental results in this paper are compared with the theoretical value.

11:50 – 12:10Development of Grasping/Manipulating System Simulation Platform Considering Collision Model

Kwon, Bumjun Yokohama National UniversityMotoi, Naoki Yokohama National UniversityShimono, Tomoyuki Yokohama National UniversityKawamura, Atsuo Yokohama National University

This paper develops the grasping/manipulating simulation system considering the micro/macro collision model. Previous haptics,especially the bilateral control systems, mainly focused on transmitting the sense of touch and position tracking. In order toexpand haptic technology, it is necessary to consider the dynamics motion, such as the impulse force against the environment. Forthis reason, a collision model is implemented into an environment for a grasping/manipulating simulation system. By applyingthe collision model, the reaction force, which occurs between the robot and the environment can be predicted. This implies moreaccurate interpretation of the dynamics between the robot and the object is available. The simulation platform is confirmed tobe valid by comparing the experimental result with the simulation result of grasping/manipulating control. From these results,the relation between the environmental parameters and sampling period of the controller is clarified.

Fri. 10:30 – 12:30 Room VM5Compliant Robots 2

Chair: Ugurlu, Barkan Toyota Technological InstituteCo-Chair: Ohishi, Kiyoshi Nagaoka University of Technology



10:30 – 10:50Long Stroke Continuous-path Position Control of an SPM Spiral Motor

Suzuki, Tatsuya Yokohama National UniversityFujimoto, Yasutaka Yokohama National University

In this paper, we proposed a control method for a spiral motor equipped with a surface-mounted permanent magnet. The zero-power controller discussed in this paper compensates for roughness of gap length, and realizes long-stroke continuous-pathposition control. The simulations and experiment result of magnetic levitation control and position control using a zero-powercontroller show that the controls function successfully.

10:50 – 11:10Dynamic Modeling and Adaptable Control of the CompActTM Arm

Kashiri, Navvab Istituto Italiano di TecnologiaLaffranchi, Matteo Istituto Italiano di TecnologiaTsagarakis, Nikos Istituto Italiano di TecnologiaSardellitti, Irene Istituto Italiano di TecnologiaCaldwell, Darwin Istituto Italiano di Tecnologia

The introduction of physical compliance in robotic actuation systems has attracted increasing attention during recent years,due to the considerable benefits it can provide with respect to interaction safety, mechanical robustness and energy efficiency.However, the incorporation of passive compliant elements also results in systems with more complex dynamics, oscillations andlimited bandwidth, requiring the development of sophisticated control strategies. Recently, variable damping mechanisms havebeen proposed to improve the performance of robots driven by compliant actuators. This study presents the dynamic modelingof the CompActTM actuator, a series elastic actuator equipped with a semi-active friction damper named Variable PhysicalDamping Actuator (VPDA) and the extension of this model to the multi -DOF case. Based on the analysed model, a controlstrategy is designed to modulate the clutch normal force in order to adapt the system dynamics with the task requirements; tomake the system “stiff” when a precise motion is needed, and to exploit the passive compliance of the actuator to make it “soft”in the case the flexibility of the system is desirable. Finally, simulation of the arm is performed to verify the effectiveness of theproposed control scheme.

11:10 – 11:30Robust Motion Control of MR-Fluid Actuator Based on Disturbance Observer

Miura, Kazumasa Keio UniversityKatsura, Seiichiro Keio University

Recently, interactions between humans and robots have been changed in order to solve the problems of the aged society.Opportunities that robots touch directly on humans have been increasing. However, active actuators are often used in orderto generate force and perform their tasks and they have possibility of hurting people around. Then, stable passive actuatorswould be substituted for active ones. Passive actuators will not generate force by themselves. Only when external force acts onthem, they generate resisitive force. Considering these properties, passive actuators are stable actuators and appropriate for thehuman society because they would be little risks for humans when they are loss of control. In this paper, the passive actuatoris constructed using magnethorheological (MR) fluids and is nominalized based on disturbance observer in order to becomerobust for inner state of MR fluid and to be regarded as an active actuator. By experiments, the validity of the proposed methodis verified.

11:30 – 11:50A Method of Motion Reproduction for Calligraphy Education

Matsui, Ayaka Keio UniversityKatsura, Seiichiro Keio University

Nowadays, a system of saving and reproducing the human motion has been demanded. Since worker and craftsman haveadvanced techniques, aging of them is becoming a great is-sue. Therefore, handing down the advanced skills is important forfuture generations. A motion-copying system has been proposed as the system of saving and reproducing the human motion.The motion-copying system is based on the bilateral control. The master and the slave have been controlled in each coordinatein the conventional bilateral control. In case of a mobile robot and an endoscopic surgery robot, it is appropriate to controlin each coordinate. However, operators get a different feeling from a real feeling. Not to lose touch with the actual feelingof operating, the identical-coordinate bilateral control is constructed in this paper. Especially, the writing motion, which needsdelicate brushwork, is taken into consideration in this paper. By using the identical-coordinate bilateral control, the operators feel



as if they write with the jointed pen, which is divided into two parts physically. At this time, the haptic motion data is acquired,which can not be obtained previously. Additionally, for constructing a new education system, the motion-copying system isintroduced. To increase applicability of the motion-copying system in various fields, every device can be used, matching withthe purpose or the environment in the motion-loading system. With the proposed system, the saved skills can be reproducedrepeatedly using haptic devices with different configurations.


Author Index

Abdel Reheem, Ehab E. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Abiyev, Rahib . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Adachi, Kazunori . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Ahmed, Mahmoud M. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Amato, Francesco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Ambrosio, Pasquale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Amer, Hassanein H. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Andrighetto, Alberto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Antonello, Riccardo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59, 60

Aoki, Motonobu .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Aras, Ayse C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Aschemann, Harald . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28, 30, 30, 34

Auger, Francois . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Bascetta, Luca . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Bassetti, Marco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Batyrshin, Ildar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Bellens, Steven . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Bellone, Mauro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Bertocco, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Bertram, Torsten . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Biral, Francesco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Boscariol, Paolo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38, 39

Boschetti, Giovanni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 59

Bou Ammar, Haitham .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Braghin, Francesco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 53

Brandao, Alexandre . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39, 39

Bruening, Matthias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Buchli, Jonas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Caldwell, Darwin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49, 50, 55, 62

Caracciolo, Roberto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 59

Carbonel, Nicolas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Carelli, Ricardo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39, 39

Carmeli, Maria Stefania . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Carraro, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Cazzulani, Gabriele . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Cenedese, Angelo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Ceriani, Nicola Maria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Chami, Mohammad .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Chang, Yu-Chen .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Che Amran, Aliza . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Cheng, Ming-Yang .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Chibah, Arezki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Chinda, Hiroshi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Ciabattoni, Lucio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 59

Cimini, Gionata . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28, 31

Cinquemani, Simone .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28, 53

Colacino, Domenico . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Collina, Andrea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Corradini, Maria Letizia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Cosentino, Carlo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Cossalter, Vittore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 26

Cristofolini, Ilaria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Dabkowski, Pawel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Dai, Jian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Dallali, Houman .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Dambrine, Michel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Dang, Quoc Viet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Daoud, Ramez M. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

De Schutter, Joris . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 41

Debrouwere, Frederik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Dequidt, Antoine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Diehl, Moritz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Dittrich, Christina . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 30

Docquier, Nicolas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Dolen, Melik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53, 58

Eberard, Damien . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

El Faramawy, Yomna I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Elhamy, Ahmed .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Erbatur, Kemalettin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Février, Arnaud . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Fauvel, Quentin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Ferrari, Marco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Fjerdingen, Sigurd A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Formentini, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Freddi, Alessandro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Fujimoto, Hiroshi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 34, 44, 46

Fujimoto, Yasutaka . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45, 56, 62

Gadyuchko, Andrey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Galkowski, Krzysztof . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Galvani, Marco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Gao, Huijn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

García-Cerezo, Alfonso . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47


Author Index Technical Program for Friday March 1, 2013

Garrec, Philippe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Gasparetto, Alessandro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38, 39

Giacomelli, Giuliano . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Giberti, Hermes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28, 31

Giovagnoni, Marco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Golubovic, Edin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Goubej, Martin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Gravdahl, Jan Tommy .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Grisostomi, Massimo .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Gritti, Matteo Giovanni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Gruenbacher, Engelbert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Guerzoni, Marco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Hahlamon, Iyad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Halawa, Hassan H. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Harigaya, Kensuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Havoutis, Ioannis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Heinemann, Fabian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Hirai, Hiromu .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41, 57

Hirose, Noriaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Hj Shukor, Ahmad Zaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Holden, Christian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Honda, Takuma .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Hori, Yoichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 26, 44, 46

Horn, Martin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Hotta, Daigo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Ibrahim, Mohamed A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Ippoliti, Gianluca . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28, 31, 59

Ito, Kazuaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57, 59

Iwasaki, Makoto . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29, 41, 51, 57, 58

Janssens, Pieter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Jara, Carlos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Jeong, Gu-Young .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Kai, Takashi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 52

Kamibayashi, Makoto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Kammerer, Nolwenn .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Kamo, Daichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Kaneko, Kazuhide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Kaneshige, Akihiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Karimi, Hamid Reza . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 32, 60

Karuc, Emre . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Kashiri, Navvab .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Kato, Hiroto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Katsura, Seiichiro . . . . . . . . . . . . . . . . . . 34, 37, 47, 48, 49, 53, 61

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61, 62, 62

Kawabe, Takayuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Kawafuku, Motohiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Kawahara, Shouta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Kawamura, Atsuo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50, 55, 61

Kawanishi, Michihiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Kaynak, Okyay .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 29

Kenmochi, Takuya . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Kilic, Ergin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53, 58

Kim, Sungbok .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Kim, Hyunbin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Koku, Ahmet Bugra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Kormushev, Petar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Koseki, Takafumi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 45

Kotaka, Kana . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Krahenbuhl, Laurent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Krueger, Joerg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Kubo, Ryogo .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Kubo, Takahiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Kuwata, Yoshiaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Kwon, Bumjun .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Laffranchi, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Lehocky, Craig A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Li, Zhibin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Liljebäck, Pål . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Longhi, Sauro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Lot, Roberto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 26

Maeda, Yoshihiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Maehara, Masanori . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Magnani, Gianantonio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 48, 51

Mainardi, Emanuele . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Malerba, Nazario . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Mamrot, Michel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Mandow, Anthony .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Mansouri-Toudert, Ouiza . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Marcantonio, Maurizio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Marchei, Davide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Marchlewitz, Stefan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Margotti, Alfonso . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33


Author Index

Marquis-Favre, Wilfrid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Martínez, Jorge L. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Massaro, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Matsui, Ayaka . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Matsumi, Yoshitomo .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Matsuzaki, Ryohei . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Mauri, Marco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Medrano-Cerda, Gustavo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49, 55

Mehrsai, Afshin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Mei, Jiangyuan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Meneghetti, Giovanni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Merola, Alessio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Messina, Arcangelo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Minagawa, Daiki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Mitsantisuk, Chowarit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 37

Miura, Kazumasa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Miyazaki, Toshimasa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Miyoshi, Takanori . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Mizoguchi, Takahiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 38, 60

Mizoguchi, Masato . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Mizuochi, Mariko . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Mizutani, Yosuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Mohammad Ahmad Mohammad, Abd El Khalick . . . . . . . 41

Monteriù, Andrea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Moosavi, Amir Kiaeian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Morales, Jesús . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Morimitsu, Hidetaka . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Morlacchi, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Mosadeghzad, Mohamad .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Motoi, Naoki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50, 54, 55, 61

Murakami, Toshiyuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 46

Mutlu, Baris Ragip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Nagashima, Hiroki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Nagatsu, Yuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Nakajima, Yu .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 42

Nakamura, Hiroyuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Nakamura, Yukinori . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24, 24, 35, 52

Nakamura, Taro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55, 38, 52

Nakano, Tomohiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Naoki, Uchiyama .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Narikiyo, Tatsuo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Natori, Kenji . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Nedialkov, Nedialko S. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Nguyen, Binh Minh .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Nishio, Uichiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Nozaki, Takahiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 38, 51, 54

Oboe, Roberto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33, 51, 59

Ochi, Naoya . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Oda, Naoki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Ohishi, Kiyoshi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 37, 40, 51, 54

Ohkubo, Hiromi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Ohnishi, Kouhei . . . . . . . . . . . . . . . . . . . . 25, 25, 36, 37, 38, 42, 42

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42, 44, 51, 52, 54, 54, 60

Ohnishi, Yoshihiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Okado, Yousuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Okubo, Shinya . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Oniz, Yesim .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Orlando, Giuseppe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Papadopoulos, Jim .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Pawlus, Witold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Perea, Ivan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Pettersen, Kristin Y. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Pilastro, Davide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Pinte, Gregory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Pipeleers, Goele . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 40, 41

Pirro, Matteo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Pomares, Jorge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Prete, Gianfranco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Pryce, John D. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Rauh, Andreas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 30

Refaat, Tarek K. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Reina, Antonio J. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Reina, Giulio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Resta, Ferruccio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 31, 36, 53

Richiedei, Dario . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 59

Ripamonti, Francesco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 31, 36

Riviere, Cameron N. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Robbersmyr, Kjell G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Rocco, Paolo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Romano, Armando .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Rosales, Claudio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Rota, Stefano . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26


Author Index Technical Program for Friday March 1, 2013

Ruderman, Michael . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28, 35

Rusconi, Andrea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Sabanovic, Asif . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Saiki, Kazuaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Saito, Yuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51, 54

Saito, Eiichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Sakaino, Sho . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Salvucci, Valerio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Sarcinelli-Filho, Mário . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39, 39

Sardellitti, Irene . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Sariyildiz, Emre . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 25

Sartori, Roberto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Scarpa, Fabio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Schindele, Dominik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Schoenewolf, Werner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Schreiber, Frank .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Schumacher, Walter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Seki, Kenta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29, 51

Semini, Claudio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Senkel, Luise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Serra, Mattia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Shigenori, Sano .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Shimamoto, Keita . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Shimono, Tomoyuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50, 54, 55, 61

Shinohara, Yusaku .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Si, Yulin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Sklyarenko, Yevgen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Soueres, Philippe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Spyrakos-Papastavridis, Emmanouil . . . . . . . . . . . . . . . . . . . . . . . 55

Stavdahl, Øyvind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Stoev, Julian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Su, Ke-Han .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Su, Yuxin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Sukigara, Kazutoshi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Sun, Hao .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Suzuki, Ken-Ichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Suzuki, Nozomi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Suzuki, Ken .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Suzuki, Tatsuya . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Suzumura, Akihiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Svaricek, Ferdinand .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Svejda, Martin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Swevers, Jan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 40, 41, 41, 58

Tadokoro, Masashi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Tahirovic, Adnan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Tajima, Ryosuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Takahashi, Masaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Takahashi, Taro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Takanaka, Kenta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Tanaka, Dai . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Tanida, Kazuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Tavernini, Davide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Terahima, Kazuhiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Thoben, Klaus-Dieter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Tinazzi, Fabio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Togashi, Nobuyuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Tokuyama, Kyota . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Tondu, Bertrand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33, 47

Torres, Fernando .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Toyama, Souichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Tran Dinh, Quoc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Tran Phuong, Thao . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Transeth, Aksel A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Trevisani, Alberto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 59

Tsagarakis, Nikos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49, 55, 62

Tsuji, Toshiaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Tsusaka, Yuji . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Tuyls, Karl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Uchimura, Yutaka . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Ueki, Satoshi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Uemoto, Takaaki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Ugurlu, Barkan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Usenmez, Serdar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Uzunovic, Tarik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Van Hoa, Nguyen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Van Loock, Wannes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 40, 41

Vasquez, Jesus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Vermeiren, Laurent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Vidoni, Renato . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38, 39

Viehweider, Alexander . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Viola, Simone .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Voos, Holger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27


Author Index

Wakui, Shinji . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24, 24, 35, 52

Wang, Yafei . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Wang, Hansheng . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Wang, Xin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Watanabe, Kento . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42, 54

Weiss, Gerhard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Weissbacher, Joachim .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Winzer, Petra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Wood, Nathan A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Yajima, Shunsuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Yaman, Ulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Yamaoka, Shinnosuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 52

Yanagida, Takaichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Yokojima, Masato . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Yokokura, Yuki . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 37, 51, 54

Yoneda, Junichi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Yoon, Myoung-Jong . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Yoshimoto, Naoto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Yu, Kee-Ho .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Yumiza, Daisuke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Zanetti, Mirko . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Zeroug, H .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Zhakypov, Zhenishbek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Zhao, Lin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Zigliotto, Mauro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Zucchelli, Michele . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32


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