IEEE Catalog Number: ISBN:

CFP12839-PRT 978-1-4673-1275-2

2012 IEEE International Conference on Mechatronics and Automation (ICMA 2012)

Chengdu, China 5 – 8 August 2012

Pages 1-853

1/3

Table of Contents

MA1-1 Mechatronic Design

Towards Efficient Pipe Maintenance: DeWaLoP In-pipe Robot Stability Controller 1

Luis A. Mateos, Kai Zhou, Markus Vincze

Observer Design for Unbalance Excited Rotor Systems with Gyroscopic Effect 7

Zhentao Wang, Rudolf Sebastian Schittenhelm, Stephan Rinderknecht

Enlarging Output of High Torque Controllable Clutch Using ER Gel 13

Yudai Takata, Ken'ichi Koyanagi, Yasuhiro Kakinuma, Hidenobu Anzai, Koji Sakurai, Tatsuo Motoyoshi, Toru Oshima

Analysis and Design of Low Phase Noise Crystal Oscillators 19

Yan Wang, Xianhe Huang

Kinematics Analysis and Sensor Calibration of a Wormlike Crawling Robot 24

Weiqiang Wang, Xinglong Zhu, Longqin Gao, Ying Zhang

Research and Application of the Dynamic Load Protection Technology for Nuclear Fuel Upender 29

Apeng Zhao, Yu Fang, Shaonan Chen, Fengqi Wu, Xiusheng Lu, Jufan Zhang

MP1-1 Mobile Mechatronics

Towards Air Hockey Robot with Tactics -Statistical Analysis from Measurement of Eye Movement- 34

Masaya Ogawa, Katsushi Ikeuchi, Yuya Sato, Shunsuke Kudoh, Testuo Tomizawa, Takashi Suehiro, Sota Shimizu

Unified Kinematics Modeling of Variable Topologies of a 3rTPS Metamorphic Parallel Mechanism 40

Hussam AlHussein, Dongming Gan, Jorge Dias, Lakmal Seneviratne

Development of an Intelligent Mobility Scooter 46

Masataka Hirai, Tetsuo Tomizawa, Satoshi Muramatsu, Masanori Sato, Shunsuke Kudoh, Takashi Suehiro

Kinematics Analysis and Optimization on a Walking Mechanism of Bionic Biped Water-walking Robot 53

Kai Cao, Huiping Shen, Linsen Xu, Xianming Wei

Humanoid Robot Push Recovery through Foot Placement 59

Awais Yasin, Qiang Huang, Qian Xu, M. Saad Sultan

Development of the Hexapod Robot HITCR-II for Walking on Unstructured Terrain 64

Jie Zhao, He Zhang, Yubin Liu, Jihong Yan, Xizhe Zang, Ziwei Zhou

MP2-1 Arm Mechanics

Kinetostatic Analysis of Hybrid Cable-based Manipulators with Linkage 70

Mahir Hassan, Amir Khajepour, Ichiro Sakuma, Etsuko Kobayashi

Vibration Analysis of Microhand for High Speed Single Cell Manipulation 75

Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai, Christoph Gobel

Kinematic Parameter Calibration of Two-wheeled Robot 81

Xiaogang Ruan, Yalei Li, Xiaoqing Zhu

Vision-based Kinematic Calibration of a 4-DOF Pick-and-place Robot 87

Weilin Cai, Tao Xiong, Zhouping Yin

An Analytical Solution for Inverse Kinematic of 7-DOF Redundant Manipulators with Offset-wrist 92

Chao Yu, Minghe Jin, Hong Liu

The Design of Industrial Sewing Machine Servo System Based on PMSM 98

Yingzhe Wu, Hui Li, Min Yan, Qiangguo Li, Ye Bi

MA1-2 OS31: Modeling, Numerical Simulation and Optimization

RSM-based Optimal Design of a Supporting Base for Overlay Welding Automation System (OWAS) of Large L-type Tube 104

Jun Ho Jang, Won Jee Chung, Jang Sik Jung, Sung Ho Jung, Dong Sun Lee

Passivity Analysis for Uncertain Discrete Switched Systems with Interval Time-varying Delay 110

Chang-Hua Lien, Ker-Wei Yu, Weng-Cheng Pu, Teh-Lu Liao, Zhang-Lin Wan

Performance Assessment of a Questionnaire Input Software by Computer Vision 116

Yong-Ren Pu, Su-Hsing Lee, Yu-Tung Dai, Ying-Che Kuo

Parametric Analyses on Fatigue Reliability of 3D IC Packages with Built Through Silicon Vias (TSVs) 121

Chieh Kung, Te-Tang Liao, Chien-Hsiang Liao

Bifurcation and Nonlinear Dynamic Analysis of Heart Blood Vessel System 127

Cheng-Chi Wang, Ming-Jyi Jang, Neng-Sheng Pai

Fuzzy Sliding Mode Control for a Gyroscope System 133

Chao-Lin Kuo, Chia-Hung Lin, Her-Terng Yau, Chien-Kuo Tsui

MP1-2 Analysis & Simulation I

Phase Decomposition of a Cell Passing through a µ-channel: a Method for Improving the Evaluation of Cell Stiffness 138

Chia-Hung Dylan Tsai, Makoto Kaneko, Shinya Sakuma, Fumihito Arai

Reducing Magnetic Interference in a Geomagnetic Survey UAS through Modelling and Design Optimization 144

Matthew Wells, Mojtaba Ahmadi, Paul Straznicky, Robert Forrester

Zhang Dynamics and Newton-raphson Iteration for Time-varying and Static Reciprocals Computation 150

Yunong Zhang, Yunjia Xie, Fen Li, Hongzhou Tan

Gaussian Bayesian Network Structure Learning Strategies Based on Canonical Correlation Analysis 156

Shuzhi Li, Guanghua Xu, Yongbao Feng

Nonlinear Trajectory Tracking Controller Design for Flight Control with Disturbance Rejection Capability 162

Qi Wang, Wenhai Wu, Li Xu

Credibility Analysis of Flight Motion Table in Simulation with Frequency Domain Norm 168

Guangling Dong, Yu Yao, Xingdan Wang, Chi He

MP2-2 Analysis & Simulation II

Transient Response Analysis and FF/FB Control with 0.05 Micro Meter Resolution for 3-DOF Inchworm Mobile Mechanism 174

Takashi Sato, Manabu Yatsurugi, Ohmi Fuchiwaki

A Memetic Approach to the Inverse Kinematics Problem 180

Carla González, Dolores Blanco, Luis Moreno

Simulation of Electrically-driven Robot Manipulators 186

Eric Guiffo Kaigom, Jürgen Roßmann

A Framework of Situation Awareness Based on Event Extraction and Correlation for Military Decision Support 192

Huimin Chai, Yujiao Du

A Deadlock Prevention Policy for a Class of Petri Nets S3PMR Based on Elementary Siphons 197

Mingming Yan, Mi Zhao

Impact Analysis of Pigging in Shield Segment of Gas Pipe 203

Wenming Wang, Shangna Song, Shimin Zhang, Da Yu

MA1-3 Biological Inspired Robots I

The Improving Method of Energy Efficiency for a Snake-like Robot Using Neural Oscillators 208

Takayuki Matsuo, Takashi Sonoda, Kazuo Ishii

Obstacle Avoidance of a Snake Robot in Narrow Hallway 214

Yasunobu Hitaka, Masahiro Yokomichi

Fluid-structure Interaction Study on a Flexible Robotic Pectoral Fin 220

Bo Liu, Min Xu, Lei Wang, Jie Yang, Shiwu Zhang

Research on Redundancy Control System for Snake Robot 226

Yanzheng Li, Yana Peng, Limei Xu, Xuesheng Li, Yuzhuo Ren, Huiquan Liu

On the Role of Motion Element on the Thrust Contribution for Fishlike Swimming 232

Dan Xia, Weishan Chen, Junkao Liu

Design and Implementation of a Single Actuated Bio-mimetic Robotic Fish 237

Hong Wan, Jigang Xu, Xingsong Wang, Jialin Xu

MP1-3 Biological Inspired Robots II

Using Human Gestures and Generic Skills to Instruct a Mobile Robot Arm in a Feeder Filling Scenario 243

Mikkel Rath Pedersen, Carsten Høilund, Volker Krüger

Kinematic Analysis of a Dual-arm Humanoid Cooking Robot 249

Jiaxin Zhai, Weixin Yan, Zhuang Fu, Yanzheng Zhao

A PD Control Scheme for Passive Dynamic Walking Based on Series Elastic Actuator 255

Jie Zhao, Xinyu Liu, Xizhe Zang, Xiaoguang Wu

Control of a Biped Walking with Dynamic Balance 261

Guocai Liu, Mantian Li, Wei Guo, Hegao Cai

Human-machine Coupling Control of Exoskeleton Intelligent Load Carry Robot 268

Jiayuan Zhu, Hong Zhou, Yingze Wang

Passive Dynamic Walking with Torso 273

Ka Deng, Mingguo Zhao, Wenli Xu

MP2-3 Biomimetic Systems I

A Dual Agent Algorithm for Foraging 279

Brian Geuther, Eric Johnsrud, Yunfeng Wang

High Efficiency Skill Training of Lathe Boring Operations by a Virtual Reality Environment 285

Xin Liang, Hideo Kato, Shizuichi Higuchi, Kazuya Okawa

A Real-time Controller Development Framework for High Degrees of Freedom Systems 291

Yang Zhou, Bin Wang, Li Jiang, Hong Liu

Event-based Control for Pneumatic Single-legged Hopping Robot 297

Mingguo Zhao, Youbin Qiu

A Motion Planning Method for an Anthropomorphic Arm Based on Movement Primitives of Human Arm Triangle 303

Xilun Ding, Cheng Fang

Intelligent Bionic Leg Motion Estimation Based on Interjoint Coordination Using PCA and RBF Neural Networks 311

Fei Wang, Yalu Qi, Shiguang Wen, Chengdong Wu

MA1-4 Intelligent Control I

Control of Weak and Strong Nonlinear Dynamics in a Novel Milling Cutting Process 316

Lukas Kurmann, Roland Anderegg, Sandro Wiedmer, Henner Rüschkamp

Integrated Guidance and Control Against Ground Fixed Targets Based on Backstepping and Input-to-state Stability 321

Weicheng Ma, Han Yan, Haibo Ji

Optimal Trajectory Generation of an Asymmetric Underactuated Spacecraft Based on Orbital Flatness 327

Yufei Zhuang, Haibin Huang, Guangfu Ma

Uncertain Lorenz System Chaos Synchronization Using Single Variable Feedback 332

Fengxiang Chen, Shuang Zhai, Lingjiong Yu, Su Zhou, Tong Zhang

A LMI Approach to H∞ Output Feedback Control for Polytopic Linear Parameter-varying Systems 337

Hui Li, Jingmei Han, Zhide Yin

Rate-dependent Modeling and Control of GMA Based on Hammerstein Model with Preisach Operator 343

Yongxin Guo, Jianqin Mao, Kemin Zhou

MP1-4 Intelligent Control II

T-S Fuzzy Design for Permanent Magnet Synchronous Motor Control System via Sliding Mode Control 348

Yi-You Hou, Jui-Sheng Lin, Meei-Ling Hung, Hsin-Chieh Chen, Wang-Rong Chang, Teh-Lu Liao

Controller Design for a Robotic Catheter Teleoperation System 353

Nan Xiao, Shuxiang Guo, Baofeng Gao, Xu Ma, Takashi Tamiya, Masahiko Kawanishi

Control Performance Comparison of Asynchronous and Synchronous Sensor System in UAV Applications 359

Shogo Arai, Tong Ye, Koichi Hashimoto

Static Output Feedback Control for Active Suspension Using PSO-DE/LMI Approach 366

Yongsu Kong, Dingxuan Zhao, Bin Yang, Tao Shen, Hang Li, Kyongwon Han

Research on Generic Model Control Method for Manipulator Based on Neural Networks 371

Mingjun Zhang, Zhenzhong Chu

Fuzzy Comprehensive Evaluation for NC Servo Manual Tuning Based on Frequency Response 377

Xiangang Wu, Limei Xu, Dagui Huang

MP2-4 Control Application I

Modeling and Adaptive Control of a Quadrotor 383

Matthias Schreier

A Fault-tolerant Control Method for the Servo Systems Driven by Multi-motor 391

Wei Chen, Yifei Wu, Renhui Du, Xiaobei Wu

Multiple-model-based Adaptive Reconfiguration Control of State Delayed Systems with Actuator Faults 397

Yuying Guo, Youmin Zhang, Bin Jiang, Zhengwei Zhu

A Developed Microfluidic System with Model Reference Adaptive Control 403

Wei Wei, Shuxiang Guo

Tuning of PID Controller Based on Fruit Fly Optimization Algorithm 409

Jiuqi Han, Peng Wang, Xin Yang

An Adaptive GPC Algorithm for a Vectored Water-jet-based Spherical Underwater Vehicle 414

Xiaoqiong Li, Minghuan Li, Enzeng Dong

MA1-5 Robot Control I

Dynamic Analysis, Optimal Planning and Composite Control for Aerial Arm-operating with a Multi-propeller Multifunction Aerial Robot 420

Xilun Ding, Yushu Yu

SEMG Control of an Upper Limb Rehabilitation Robot Based on Boosting of Neural Networks 428

Qingling Li, Yu Song

Control for Ball and Plate System Based on RBF-ADRC 434

Huida Duan, Kyong won Han, Yinghui Zhang, Yantao Tian

Adaptive Fuzzy Control for SWATH Ship Seakeeping Characteristics 440

Lihua Liang, Baohua Wang, Ming Ji

Research of Software Re-injection Technology for Aerospace Camera Controller In-orbit 446

Wei Xu

Automatic Function-isomorphic Configuration Recognition and Control for UBot Modular Self-reconfigurable Robot 451

Yanhe Zhu, Ge Li, Xiaolu Wang, Xindan Cui

MP1-5 Robot Control II

Social Human Behavior Modeling for Robot Imitation Learning 457

Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

Internet Based Crossover Robot Remote Control Competition among Asian Countries -Development of Practice Based Innovative Education Methodology, Phase V- 463

C. Xu, A. Ming, C. Kanamori, H. Aoyama, H. Li, L. Xu, X. Li, T. Benjanarasuth, S. Nundrakwang, B. Purahong, C. -C. Wong

A Composite Algorithm for Flow Rate and Ground Reaction Force Reduction in a Hydraulic Actuated Quadruped Robot with Kinematic Redundancy 469

Taeju Kim, Sangdeok Park

A Component Library Information Model Supporting Component Composition 475

Haimei Zhang, Min Guo

Controller Design for Flying Boats Taking off from Water with Regular Waves 480

Yinggu Zhu, Guoliang Fan, Jianqiang Yi

Improved Station Keeping Strategy of Spacecraft Flying Around Sun-earth Libration Point 486

Hanyue Chu, Tao Zhang, Yingzi He, Shaochun Hu

MP2-5 Robot Navigation I

Empirical Framework for Autonomous Wheelchair Systems in Human-shared Environments 493

Razali Tomari, Yoshinori Kobayashi, Yoshinori Kuno

Performance Evaluation of a Pose Estimation Method Based on the SwissRanger SR4000 499

Soonhac Hong, Cang Ye, Michael Bruch, Ryan Halterman

A Robust Humanoid Robot Navigation Algorithm with ZUPT 505

Yan Li, Xiang Luo, Xiang Thomas Ren, Jianguo Jack Wang

Proposed Robust Auxiliary Particle Filtering for Navigation System 511

Li Xue, Shesheng Gao, Gaoge Hu

Type-2 Fuzzy Logic Neural Network Control and Target Following for Remote Operated Vehicles 516

Hai Huang, Shuqiang Jiang, Lei Wan, Yongjie Pang

Navigability Analysis Based on Gravity Map Statistical Characteristics 522

Fanming Liu, Yan Li, Yingfa Zhang, Huijuan Hou

MA1-6 OS32: Intelligent Environment

A Flexible Camera Positioning Strategy for Robot-based Visual Inspection Applications 527

Chuantao Zang, Koichi Hashimoto

A Study of Intelligent Drawer with RFID Tag Information Reading System for Intelligent Space 533

Takahiro Fujita, Yusuke Numata, Takashi Yoshimi, Makoto Mizukawa, Yoshinobu Ando

Active-localization Methods for Mobile Robots in a Coarsely Structured Environment with Floor-embedded RFID Tags and Indoor GPS 539

Yoshihiro Sakamoto, Kenri Kodaka, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

Extraction of Commonsense Knowledge for “Bring Something” Robotic Service at Home 546

Trung Ngo Lam, Katsuhiro Mayama, Makoto Mizukawa, Haeyeon Lee

Energy-conservation Social Networking Service that Utilizes Power Consumption Real Data 552

Kousuke Okuyama, Kohei Saito, Yoshitaka Kato, Keisuke Kobayashi, Yasushi Nakauchi

A Novel Non-cooperative Power Control Game for Wireless Ad Hoc & Sensor Networks 558

Guoyan Yang, Xin Guan, Shiwei Li

MP1-6 Medical Robots I

Multisensory Integration of Peripherally Presented Audiovisual Stimuli in Older Adults: An Event-related Potential Study 563

Weiping Yang, Yulin Gao, Jingjing Yang, Satoshi Takahashi, Takahiro Kimura, Jinglong Wu

ULERD-based Active Training for Upper Limb Rehabilitation 569

Zhibin Song, Shuxiang Guo, Muye Pang, Songyuan Zhang

A Rotary Magnetorheological Fluid Damper for Pathological Tremor Suppression 575

Tao Yang, Yongsheng Gao, Jie Zhao, Shengxin Wang, Yanhe Zhu

The Tip Interface Mechanics Modeling of a Bevel-tip Flexible Needle Insertion 581

Wei Dong, Huimin Han, Zhijiang Du

Development of a Lower Extremity Exoskeleton Suit Actuated by Hydraulic 587

Xianggang Zhang, Qing Guo, Caoyuan Zhao, Ying Zhang, Xiufu Luo

Motion Planning and Experiments Validation for a Laparoscopic Robot 592

Bo Pan, Kun Li, Yili Fu, Shuguo Wang

MP2-6 Medical Robots II

Design and Optimization of Manipulator for Laparoscopic Minimally Invasive Surgical Robotic System 598

Ruqi Ma, Weidong Wang, Zhijiang Du, Gang Li

Clinical Training Technology for Vascular Interventional Surgery Robot System Based on Master-slave Expansion 604

Depeng Zhao, Da Liu

Design of an MRI Compatible Robot for Finger Rehabilitation 611

ZhenJin Tang, Shigeki Sugano, Hiroyasu Iwata

An Active Medical Supporting Manipulator and Experiments for Vascular Interventional Robot 617

Xiangzhan Kong, Xingguang Duan, Honghua Zhao, Yonggui Wang

Wawa: A Tumbler-like Household Robot 623

Zhiguang Xiao, Manjia Su, Yisheng Guan, Hong Zhang, Qifeng Yan, Zhimi Wang

Research on Grinding System of Robot-assisted Artificial Cervical Disc Replacement Surgery 629

Dongmei Wu, Litao Zhang, Guangxin Hao, Zhijiang Du

MA1-7 Sensor Fusion

Torsional Piezoelectric Fiber for Viscosity Measurement of Newtonian Fluids 635

Chengliang Pan, Wei-Hsin Liao

Measurement of Characteristic Parameters of Ultrasonic Flaw Detectors 641

Dingguo Xiao, Bo Yang, Qinxue Pan, Kai Zhang, Mingkai Deng

Micromachined Biosensor System for Interstitial Fluid Sampling and Glucose Monitoring 647

Yaxin Liu, Bo Huang, Yufeng Yao

A Special Terrain-following System Based on Flash LIDAR 653

Haiyang Pan, Shun'an Liu

An Efficient Moving Object Detection Algorithm Based on Improved GMM and Cropped Frame Technique 658

Jinfu Yang, Wanlu Yang, Mingai Li

Multi-sensor Fusion Method Using MARG for a Fixed-wing Unmanned Aerial Vehicle 664

Guoyu Zuo, Kai Wang, Xiaogang Ruan, Zhen Li

MP1-7 Sensor Design

Design and Implementation of IMU-based Human Arm Motion Capture System 670

Iman Prayudi, Doik Kim

The Design and Analysis of a Microstrip Antenna for SAW Force Sensor in the Metallic Slit 676

Luyuan Fu, Jiexiong Ding

Calibration for Star Tracker with Lens Distortion 681

Yunhai Geng, Shuang Wang, Binglong Chen

Measurement of Microphone Parameters Based on High-pressure Calibration System 687

Feng Niu, Aijian Zheng, Haijiang Zhu, Ping Yang, Longbiao He

Modeling and Parameters Identification of the Cross Roller Guide Way 692

Yanjie Liu, Lei Song, Niuniu Liu

Rotor Study of Inductive Angle Sensor 697

Lin Ye, Ming Yang, Liang Xu

MP2-7 Industrial Sensing

Design and Application of a Novel Contactless Sensor 702

Geeng-Jen Sheu, Ming-Jhe Sie

Hazardous Substance Source Seeking in a Diffusion Based Noisy Environment 708

John Oyekan, Dongbing Gu, Huosheng Hu

Derivative-free Kalman Filtering for Sensorless Control of MIMO Nonlinear Dynamical Systems 714

Gerasimos G. Rigatos

A Side Scan Sonar Image Denoising Algorithm Based on Compound of Fuzzy Weighted Average and Kalman Filter 720

Xiufen Ye, Peng Li, Yingying Deng

Research on Integrated Alignment of Rotary Strapdown Inertial Navigation System 725

Feng Sun, Jianzhong Xia, Haiyu Lan, Xintao Liu

Research on Calibration of IFOG Based on Angle Increment Experiment 731

Feng Sun, Haiyu Lan, Jianzhong Xia, Yue Zu

TA1-1 Parallel Mechanism

Design of Linear Actuated Delta Arm Based on Its Full Inverse Dynamics 737

Tatsuo Arai, Yasuto Shiigi, Yoshimasa Endo, Masaki Nagatsuka

Kinematics Analysis and Flexible Hinge Analysis of 3-PPSR Precision Parallel Manipulator 743

Weibin Rong, Yuliang Luan, Limin Qi, Lining Sun

Static Analysis for a 3-RUU Parallel Mechanism 749

Lingtao Yu, Tao Wang, Huajian Song, Zhengyu Wang, Peng Yu

Errors Modeling and Sensitivity Analysis for a Novel Parallel Manipulator 755

Yunfeng Li, Changfeng Li, Dongsheng Qu, Yunfeng Li, Suolin Duan, Xue Bai, Huiping Shen

Motion and Force Transmissibility of a Planar 3-DOF Parallel Manipulator 761

Jie Yang, Xiang Chen, Xinjun Liu

TP1-1 Manipulator Design

Development of New Articulated Manipulators with Compact Pneumatic Cylinders 766

Eiji Murayama, Yukio Kawakami, Kazuhisa Ito, Akiyoshi Horikawa, Koji Shioda, Masashi Ogawa

Multisensor-based Autonomous Docking for UBot Modular Reconfigurable Robot 772

Pijun Liu, Yanhe Zhu, Xindan Cui, Xiaolu Wang, Jihong Yan, Jie Zhao

An Anthropomorphic Design Guideline for the Thumb of the Dexterous Hand 777

Hairong Wang, Shaowei Fan, Hong Liu

Design of A Coordinated Control Strategy for Multi-mobile-manipulator Cooperative Teleoperation System 783

Jihong Yan, Jie Zhao, Chen Yang, Yanhe Zhu, Liang Ma, Zhifeng Chen

Task-based Configuration Synthesis for Modular Robot 789

Wenbin Gao, Hongguang Wang, Yong Jiang, Xinan Pan

Development of High Integrated 2-DOF Joint Module for Space Application 795

Shicai Shi, Rong Li, Fenglei Ni, Hong Liu

TP2-1 Micro-Nano Manipulation

Robust Actuator with Micro-hydraulic Lever Principle 801

Andreas Goedecke, Wolfgang Zoels, Georg Bachmaier, Detlef Gerhard

High-accuracy Positioning of Microchips on Patterns with Jagged Edges Using Hybrid Microassembly 807

Bo Chang, Ville Liimatainen, Iiris Routa, Quan Zhou

Dual-arm Micromanipulation and Handling of Objects through Visual Images 813

Henry K. Chu, James K. Mills, William L. Cleghorn

Development of Multi-needle-type Capillary: High DOF Micromanipulator Using Surface Tension 819

Takuya Shigeta, Hisayuki Aoyama, Shinnosuke Hirata

A Kinematics Modeling and Stress Analysis Method for Flexible Micro-gripper 825

Qun Gao, Dapeng Zhang, De Xu, Zhengtao Zhang

Dynamic Dimensional Synthesis of a Precision 6-DOF Parallel Manipulator 831

Fangyong Wu, Lefeng Wang, Weibin Rong, Lining Sun

TA1-2 Simulation Design

Optimized Design of Induction Motor Parameters Based on PSO (Particle Swarm Optimization) 837

Ping Guo, Dagui Huang, Daiwei Feng, Wenzheng Yu, Hailong Zhang

Numerical Simulation for the Shielding Effectiveness of Enclosure with Apertures 843

Dan Ren, Ping-an Du

Design of Simulation Platform for Vehicle Launching System Erecting Based on the Vega 849

Dandan Wang, Bo Xu

The Design and Simulation Experiment of Full Floating Cab Suspensions System for Conventional Heavy Trucks 854

Lin Lin, Tongyu Wang, Yuxin Huang, Limeng Wang, Hu Zhang, Yanwen Zheng

Simulation of a Piezoelectric Micro-jet Generator for High Viscosity 859

Junkao Liu, Yue Leng, Weishan Chen, Shengjun Shi

Design of Simulation and Verification System for Rotation Strapdown Inertial Navigation System 865

Jianhua Cheng, Dongxue Guan, Xuhong Cheng

TP1-2 Modeling & Simulation

Mathematics Modeling and Analysis of the Vascular Interventional Robot Propelled by Flagella 870

Yajuan Li, Bai Chen, Peng Wang, Ling Wang, Hongtao Wu

The Effect of a Nonlinear Scattering Gray Medium on the Radiative Intensity by Integral Moment Method 876

Chen Zhao, Jun Wang

Layout Space Modeling for Automation Design of Pipeline System 881

Haibo Feng, Yili Fu, Liyi Li

Control and Parameters Matching of Straight Running for High speed Tracked Vehicle with Hydrostatic Drive 887

HaiLing Zhang, Heyan Li, Biao Ma, Zhifeng Gao

Optimal Kinematic Design of a New 3-DOF Planar Parallel Manipulator for Pick-and-place Applications 892

Bin Liao, Yunjiang Lou

A Neural Network-based Self-tuning PID Controller of an Autonomous Underwater Vehicle 898

Enzeng Dong, Shuxiang Guo, Xichuan Lin, Xiaoqiong Li, Yunliang Wang

TP2-2 Mechatronic System I

Characteristics Analysis of the Synchronous Permanent Magnet Planar Motor with New Permanent Magnet Array 904

Rui Huang, Shihong Wu, Qiuying Zou, Chunling Chen, Fengli Jiang, Bo Hu

Study on Ultra-light Secondary Baffle for Coaxial Two-mirror Telescope 909

Lei Zhang, Xuezhi Jia, Peng Xie, Lina Xing

Analysis on Flow Field of the Valveless Piezoelectric System with A Rotating Unsymmetrical Slopes Element 914

Yan Jiang, Xuefei Leng, Qixiao Xia, Jianhui Zhang

IEM Analysis of Noncontact Spinning Magnetic Suspension System 920

Feng Sun, Tao Hong, Koichi Oka

Study on Analytical Modelling of Sandwich Type Piezoelectric Transducer Using Bending Vibration Mode 926

Qiang Zhang, Shengjun Shi, Weishan Chen

Study on Automated Gyrotheodolite Based on Unified North-finding Algorithm 931

Guimei Dong, Weiyu Zhang, Yuchi Lin

TA1-3 Biomimetic Systems II

GaitEnable: An Omnidirectional Robotic System for Gait Rehabilitation 936

Aliasgar Morbi, Mojtaba Ahmadi, Avi Nativ

A Wall-climbing Robot with Gecko Features 942

Jie Shao, Xiaofeng Li, Chengguo Zong, Wenzeng Guo, Yang Bai, Fuquan Dai, Xueshan Gao

Octopus-inspired Sensorimotor Control of a Multi-arm Soft Robot 948

Tao Li, Kohei Nakajima, Marcello Calisti, Cecilia Laschi, Rolf Pfeifer

A Salamander-like Amphibious Robot: System and Control Design 956

Xinyan Yin, Caiwang Wang, Guangming Xie

A Water Walking Robot Inspired by Water Strider 962

Jie Zhao, Xinbin Zhang, Qinmin Pan

Viscoelastic Analysis of Gecko Digital Peeling by Hyperextension 968

Xuan Wu, Yongjie Zhang, Yanwei Liu, Chongyang Hu, Shaoming Sun, Tao Mei

TP1-3 Biomedical System

Shoulder Rehabilitation with Biofeedback Simulation 974

Yee Mon Aung, Adel Al-Jumaily

Deformation of Macula Area under Compulsory Increase of Eye Pressure 980

Yosuke Kimura, Iwao Izumi, Makoto Kaneko, Yasushi Ikuno, Atsuya Miki, Yukari Jo, Yoshiaki Kiuchi

Noncontact Evaluation of the Wetting Characteristic of a Cell Sheet in Culture Medium 986

Nobuyuki Tanaka, Makoto Kaneko, Ryohei Uchida, Makoto Kondo, Masayuki Yamato, Teruo Okano

Design and Implementation of an Embedded Visual Biometric Characteristic Capture Device Base on DM6446 for Collection of Multimodal Biometric Characteristic 992

Weixing Feng, Yunping Dai, Wengang Zhao, Fengxu Guan

Design, Analysis and Experiments of a Spatial Universal Rotating Magnetic Field System for Capsule Robot 998

Yongshun Zhang, Huaying Xie, Na Wang, Lvhua Wang, Chunyu Du, Ying Shun, Zhuang Ma

Kinematic Analysis of Jumping Leg Driven by Artificial Muscles 1004

Jun Zhong, Jizhuang Fan, Jie Zhao, Wei Zhang

TP2-3 Space & Aerial Robotics

Design of Missile Rudder Control System Based on Digital PWM 1009

Yaxin Li, Hui Li

Reliable Attitude Stability Control of Quad-rotor Based on Fault-tolerant Approach 1015

Xun Gong, Cheng Peng, Yantao Tian, Yue Bai, Changjun Zhao, Qingjia Gao, Zhijun Xu

Hovercraft Training Simulator Delay Compensation Design Based on McFarland 1021

Juan Li, Qing Li, Xinghua Chen

Integrated Guidance and Control for Dual-control Missiles Against Ground Fixed Targets 1026

Han Yan, Haibo Ji

Study on the Landing Mechanism Employed in Asteroid Exploration 1032

Zhijun Zhao, Jingdong Zhao, Hong Liu

A Method for Unpowered Space Robot Safety Rendezvous with Non-cooperative Spacecraft 1038

Fuhai Zhang, Hongwei Chen, Lei Hua, Yili Fu, Shuguo Wang, Bin Guo

TA1-4 Control Application II

Simple Adaptive Control of Water Hydraulic Servo Cylinder System 1044

Tsuyoshi Yamada, Kazuhisa Ito

Adaptive Control Based on Hierarchical Sliding Mode for Under-actuated Systems 1050

Dianwei Qian, Xiangjie Liu, Jianqiang Yi

Robust Adaptive Backstepping Path Tracking Control for Cable Laying Vessel Based on Guidance Strategy 1056

Mingyu Fu, Aihua Zhang, Jinlong Xu

Flatness Measurement and Active Control for a Membrane Structure 1062

Jinjun Shan, Ryan Orszulik, Mark Girin, Gowryshankar Sinnathamby

Adaptive Dynamic Surface Controller Design for a Class of Pure-feedback Nonlinear Systems with Backlash-like Hysteresis 1068

Yonghua Liu, Ying Feng, Juan Du, Chunyi Su

Adaptive Control for a Cable Driven Robot Arm 1074

Jianjun Ma, Yanan Li, Shuzhi Sam Ge

TP1-4 Control Application III

A Bilateral Control Method for Surgical Robots 1080

Zhijiang Du, Ziwen Liu, Hongmin Wang

Development of Operator Seat Vibration Test Device of Earth-moving Machinery and Its Control System 1086

Bin Yang, Yonghai Yang, Yingshuang Zhang, Xiangdong Chen, Hang Li, Tao Shen

Dynamic Matrix Control of the Lateral Position of a Moving Web 1091

Tao Xiong, Weilin Cai, Youlun Xiong, Rui Zhang

Power System Control Strategy for Hybrid Excavator Based on Equivalent Fuel Consumption 1097

Jun Gong, Qinghua He, Daqing Zhang, Yunlong Zhang, Xinhao Liu, Yuming Zhao, Changsheng Liu

Analysis of Real Time Stabilization Effect and Parameter Optimization of Fin Stabilizer 1103

Songtao Zhang, Lihua Liang, Jingfu Wang

A High Performance FPGA-based Joint Controller with Hardware/software Co-design Method 1109

Qi Zhang, Zongwu Xie, Fenglei Ni, Hegao Cai, Hong Liu

TP2-4 Control Application IV

The Error Loop and Robust Closed-loop Stability 1115

Enrico Canuto, Wilber Acuña-Bravo, Andrés Molano Jimenez, Carlos Perez Montenegro

Backstepping Based All States Trajectories Tracking for Strict-feedback Systems 1121

Youxin Liu, Chunhua Cheng, Xinwei Liu

Parallel Iteration Algorithms Research on the Continuous Extension for Stiff Systems 1127

Wei Sun, Xiaoguang Fan

On-line Calibration Technology for SINS/CNS Based on MPF-KF 1132

Yanling Hao, Hongwei Mu, Xintao Liu

Study on the Automatic Intelligent Tracking Algorithms in Weak Signal 1137

Dongsen Si, Xiaoxu Wang, Chen Chen, Zengzhi Li

Study on Launch Control Strategies of Dual Clutch Transmission 1142

Jinle Zhang, Jing Guo, Lin Gui

TA1-5 Robot Navigation II

Time-constrained Trajectory Tracking Control Algorithm for Multiple-vehicle Systems 1148

Anugrah K. Pamosoaji, Keum-Shik Hong

The New Adaptive Clustering Method of Laser Scanner Data for Automated Vehicle Obstacle Recognition in Unstructured Environment 1154

Xiao Kang, Wei Zhu, Kejie Li, Li Tian, Maosong Zhang, Jing Jiang

Square-root Cubature FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping 1162

Yu Song, Qingling Li, Yifei Kang, Deli Yan

Real-time Generation of a Continuous Acceleration Trajectory for Mobile Robots 1168

Penghui Yin, Rong Xiong, Jun Wu, Yonghai Wu

A Fault Tolerant Control Strategy for Quadrotor UAVs Based on Trajectory Linearization Approach 1174

Hao Jiang, Yushu Yu, Xilun Ding, J. Jim Zhu

The Research on Performance of Starting up on Low Adhesion Road of Electric Wheel Vehicles basing on Direct Yaw Control and Traction Control System 1180

Jianguo Song, Xi Zhu

TP1-5 Motion Planning

Object Dexterous Manipulation in Hand Based on Finite State Machine 1185

Qiang Li, Martin Meier, Robert Haschke, Helge Ritter, Bram Bolder

A Method of Decreasing Time Delay for a Tele-surgery System 1191

Jin Guo, Shuxiang Guo, Nan Xiao, Baofeng Gao, Xu Ma, Mohan Qu

Faster and Smoother Trajectory Generation Considering Physical System Limits under Discontinuously Assigned Target Angles 1196

Geon Lee, Doik Kim, Youngjin Choi

A Graphical User Interface for Tele-operated Robotic Sample Acquisition 1202

Karan Desai, Yugang Liu, Guangjun Liu

Path Planning for Multisection Continuum Arms 1208

Isuru S. Godage, David T. Branson, Emanuele Guglielmino, Darwin G. Caldwell

The Design and Three-dimensional Modeling of Special Cleaning-and-maintaining Vehicles for Tracks 1214

Yuxin Huang, Tongyu Wang, Lin Lin, Huiying Gao, Yanwen Zheng, Ying Xu

TP2-5 Mobile Robot Path Planning

Accurate Parking Planning of Tractor-trailer-trailer Mobile Robot 1220

Ruofan Kong

An Efficient Improved Artificial Potential Field Based Regression Search Method for Robot Path Planning 1227

Guanghui Li, Atsushi Yamashita, Hajime Asama, Yusuke Tamura

New Path Planning Scheme for Complete Coverage of Mapped Areas by Single and Multiple Robots 1233

David Michel, Kenneth McIsaac

Development of a Coaxial Self-balancing Robot Based on Sliding Mode Control 1241

Fuquan Dai, Fangxing Li, Yang Bai, Wenzeng Guo, Chengguo Zong, Xueshan Gao

An Implementation of Blind-tendency Behavior for Covert Human Tracking Robot 1247

Wei Zou, Wenhao He, Shu Gao, Yanan Ren, Kui Yuan

Research and Development of Throwable Miniature Reconnaissance Robot 1254

Liancun Zhang, Qiang Huang, Yue Li, Liying Wu

TA1-6 Industrial Automation I

Non-blocking Supervisors Synthesis for a Class of Generalized Petri Nets Based on Proper Resource Allocation 1260

Mi Zhao, Yifan Hou

Design of Hydraulic System Based on the Multitandem Valve in Iron Roughneck 1266

Yuanchao Zhang, Xinglong Zhu, Longqin Gao, Qiyin Chen

Laser Cutting ZrO2 Ceramic with Controlled Fracture Technique 1272

Lijun Yang, Yang Wang, Zhongguo Tian

Analysis of Fatigue Damage Repair Based on Laser Shock Processing for Copper Film 1277

Ming Li, Deguang Shang, Xiaodong Liu, Jia Jin, Tao Chen, Y. B. Guo, M. E Barkey

Discusses of Rotating Ultrasonic Drilling Mechanism and Analysis of the Compound Horn Synchronous Vibration 1282

Limeng Wang, Huadong Yu, Jinkai Xu, Xiaozhou Li, Ying Xu, Lin Lin

Power Flow Calculation for Radial Distribution Systems with Distributed Generation 1287

Fengli Jiang, Zailin Piao, Shihong Wu, Rui Huang, Yunan Zhang

TP1-6 Industrial Automation II

Railway Track Gauge Inspection Method Based on Computer Vision 1292

Shubin Zheng, Xiaodong Chai, Xiaoxue An, Liming Li

Modal Analysis of a Body in White Based on Sensitivity Analysis 1297

Chunning Jin, Huimin He, Baojun Li, Ping Hu

An Exact SOC-estimate Mathematic Model of Open-circuit Voltage and Parameters Estimation 1302

Wenzheng Yu, Dagui Huang, Daiwei Feng, Ping Guo, Deng Dai, Wei Li

Research on Parameters and Performance of Asynchronous Motor Based on Thermal Finite Element Analysis 1308

Geng Li, Mingzhong Qiao, Jinghui Liang, Liuwei Huang

An Automatic Calibration System for Anechoic Chamber 1313

Bo Zhong, Jitong Wang, Feng Niu, Longbiao He, Xuebin Li

A Fast Method for the Sound Radiation of Baffled Rectangular Plate with Fluid Loading 1318

Haohao Hu, Dejiang Shang

TP2-6 Industrial Applications of Robots

An Automated Path Planning System for a Robot with a Laser Scanner for Remote Laser Cutting and Welding 1323

Jens Hatwig, Pascal Minnerup, Michael F. Zaeh, Gunther Reinhart

Instantaneous Switching Between Real-time Commands for Continuous Execution of Complex Robotic Tasks 1329

Michael Vistein, Andreas Angerer, Alwin Hoffmann, Andreas Schierl, Wolfgang Reif

A Stochastic State Prediction in AFM based Nanomanipulation 1335

Zhiyu Wang, Lianqing Liu, Zhidong Wang, Zaili Dong, Shuai Yuan, Jing Hou

Finite Element Modal Analysis of the FPD Glass Substrates Handling Robot 1341

Li Cheng, Hongguang Wang

Automated Generation of Robot MAG Surfacing Path for Remanufacturing System 1347

Ziqiang Yin, Xin Yuan, Guangjun Zhang, Lin Wu

A Novel XY-theta Alignment Stage for Screen Printing and Its Accuracy Analysis 1352

Jinglun Liang, Jiazhao Chen, Qinghua Zhang, Yongcong Kuang, Xianmin Zhang

TA1-7 Signal & Image Processing I

A Robust Lane Detection Method in the Different Scenarios 1358

Zhe Xu, Zhifeng Li

Equivalence of Position-level and Velocity-level Redundancy-resolution Schemes 1364

Yunong Zhang, Huarong Wu, Lin Xiao, Senbo Fu

Online Brain Imaging by QR Factorization of Normalized Regressor Functions 1370

Muhammad Aqil, Keum-Shik Hong, Myung-Yung Jeong, Shuzhi Sam Ge

A Fast Two-step Marker-controlled Watershed Image Segmentation Method 1375

Xianwei Han, Yili Fu, Haifeng Zhang

3D Pose Estimation for Bin-picking Task Using Convex Hull 1381

Jie Xu, Songtao Pu, Gang Zeng, Hongbin Zha

Efficient 3D Voxel Reconstruction of Human Shape within Robotic Work Cells 1386

Dominik Stengel, Thomas Wiedemann, Birgit Vogel-Heuser

TP1-7 Signal & Image Processing II

Development of a 3D Blood Vessel Model for the Simulation of the Minimally Invasive Surgery 1393

Baofeng Gao, Shuxiang Guo, Nan Xiao, Jin Guo

Effect of Spatial Smoothing on Regions of Interested Analysis Basing on General Linear Model 1399

Bin Wang, Yuu Hikino, Satoshi Imajyo, Seiichiro Ohno, Susumu Kanazawa, Jinglong Wu

Effect of Cue-target Interval on Temporally Endogenous Attention of No-go Target: Event-related Potential Evidence 1405

Yulin Gao, Xiaoyu Tang, Chunlin Li, Jingjing Yang, Weiping Yang, Satoshi Takahashi, Jinglong Wu

Robust Weld Line Detection with Cross Structured Light and Hidden Markov Model 1411

Liguo Zhang, Jianbin Jiao, Qixiang Ye, Zhenjun Han, Wei Yang

SSB Modulation with Dynamic Carrier Control and N-order Distortion Compensation for Micro Audio Directional System 1417

Xuesheng Li, Limei Xu, Leon Xu

A Wearable Stereo Vision System for Visually Impaired 1423

Kai Wun Lin, Tak Kit Lau, Chi Ming Cheuk, Yunhui Liu

TP2-7 Signal Processing I

Independent Component Analysis Based Trial-to-trial Variations Reduction in fNIRS Signal 1429

Xiao-Su Hu, Keum-Shik Hong, Shuzhi Sam Ge

Wavelet Based Analysis of Pressure Fluctuation Signals Measured from a Wind Cap in Bubbling Fluidized Bed 1434

Huawei Jiang, Hongwei Chen, Yang Wang, Zhenxin Wu, Jianqiang Gao, Xin Yang

Image Sub-pixel Recognition Method for Optical Precise Adjustment 1439

Li Ma, Shasha Zhou, Hangkong Ouyang, Zhengfeng He, Weibin Rong, Lining Sun

Continuous Wavelet Transform-based Estimation of Modal Parameters with Scale Selection 1445

Yu Dai, Jianxun Zhang

Time Delay Estimation for Weak Signals with Impulsive Noises 1451

Wenhong Liu

A K-means Clustering Algorithm Based on the Maximum Triangle Rule 1456

Jinmei Feng, Zhimao Lu, Peng Yang, Xiaoli Xu

WA1-1 Micro System

Measurement of Particle Position in Micro Channel Using Two-layer POF Array 1462

Ichiro Okuda, Yasuhi Mae, Kenichi Ohara, Tatsuo Arai, Tomohito Takubo

Piezoelectric Flow Control System Based on Microfluidic Chip 1468

Xiaoming Hu, Jingfang li, Qin Li

Simulation Studies of Valve-less Elements and Experiment Testing for Piezoelectric Micropump 1473

Yanfang Guan, Chunbo Liu, Minggang Shen, Zhongyin Wang

Research on Driving the MEMS Ultrasonic Separator Based on Two-dimensional Normal Mode 1479

Chenhui Hua, Jiexiong Ding, Luyuan Fu

Automated Deep Access Ball Bonder for MEMS Pack-aging Based on Fast Autofocus System 1485

Yuetao Liu, Xiuting Wei, Lining Sun, Liguo Chen

A Flexible New Method to Improve the Accuracy of SMA Self-sensing Control 1490

Chen Ma, Da Liu, Zhenyun Shi, Zhenhua Zhang

WP1-1 Mechatronic Application

Kinematical Analysis of Redundant Drive Wire Mechanisms with Velocity Constraint 1496

Kiyoshi Nagai, Tam Nhat Le, Yoshikatsu Hayashi, Koji Ito

A Parallel Mechanism and Pseudo-compliance Control Using on Wearable Power Assist Hips 1502

Yong Yu, Hongbing Tao, Wenyuan Liang, Junzhang Yao, Yunjian Ge

Measurement of Ultrasonic Transducer Sensitivity 1508

Dingguo Xiao, Mingkai Deng, Qinxue Pan, Dongliang Sheng, Bo Yang

A Component Library Information Model Supporting Web Service Components Description 1513

Yajing Liao, Min Guo

Application MEMS Multi-sensors for Monitoring the Forming Load of Stamping Press 1518

Chun Zhang, Jing Liang, Dehong Yu, Haifeng Xiao, Min Wang

A Practice on Parametric Curve Interpolator Based on NURBS 1524

Yangqing Guo, Xin Wang, Hao Shen, Bing Liao

WP2-1 Manufacturing Technology

Adaptive Control for Synchronous Machine 1530

Jožef Ritonja, Drago Dolinar, Bojan Grčar, Peter Cafuta

Manufacturing Algebra. Part I: Modeling Principles and Case Study 1536

Enrico Canuto, Manuela De Maddis, Suela Ruffa

Scheduling In-line Mulitple Cluster Tools: A Decomposition Approach 1544

Hyun-Jung Kim, Jun-Ho Lee, Chulhan Kim, Sun Hee Baik, Tae-Eog Lee

Manufacturing Algebra. Part II: Aggregation, Control and Simulation 1550

Enrico Canuto, Manuela De Maddis

New Procedure for Re-machining in High Speed Machining Processes Based on a DSP Architecture 1557

F. Swingedouw, V. Bourny, T. Capitaine, J. Senlis, A. Lorthois, B.Dos Santos

The Apposite Way Path Planning Algorithm Based on Local Message 1563

Jie Zhao, Ziwei Zhou, Ge Li, Changle Li, He Zhang, Wangbao Xu

WA1-2 Mechatronic System II

Scheduling Transient Periods of Dual-armed Cluster Tools 1569

Jun-Ho Lee, Hyun-Jung Kim, Tae-Eog Lee

Fault Diagnosis via Structural Support Vector Machines 1575

Yi Peng, Qixiang Ye, Jianbin Jiao, Xiaogang Chen, Lijun Wu

The Design of Beam-forming for Broadband Beam-steerable Parametric Array 1580

Fudong Zhang, Limei Xu, Min Chen

A New Method of Zero Calibration of the Strapdown Inertial Navigation System 1586

Feng Sun, Fengli Liu, Xirui Fang

Influence of Pole-arc Width on Cogging Torque in Permanent Magnet Motors 1591

Jian Wang, Shiyu Wang, Dongsheng Zhang, Jie Xiu

Design and Experimental Research of a New Type Focus Mechanism Used in Space-based Telescope 1597

Dong Wang, Xuezhi Jia

WP1-2 Mobile Robot System I

Development of a Spherical Rolling Robot Equipped with a Gyro 1602

Takateru Urakubo, Masanori Osawa, Hisashi Tamaki, Yukio Tada, Satoshi Maekawa

Reliable Control of a Quadruped Walking Robot in Uneven Terrain Environment Based on Noninvasive Brain-computer Interface 1608

Wenchuan Jia, Huayan Pu, Xin Luo, Xuedong Chen, Dandan Huang, Ou Bai

A Docking Control Method in Narrow Space for Intelligent Wheelchair 1615

Yanan Ren, Wei Zou, Hao Fan, Aixue Ye, Kui Yuan, Yan Ma

The Biomechanics Effects of Back and Front Pack Load Carriage for Human Locomotion 1621

Yali Han, Yiyu Liu, Haitao Gao, Songqing Zhu

A Reconfigurable Wheelchair/Bed System for the Elderly and Handicapped 1627

Aixue Ye, Wei Zou, Kui Yuan, Zhengdong Xu, Yanan Ren

Development of an Omni-directional Wheel with Differential Structure 1633

Changlong Ye, Huichao Ni, Shugen Ma

WP2-2 Mobile Robot System II

Digital Acceleration Controller Based on Recursive Least Squares (RLS) Identification for an Excretion Care Support Robot 1639

Yina Wang, Shuoyu Wang, Renpeng Tan, Yinlai Jiang, Kazuhiro Hamaguchi

Autonomous Quality and Productivity Improvement by Agent Robot System for Assembly Operation 1645

Keishi Matsuda, Hidenori Ishihara, Hiroshi Ishikawa

RRT-Smart: Rapid Convergence Implementation of RRT towards Optimal Solution 1651

Fahad Islam, Jauwairia Nasir, Usman Malik, Yasar Ayaz, Osman Hasan

Extending the Player Project for Flexible Cooperation of Multiple Robots 1657

Jiaolong Wang, Yixin Huang, Lei Ma

Modeling Method for Wall-climbing Robot Based on Grasping Claws 1663

Fengyu Xu, Xingsong Wang, Xiuping Li

Stability Analysis of a Tracked Mobile Robot in Climbing Stairs Process 1669

Weidong Wang, Dongmei Wu, Qibin Wang, Zongquan Deng, Zhijiang Du

WA1-3 Underwater & Water Surface System

A Smart Actuator-based Underwater Microrobot with Two Motion Attitudes 1675

Shuxiang Guo, Maoxun Li, Liwei Shi, Shilian Mao

Adaptive Fuzzy Sliding Mode Control for Spherical Underwater Robots 1681

Shuxiang Guo, Juan Du, Xichuan Lin, Chunfeng Yue

The Investigation on Measuring Heave Movement of the Vessel by the Use of Inertial Technology 1686

Feng Sun, Fengyang Chi, Xintao Liu

Study of the Actuator of Biomimetic Ray Based on IPMC 1692

Xin Zheng, Xiang Dong, Jun Gao, Jun Wang, Ke Guan

Modeling and Position Control of IPMC Actuators for the Underwater Biomimetic Microrobot 1698

Liwei Shi, Shuxiang Guo, Kinji Asaka

The Development of the Adaptive Diagnostic System for Navigation Sensors of Autonomous Underwater Vehicles 1704

Vladimir Filaretov, Alexey Zhirabok, Alexander Zuev

WP1-3 Mobile Robot & Application

Cooperation in Heterogeneous Groups of Autonomous Robots 1710

Lars Kuhnert, Stefan Thamke, Markus Ax, Duong Nguyen, Klaus-Dieter Kuhnert

Probabilistic Terrain Modeling of Mobile Robots for Outdoor Applications Using a Scanning Laser 1716

Bo Zhou, Kun Qian, Xudong Ma, Xianzhong Dai

CFD Analysis of Ducted-fan UAV Based on Magnus Effect 1722

Jie Zhao, Qingming Hou, Hongzhe Jin, Yanhe Zhu, Ge Li

Robot Terrain Inclination Model Extracted from Laser Scanner Data for Outdoor Environment 1727

Chunxin Qiu, Xiaorui Zhu, Liping Liu

A New Fuzzy Intelligent Obstacle Avoidance Control Strategy for Wheeled Mobile Robot 1732

Limin Ren, Weidong Wang, Zhijiang Du

Obstacle Crossing with Stereo Vision for a Quadruped Robot 1738

Xuesong Shao, Yiping Yang, Wei Wang

WP2-3 Design & Automation

Trajectory Planning Using Vector Smoothing Splines with Coupled Derivative Constraints 1744

Hiroyuki Fujioka, Hiroyuki Kano

A Data-driven 3D Vision Feedback System for Bilateral Rehabilitation Application 1750

Kui Xiang, Shuxiang Guo, Zhibin Song

A Fast Alignment Algorithm Based on Inertial Frame for Marine SINS 1756

Wei Gao, Yanting Che, Xin Zhang, Jin Feng, Bo Zhang

The Disassembly Model of Steam Turbines for Virtual Maintenance 1761

Haitao Zhu, Liang Cong, Tianyu Yu

Researching on the Compensation Technology of Rotating Mechanism Error in Single-axis Rotation Strapdown Inertial Navigation System 1767

Feng Sun, Qiuying Wang

The Integrated Fine Alignment Method Considering DVL Error 1773

Yueyang Ben, Zhongjun Zhu, Jianzhong Xia, Xintao Liu

WA1-4 Control Application V

Robust Stability Anaylsis of the System with Disturbance Observer: The Real Parametric Uncertainity Approach I 1779

Emre Sariyildiz, Kouhei Ohnishi

Stability Analysis of Multiple Objects Grasped by Multifingered Hands with Revolute Joints in 2D 1785

Takayoshi Yamada, Manabu Yamada, Hidehiko Yamamoto

Test System for the Vehicles ESP Control Performances on the Horizontal Pendulum Restriction Vehicle System 1793

Guoye Wang, Fengzhu Yu, Zhongfu Zhang, Lu Zhang

Tension Controller Design for Unwinding Tension System Based on Active Disturbance Rejection Control 1798

Shanhui Liu, Xuesong Mei, Fanfeng Kong, Jianguang Shen

Motion Control of an Underactuated Spherical Robot: A Hierarchical Sliding-mode Approach with Disturbance Estimation 1804

Baoyin Liu, Ming Yue, Rong Liu

A Space Contracting Particle Swarm Optimization and Its Application in Investment Prediction 1810

Yaping Zhang, Liwei Zhang

WP1-4 Manipulator Control I

A Constraint-based Motion Control Strategy for Cantilever Snap Assemblies 1815

J. Rojas, K. Harada, H. Onda, N. Yamanobe, E. Yoshida, K. Nagata, Y. Kawai

An Open Embedded Hardware and Software Architecture Applied to Industrial Robot Control 1822

Lin Zhang, Peter Slaets, Herman Bruyninckx

Manipulability-maximizing Self-motion Planning and Control of Redundant Manipulators with Experimental Validation 1829

Yunong Zhang, Dongsheng Guo, Kene Li, Jun Li

Adaptive Control of Hydraulic Excavator Manipulator 1835

Daqing Zhang, Qinghua He, Xuan Wu, Yunlong Zhang, Yuming Zhao

Modeling and Modification of the Flexible Robot with Single Controllable Local Degree of Freedom 1840

Jie Li, Zhihui Gao, Yushu Bian, Jingjing Yu

A Time-optimal Trajectory Planning Approach Based on Calculation Cost Consideration 1845

Yongqiang Xiao, Wei Dong, Zhijiang Du

WP2-4 Manipulator Control II

On the Position Density of Planar Two-link Manipulators 1851

Mathias Brandstötter, Michael Hofbaur

QSMC Based On Reaching Law Using Saturation Sliding Surface for 6R Industrial Robots 1857

Dianyong Yu, Xiaojue Wang, Lianzheng Ge, Jian Chen

Adaptive Sliding Mode Control for Manipulating Deformable Linear Object with Input Saturation 1862

Feng Ding, Jian Huang, Yongji Wang, Toshio Fukuda, Takayuki Matsuno

Fuzzy-sliding Mode Control for Flexible-joint Manipulator Based on Friction Compensation 1868

Fenglei Ni, Yechao Liu, Jin Dang

Stiffness Analysis of a Hybrid Manipulator Applied to a Multi-dimensional Vibration Isolator 1874

Wei Zhao, Bing Li, Ying Hu

WA1-5 Mobile Robot Localization & Tracking

Development of Flapping Robots Using Piezoelectric Fiber Composites - Improvement of Flapping Mechanism Inspired from Insects with Indirect Flight Muscle - 1880

Aiguo Ming, Natchapon Luekiatphaisan, Makoto Shimojo

Mobile Robot Localization Technique Using Web-based Aerial Photos 1886

Satoshi Muramatsu, Tetsuo Tomizawa, Hiroaki Matsuda, Shunsuke Kudoh, Takashi Suehiro

Using RFID in Localization for Indoor Navigation of Mobile Robots 1892

Yao Guo, Xuemei Guo, Guoli Wang

Dual-arm Service Robots for Mobile Operation in Indoor Environment 1898

Naiming Qi, Lijun Zhao, Ruifeng Li, Ke Wang

Robustness Improvement of Human Detecting and Tracking for Mobile Robot 1904

Songmin Jia, Liang Zhao, Xiuzhi Li

A New Road Friction Coefficient Estimation Method Based on SVM 1910

Shoutao Li, Xinglong Pei, Yongxue Ma, Lihua Tao

WP1-5 Robot Vision

People Tracking with Body Pose Estimation for Human Path Prediction 1915

Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

Vision-based Mobile Robot Localization and Mapping Using the PLOT Features 1921

Rui Lin, Zhenhua Wang, Rongchuan Sun, Lining Sun

Application of Carbon Fibre Reinforced Plastic for Optical Camera Structure 1928

Yuan An, Jinsong Yao

A feasibility Study on SiC Optoinjected Charge-coupled Devices 1933

Na Ye, Zhiming Chen

Study of Two-wave-mixing Interferometric Method in Ultrasonic Detection Using BSO Crystal 1938

Shitu Luo, Yanling Wang, Yukun Luo, Chengguang Fan

Development for Precise Positioning of Air Bearing Stages 1943

Kok Kiong Tan, Sunan Huang, Wenyu Liang, Shuang Yu

WP2-5 Mobile Robot Vision

A Robust White Line Detection Technique for Double Circular Operator 1949

Naohiro Hayashi, Tetsuo Tomizawa, Takashi Suehiro, Shunsuke Kudoh

Planar Region Alignment Based Ego-motion Estimation for Mobile Robot 1955

Z. L. Wang, B. G. Cai, F. Z. Yi, Y. Liu, J. Zhao

Object Tracking with Serious Occlusion Based on Occluder Modeling 1960

Peng Wang, Wanyi Li, Wenjun Zhu, Hong Qiao

A Mobile Robot Self-localization Approach Based on Unidirectional Vision 1966

Ke Wang, Guanglei Huo, Lijun Zhao, Ruifeng Li, Wei Wang

Real Time Road Sign Detection Based on Rotational Center Voting and Shape Analysis 1972

Dan Xu, Zhenmin Tang, Xuejun Yan

Planar Region Alignment Based Visual Regulation for Mobile Robot 1978

Z. L. Wang, Y. Liu, B. G. Cai, J. Zhao

WA1-6 Humanoid Robot System

A Surface EMG Signals-based Real-time Continuous Recognition for the Upper Limb Multi-motion 1984

Muye Pang, Shuxiang Guo, Zhibin Song, Songyuan Zhang

Human Gait Recognition Based on Gait Flow Image Considering Walking Direction 1990

Lijia Wang, Songmin Jia, Xiuzhi Li, Shuang Wang

Online Learning of COM Trajectory for Humanoid Robot Locomotion 1996

Dingsheng Luo, Yi Wang, Xihong Wu

Bouncing Model for the Table Tennis Trajectory Prediction and the Strategy of Hitting the Ball 2002

Han Bao, Xiaopeng Chen, Zhantao Wang, Min Pan, Fei Meng

Stance Control of the SLIP Hopper with Adjustable Stiffness of Leg Spring 2007

Haitao Yu, Mantian Li, Wei Guo, Hegao Cai

Analysis on an Uncalibrated Image-based Visual Servoing for 6 DOF Industrial Welding Robots 2013

Qingcheng Chen, Shiqiang Zhu, Xuanyin Wang, Wenxiang Wu

WP1-6 Human System Interaction

Wake-up-word Detection by Estimating Formants from Spatial Eigenspace Information 2019

Jwu-Sheng Hu, Ming-Tang Lee, Yun-Xuan Xiao

A Vision-based Guidance Method for Autonomous Guided Vehicles 2025

Aixue Ye, Haibing Zhu, Zhengdong Xu, Chenxi Sun, Kui Yuan

An Anytime Algorithm Based on Decentralized Cooperative Auction for Dynamic Joint Fire Distribution Problem 2031

Zifen Li, Xiangmin Li, Ji Yan, Jinjin Dai, Fane Kong

Research on the Kinematicmethod of 3D Visual Window for Surgical Robot in Dynamic Vision 2037

Lingtao Yu, Zhengyu Wang, Peng Yu, Tao Wang, Huajian Song

An Active Embedded Stereo Vision System with IR Filters for Robust Indoor Localization 2043

Xiaopeng Chen, Min Pan, Zhantao Wang, Fei Meng, Han Bao, Wencheng Ni

Design of Artillery Electrical Performance Parameters Measurement and Control System Based on Dual-bus 2048

Chi He, Guangling Dong, Qiang Li, Zhengguo Dai

WP2-6 OS33: Application-oriented Robust and Adaptive Control

Operator-based Parallel Compensation Control for Hysteresis Using ESL-based Stop-type PI Model 2054

Changan Jiang, Mingcong Deng, Yoshikazu Hayakawa

Adaptive Control for Piezo-actuated Stage Based on Continuous-time Approach 2059

Xinkai Chen, Yoshinobu Nagaya

Decentralized ℋ∞ Control of Interconnected Systems via Quantized Dynamic Output Feedback 2065

Guisheng Zhai, Ning Chen, Weihua Gui

Action Selection Based on Localizability for Active Global Localization of Mobile Robots 2071

Yong Wang, Weidong Chen, Jingchuan Wang, Hesheng Wang

Development and Human-like Control of an Upper Limb Rehabilitation Exoskeleton Using sEMG Bio-feedback 2077

Wenjun Ye, Zhijun Li, Chunyi Su

Design of Control System for Elderly-assistant & Walking-assistant Robot Based on Fuzzy Adaptive Method 2083

Xiaojuan Wei, Xiaodong Zhang, Peng Yi

WA1-7 Signal Processing II

Design of a Master-slave Rehabilitation System Using Self-tuning Fuzzy PI Controller 2088

Shuxiang Guo, Songyuan Zhang, Zhibin Song, Muye Pang

Ultrasonic Transmission Method for Testing Curved Composite Parts 2093

Hongbo Wang, Yong Li, Qinxue Pan, Chunguang Xu, Xinyu Zhao, Sha Xia

Measurement of Residual Stress in the Inner Wall of Steel Pipe by Ultrasonic 2098

Yong Li, Lang Xu, Qinxue Pan, Chunguang Xu

Prediction of sEMG-based Tremor Joint Angle Using the RBF Neural Network 2103

Shengxin Wang, Yongsheng Gao, Jie Zhao, Tao Yang, Yanhe Zhu

Study of MTF Measurement Technique Based on Special Object Image Analyzing 2109

Dacheng Xu, Xuebin Zhang

Real-time Tracking of Moving Objects on A Water Surface 2114

Linbo Shao, Guangming Xie

WP1-7 Haptic Interface

Determining an Optimal Multiarticular Muscle Arrangement of a Musculoskeletal Robot for a Specific Motion Using Human Motion Data 2120

Tadashi Asaoka, Masaki Kawamura, Shouhei Kumakura, Ikuo Mizuuchi

Man-machine-interface for Intuitive Programming of Industrial Robots 2128

Christoph Dreyer, Markus Obdenbusch

Inhibition of Tactile Information on Visual Spatial Attention: a fMRI Study 2134

Qiong Wu, Chunlin Li, Qiyong Guo, Jinglong Wu

Design and Optimization of a Haptic Manipulator Using Series-parallel Mechanism 2140

Yong Li, Zhiyuan Yan, Hongmin Wang, Zhijiang Du, Yuchun Zhang

A Neurobehavioral Device to Study the Neural Mechanism in Reach to Grasp Task 2146

Jin He, Xuan Ma, Jiping He

A Simulation Method of Soft Tissue Cutting with Haptics 2152

Zhiyuan Yan, Dongmei Wu, Yingying Huang, Zhijiang Du

WP2-7 Algorithm

Motion Planning for 3D Multifingered Caging with Object Recognition Using AR Picture Markers 2158

Satoshi Makita, Kensuke Okita, Yusuke Maeda

A New DMOC-based Approach to Solve Goddard Rocket Problem 2165

Jiawei Zhang, Weizhong Zhang, Jiayuan Shan

The Research on Lithium-ion Battery’s Rapid Charging Strategy with Ant-cycle System 2170

Wei Li, Dagui Huang, Daiwei Feng, Deng Dai, Fengjun Lin

Performance Optimization for Cantilevered Piezoelectric Energy Harvester with a Resistive Circuit 2175

Hongyan Wang, Xiaobiao Shan, Tao Xie

A Simple Algorithm for Camera Pose Estimation 2181

Peng Chen, Guangda Hu

Prediction of Mechanical Noise by Field-matching Wave Superposition Method with Boundaries 2187

Hongyang Chen, Qi Li, Dejiang Shang, Yongwei Liu

TA2-P Mechatronics & Automation

Method of 3-step Switching for Tri-ped Robot Using Piezo Actuator 2192

Ping-Ho Chen, Ru-Feng Liu, Kuang-Yow Lian

Slip Detection by Array-type Pressure Sensor for a Grasp Task 2198

Xiaoyou Zhang, Rongqiang Liu

Simulation and Singularity Analysis of 3 – PRS Parallel Manipulator 2203

Arockia Selvakumar.A, Praveen Babu.R, Sivaramakrishnan.R

Analysis and Improvement of the Water-jet Propulsion System of a Spherical Underwater Robot 2208

Chunfeng Yue, Shuxiang Guo, Xichuan Lin, Juan Du

Design and Kinematic Analysis of an Amphibious Spherical Robot 2214

Shuxiang Guo, Shilian Mao, Liwei Shi, Maoxun Li

Methods to Measure the Parameters of the Flying Objects via to the Four-light-screen Combined Array 2220

Bin Xin, Jinping Ni, Hongwei Lu

NARX Model-based Identification for the Developed Novel Robotic Catheter Manipulating System 2225

Xu Ma, Shuxiang Guo, Nan Xiao, Jin Guo, Shunichi Yoshida, Takashi Tamiya, Masahiko Kawanishi, Baofeng Gao

A Novel Inverse Kinematics Solution for a 7-DOF Humanoid Manipulator 2230

Ze Cui, Hongwei Pan, Donghai Qian, Yun Peng, Zengjun Han

Numerical Analysis of the Terminal Approach Carrier Disturbance Model 2235

Xinfei Li, Zhi Zhang, Qidan Zhu

A Review of the Current Understanding and Technology of Powder Mixed Electrical Discharge Machining (PMEDM) 2240

Yanzhen Zhang, Yonghong Liu, Yang Shen, Renjie Ji, Baoping Cai, Hang Li, Fei Wang

A New Color Image Restoration Algorithm Based on LAB and RBF Neural Network 2248

Liwei Zhang, Yaping Zhang

Development of Bulk Micromachined MEMS Optical Modulator 2254

Yingming Liu, Jing Xu, Shaolong Zhong, Yaming Wu

The Automated Negotiation Framework Design of Management Information System Based on E-HUBs 2259

Yufeng Li, Jin Zhang

Study on the Control System of Urban Rail Vehicle Air Spring Test Bed 2264

Yu Fang, Guofu Zhang, Yuhua Yuan

Cross-coupling Control of Dexterous Hand Based on Neuron Networks 2269

Haiwei Gu, Shaowei Fan, Yuanfei Zhang, Yiwei Liu, Minghe Jin

Modeling and Simulation of Space Robot Visual Servoing for Autonomous Target Capturing 2275

Ye Shi, Bin Liang, Xueqian Wang, Wenfu Xu, Houde Liu

Improving the Efficiency and Effectiveness of Estimating the Ego Motion of a Stereo Camera 2281

Xingdong Li, Mantian Li, Lining Sun

Bionic Design of the Body of Tank-like Climbing Robot 2287

Yongjie Zhang, Xuan Wu, Yanwei Liu, Chongyang Hu, Shaoming Sun, Tao Mei

Reliability Analysis on Cycloid Double Enveloping Meshing Pair 2292

Chaoyang Li, Rulong Tan, Jing Zhang, Bingkui Chen

Tracking Control of Ball and Plate System Using A Improved PSO On-line Training PID Neural Network 2297

Kyongwon Han, Yantao Tian, Yongsu Kong, Jinsong Li, Yinghui Zhang

Fractional-order PI Speed Control for Permanent Magnet Synchronous Motor 2303

Ruiping Wang, Youguo Pi

Study on the Thermal Effects of Femtosecond Laser Ablation on Ti-6Al-4V 2309

Chengjuan Yang, Wenjun Wang, Xuesong Mei

A New Type of Nozzle AFM Machine Tool and Control System Research 2314

Wangwen Bin, Chen Wei, Chaoyu Jin, Caihong Xia

Axial Thermal Error Compensation Method for the Spindle of a Precision Horizontal Machining Center 2319

Yang Li, Wanhua Zhao

Design a Current Sensor Based MOEMS Technology 2324

Bo Zhang, Jing Chai

The Application of Artificial Neural Network Inverse System in Acoustic Directional System 2329

Tianwen Yang, Dagui Huang, Min Chen, Xinlong Wu

Study on Dual-system Parallel Processing Technology in SINS 2334

Yanling Hao, Zhao Qi, QiuYing Wang

Design of System for High Performance Navigation Computer System Based on DSP 2340

Wei Gao, Guochen Wang, Guangtuo Zhang

PID Control for the Robotic Exoskeleton: Application to Lower Extremity Rehabilitation 2345

Guangye Liang, Wenjun Ye, Qing Xie

Contour Error and Control Algorithm in CNC Machining Tool 2351

Jun Wang, Hu Liang, Dagong Guan, Xin Wang, Hao Shen, Miaojuan Luo

The Effects of Aluminium Additives on the Quality of High-speed Steel Laser Cladding 2356

Xiaofeng Shang, Qinghe Zhao, Zhijian Wang, Peng Qi

Easy Control Hydraulic Rotary Self-servo Reconfigurable Decoupling Hydraulic Joint 2361

Lin Jiang, Jie Zhao, Wenchao Wu, Xianbao Xiang, Xinyuan Chen, Hui Zhao, Liangcai Zeng

An Equivalent Beam Method for Calculating the Sound Radiation of Underwater Cylindrical Shells 2366

Rui Tang, Qi Li, Dejiang Shang

Mars Exploring Trajectory Optimization Using Gauss Pseudo-spectral Method 2371

Yue Liu, Yingjing Qian, Jianqing Li, Changsheng Gao

Optimal Fixture Design for Large Plates of Optical Glass Assembly 2378

Jiwu Dong, Jianhua Su, Hong Qiao, Peng Wang

Robust Human Body Tracking Using Sparse Representation 2384

Jinfu Yang, Jinrong Fu, Mingai Li

Resource Constrained Multirobot Task Allocation with an Optimal Solution 2389

Wen Shang, Jun Zhong, Qin Yan, Jian Chen

Research on the Frame Structure of Light-small Opto-electronic Stabilized Platform Assembled on UAV 2395

Jingdong Wang, Huadong Yu, Ying Xu, Yan Li, Jinkai Xu

A Study Based on Real-time Data Acquisition System of Intelligent Seismometers in Two Dimension Seismic Prospecting 2400

Bin Sun, Haiying Li, Xiurong Sun

Control of the Wireless Microrobot with Multi-DOFs Locomotion for Medical Applications 2405

Takuya Okada, Shuxiang Guo, Nan Xiao, Qiang Fu, Yasuhiro Yamauchi

Thoughts on Walking Robot for Urban Search and Rescue 2411

Filipp Seljanko

New Rocker-bogie and Terramechanics-based Wheel/Soil Interaction Models for Planetary Rovers 2417

David Michel, Kenneth McIsaac

Implementation of LabVIEW®-based Joint-linear Motion Blending on a Lab-manufactured 6-axis Articulated Robot (RS2) 2423

Dong Sun Lee, Won Jee Chung, Chang Doo Jung, Jun Ho Jang

Analysis on the Influence of Three-axis Turntable Nonorthogonal Error on Gyro Calibration of SINS 2429

Wei Gao, Xirui Fang, Fengli Liu

Design on Exoskeleton Robot IntelliSense System Based on Multi-dimensional Information Fusion 2435

Yuhuan Du, Xiaodong Zhang, Yang Wang, Tong Mu

The Decision-making Model of Partnership Portfolio on Supply Chain 2440

Dongmei Liu

Design and Implementation of Detecting Instrument for an Airborne Gun Fire Control Computer 2446

Danqiang Chen, Guohua Cao, Danqiang Chen, Huilin Fan, Dapeng Wang

Genetic Algorithm Based Optimization and Simulation of Electric Bus Power System Parameters 2451

Hailong Zhang, Dagui Huang, Deng Dai, Ping Guo, Fengjun Lin

Simultaneous Design of Slider-crank Mechanism Considering Closed-loop System Stability 2456

Sulan Li, Congsi Wang, Jin Huang, Wei Wang

Design of Wearable Intelligent Mind Controlled Prosthetic Hand 2462

Yaonan Li, Xiaodong Zhang, Zhaoxiang Huang, Qingran Hu

A Study of Side-by-side Mooring Movement Simulation and Heave Compensation Control Strategy 2467

Lin Feng, Zhengrong Wang, Yong Ding, Xingquan Zhai

Vision Based Battery Exchange Robots for Electric Vehicle 2472

Hao Shen, Xin Wang, Jun Wang, Yong Xie, Wei Wang

Coordinated Control of Relative Position and Attitude for Spacecraft with Actuator Saturation 2477

Jinjie Wu, Kun Liu, Yudong Gao, Binbin Zhang

Development of a Self-balance Dual-arm Robot for Inspection of High-voltage Power Transmission Lines 2482

Songyi Dian, Xuefeng Wen, Hang Dong, Tao Weng

Study of High-speed Loading Machine's Missing Chip Detection System Based on Vacuum Testing 2488

Weibin Rong, Ruyi Liu, Zenghua Fan, Lining Sun

Research on a Novel Hybrid Power System 2494

Panqiu Jiang, Hong Zhang, Limei Xu, Xuesheng Li, Peidong Zhao, Shufeng Zhang

Three-loop Autopilot Design and Simulation 2499

Hairong Chu, Yue Zhang

Intelligent Prostheses Vibration Testing and Analysis 2504

Xuezhi Zhang, Xiaodong Zhang, Lei Zhu

Application of Self-tuning Fuzzy PID Controller on the AVR System 2510

Farouk Naeim, Bingqi Tian

Moving Object Detection and Locating Based on Region Shrinking Algorithm 2515

Zhihui Li, Haibo Liu, Di Sun

A New Filtering Method of Laser Scanner Data for Automated Vehicle Obstacle Recognition in Unstructured Environment 2519

Li Tian, Wei Zhu, Xiao Kang, Maosong Zhang, Jing Jiang, Kejie Li

A Homogenous CPG-network for Multimode Locomotion Control of Modular Self-reconfigurable Robot 2526

Xindan Cui, Yanhe Zhu, Xiaolu Wang, Shufeng Tang, Jie Zhao

Design and Development of the Software System for Equipment FMEA Based on .NET 2531

Yanmei Lv, Gefang Wang, Haitao Wang, Jialin Wang, Weihua Wang

Advanced Fuzzy PID Composite Control for Stabilized Platform System 2536

Zhi Yu, Jianzhong Cao, Hongtao Yang, Huinan Guo, Bo Gao, Lei Yang

Dynamic and Tip-over Stability Analysis of a Planetary Wheeled Stair-climbing Wheelchair 2541

Lixin Fang, Tao Lu, Wenhao He, Kui Yuan

Predictive Control and Stabilizing Effect Analysis of Controlled Passive Tank 2547

Lihua Liang, Songtao Zhang, Changjiu He

Stochastic and Dynamic Modeling of MEMS Gyroscopes 2553

Yandong Wang

Expert System for Trace Direction Control of the Amphibious Air Cushion Vehicle 2558

Mingyu Fu, Lina Zhang, Jianqin Wang, Yuan Liang

Research on Depth Control Based on Output Disturbance Observer for UUVs Maneuvering near the 2564

Surface

Honghan Zhang, Di Wu, Congcong Li, Zheping Yan

3-PRS Parallel Robot for Battery Swapping of Electric Vehicle 2569

Jun Wang, Hu Liang, Dagong Guan, Xin Wang, Hao Shen

Obstacles Pattern Recognition Based on BP Neural Network 2574

Qiuhao Zhang, Wei Li, Baiqing Sun, Hongche Guo

The Left to Right in Inhibition of Return in Discrimination Tasks 2579

Xingjuan Liu, Yulin Gao, Ming Zhang

Application of Rainwater Regulation (Collection) Storage System Technology for Landscape Green Lands & Squares in Tianjin City 2584

Hongwei Qin

Discrete-time Fuzzy State Feedback Control for Looper and Tension Control Systems 2590

Jinxiang Chen, Yungui Zhang, Liye Yu

Feature Extraction and Multi-sensor Data Fusion in Monitoring and Pre-warning System for Security of Pipeline Based on Multi-Seismic Sensors 2595

Jiedi Sun, Jinquan Zhang, Xiaojun Wang

Study on the Pre-estimated Algorithm with Self-adaption in Teleoperation System 2601

Ting Chen, Xiufen Ye, Nan Xue

A SLAM System Based on Improved Distributed UPF 2606

Mei Wu, Fujun Pei, Hehua Ju

Application of Set Pair Analysis in Cascading Failure of Ship Fire-fighting System 2612

Yanli Zhang, Hongzhang Jin, Jinhuan Zhang, Jiren Cui