Welcome to ICM2015-Nagoya, Japan

On behalf of the Industrial Electronics Society of the IEEE, we welcome you at the 2015 IEEE International Conference on Mechatronics (ICM2015). Since its first door opened in Istanbul, Turkey in 2004, this conference aims at providing a forum for relevant information exchange among engineers and research in the area of mechatronic systems. Following to the last conference in Vicenza, Italy in 2013, our wish is to have in Nagoya many chances to engage in enthusiastic discussions on mechatronics-related issues and open research problems. ICM2015 aims at providing a multidisciplinary forum between researchers from industry and academia to discuss state-of-the-art topics in mechatronics and present recent research results and prospects for development in this evolving area.

Nagoya has been chosen to host ICM2015: not only because it is the center of one of the most integrated industrial areas in the world with a wide variety of industries, such as automobiles, machine tools, chemicals, materials, aerospace, etc., and research centers in the field of mechatronics, but also valuable historical and/or modern places to visit.

We would like to thank the volunteers who spent their time to bring ICM2015 to you. Especially, we want to acknowledge the efforts of the Program Chairs and Technical Program Committee members, the Special Sessions Chairs and Organizers, and all those persons in charge of all the conference-related activities, from local arrangements to conference secretariat. We also want to gratefully acknowledge the support provided by the technical sponsors of the conference: The Institute of Electrical and Electronics Engineers (IEEE) and the IEEE Industrial Electronics Society (IES). The conference organization has been also supported by several organizations and foundations: we deeply thank all of them.

The Technical Program Committee selected 107 papers from 18 countries worldwide among the submitted 124 papers from 21 countries. The two plenary session, a keynote lecture and a panel discussion on collaborative R/D with industries, will give opportunities to have stimulating ideas on mechatronics.

We look forward to meeting you at ICM2015-Nagoya and we do hope that you will enjoy the conference and the city of Nagoya.

Makoto Iwasaki General Co-Chair ICM2015-Nagoya

Kouhei OhnishiGeneral Co-Chair ICM2015-Nagoya

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General Information

Conference venue

Nagoya Institute of Technology

Gokiso-cho, Showa-ku, Nagoya, Aichi, 4668555 Japan

+81-52-735-5000

Official language

Presentation and conference activities are conducted in the English language.

Currency

The official currency is Japanese Yen (JPY). Currency exchange services are provided at banks, airport and hotels. On the weekend, exchange counters are available in the downtown area “Sakae” or “Nagoya Station”.

All major credit cards are accepted in most hotels, stores and restaurants.

Insurance

Participants of conference are advised to take out their own insurance in case of emergency illness or lost baggage. The conference fees DO NOT include provisions for the insurance of participants against personal injuries, sickness, and theft or property damage.

Important phone numbers

Police: 110

Firefighters, first-aid: 119

Power Supply

100V AC, 60 Hz

Water

The water supply system in Nagoya delivers clear and drinkable water.

Smoking

Smoking is prohibited in the campus of Nagoya Institute of Technology. Please find smoking sections in the campus map.

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Registration desk

The registration desk is located at 1st floor in building #52, and is open during the following hours:

Friday March 6th 2015: 09h00 to 18h00

Saturday March 7th 2015: 08h30 to 18h00

Sunday March 8th 2015: 09h00 to 12h00

Internet service

Free of charge Internet wireless access is provided to ICM2015 participants during the conference three days. Please do bring a laptop with Wi-Fi facilities. Please visit the Wi-Fi service desk near the registration desk.

Refreshments and lunches

Coffee breaks and lunches are included in the registration fees. Coffee breaks are serviced in the “Yume-room”, 1st floor in building #52. Lunches are serviced at a NITech restaurant with your lunch tickets in the conference bag.

Banquet

The banquet is going to hold on Friday March 6th in the evening at 19h00. You should badge and take your ticket in hand. Accompanying person must register or have acquired a ticket for the banquet. The event takes place at:

KOUYOUEN 3rd floor Star Hall

2-24-10, Chikusa, Chikusa-ku, Nagoya, Aichi, 4640858 Japan

+81-52-741-0211

It is about 10 minutes walking distance from north gate of the campus. After the banquet, shuttle buses can be available from the banquet place to Tsurumai Station.

Cocktail party

The cocktail party is going to hold on Saturday March 7th in the evening at 18h30. The event takes place at a NITech restaurant. No ticket is needed to join the event.

Technical/Cultural tour

The tour visits “Toyota Commemorative Museum of Industry and Technology” and “The Tokugawa Art Museum” by a tourist bus on Sunday March 8th 2015.

Please meet up registration desk at 12h45.

The schedule:

Conference venue 13h00 Toyota Commemorative Museum of Industry and Technology 15h10 The Tokugawa Art Museum 17h00 Nagoya Station 17h30 Kanayama Station 18h00

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Wi-Fi Connection

During ICM2015-Nagoya, Wi-Fi is available in NITech campus (the conference venue). However, users are required to register with a valid ID for this service. Please visit the Wi-Fi service desk at the registration desk located at 1st floor in building #52.

1) Take a sheet of “User ID” and “Password” after your signing on a consent agreement at the Wi-Fiservice desk.

2) Following is the information to connect to the access point. ESSID(SSID) : MAINS-5G

3) Please input published User ID and Password.

Published “User ID” and “Password” are valid by March 8th , 2015.

Under the following guideline, please enjoy the comfortable Wi-Fi service!

Please note that this service is allowed for academic usage only. Therefore, you must agree with the following guidelines.

You should not lose your ID and password. You should not pass your ID and password to another person. You must protect your computers against attacking by the computer viruses on the network. You must avoid to connect cracked, infected or jailbroken computers which contain malwares. You must follow laws concern copyright and privacy.

If your organization joins in the eduroam service, the service is available at the session room.

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Access Map

ANA CROWNE PLAZA HotelGrand Court NAGOYA

Meitetsu InnNagoya Kanayama

Nagoya KanayamaWashington Hotel Plaza

1 min.walk

2 min.walk

4 min.walk

JR Chuo Line (6 min.) JR Chuo Line (2 min.)

JR Tsurumai Sta.

Nagoya Institute of Technology7 min. walk (from exit Meidai-byouin-guchi)

NAGOYA MARRIOTTASSOCIA HOTEL

Nagoya Sta. Kanayama Sta.

Meitetsu Airport Line(Limited Express 25 min.)

Meitetsu Airport Line(Limited Express 29 min.)

Central Japan International Airport (Centrair)

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Campus Map

Room E(#5212)

Room A(#5211)

Yume-room

Coffee break room

Cloakroom

Room D(#5223)

Room C(#5222)

Room B(#5221)

to 2F to 1F

Registration desk

Entrance

2F1F

Main Gate

North Gate

Floor Map Building #52

Session Rooms& Registration(Building #52)

W.C. W.C.

Lunch & Cocktail party(NITech Restaurant) East Gate

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Conference Program at a Glance

Room A (#5211) Room B (#5221) Room C (#5222)09:00-10:30

10:30-12:30

SS-04Rehabilitation Mechatronics

SS-01Smart Material Systems, Modeling, Control, Applications

TT-01Mechatronic Systems

14:00-16:00

SS-03Legged Locomotion

TT-02Robotics

TT-03Motion Control

16:30-16:4016:40-18:30

19:00-

09:00-10:00

10:30-12:30

SS-06Real-World Haptics for Human Support

SS-02-1Advanced Motion Control on Electric Vehicles and Sustainable Mobility

TT-04Mechatronics and Robotics

13:30-15:30

SS-08Smart Precision Motion Control in Mechatronic Systems

SS-02-2Advanced Motion Control on Electric Vehicles and Sustainable Mobility

TT-05Control Theory

16:00-18:00

SS-09Advanced Control Technologies for Nanoscale Servo Systems

SS-10Electrical Machines and Drives for Automobile Applications

TT-06Haptics

18:30-

09:30-12:00

SS-05Advanced Control Technologies Applied to Mechanical System

SS-07Network-based Control Systems and Its Application

TT-07Sensing Technology

13:00-

Friday March 6th, 2015

Saturday March 7th, 2015

Sunday March 8th, 2015

Cocktail party

Technical tourLunch

Opening ceremony at Room A (#5211)Panel discussion at Room A (#5211)

Banquet

Keynote lecture at Room A (#5211)

Lunch

Coffee break

Coffee break

Lunch

Coffee break

Registration

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Plenary Sessions

Friday, March 6th 16:40-18:30

Room A (#5211) Plenary Session - 1

Moderator:

Makoto Iwasaki

Panel Discussion – On Collaborative R/D with Industries Panelists:

Prof. Nobuyuki Matsui, Chubu University, Japan Prof. Hiroshi Fujimoto, University of Tokyo, Japan Prof. Francesco Biral, University of Trento, Italy Prof. Paolo Bosetti, University of Trento, Italy

Saturday, March 7th 09:00-10:00

Room A (#5211) Plenary Session - 2

Chair/s: Michael Ruderman Makoto Iwasaki

Keynote Lecture – Dependability Aspects of Model-based Systems Design for Mechatronic Systems Speaker:

Prof. Klaus Janschek, Technische Universität Dresden, Germany

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Dependability Aspects of Model-based Systems Design for Mechatronic Systems

Klaus Janschek, Andrey Morozov Institute of Automation, Faculty of Electrical and Computer Engineering

Technische Universität Dresden (TU Dresden) Germany

klaus.janschek@tu-dresden.de, andrey.morozov@tu-dresden.de

EXTENDED ABSTRACT – IEEE ICM 2015 KEYNOTE LECTURE

Mechatronic systems are getting more and more complex, both in terms of functionality and integrated heterogeneous technologies. This makes mechatronic systems increasingly highly critical subject to failures at different technological levels (software, hardware, human operator). This plenary talk discusses modern model-based design aspects for ensuring high dependability of such systems, i.e. ensuring most reliable and safe operation under presence of non-avoidable threats.

I. TERMS OF REFERENCE An introductory assessment clarifies relevant terms of

reference such as “systems” (in particular mechatronic systems), “models”, “design” and “dependability” with special focus on the effect of threats (faults, errors, failures).

Mechatronic systems Mechatronic systems can be characterized by two inherent key properties: (i) synergistic spatial and functional integration of heterogeneous subsystems (mechanical, electronic, information processing) and (ii) closed action chain (physical feedback) requiring well-working interaction at functional and technological level [1].

Systems design Systems design generally is based on an abstraction of the system under consideration, these abstractions we call “models”. The assessment of system performances and in consequence the design of a system to realize required performances is always done on the basis of such abstract models. Design can be said as “working with models”. Thus models play a key role within the design process. Models are always restricted to describing a specific system behavior with respect to a certain view on the system under consideration. In our case, when dealing with mechatronic systems, we need the following three fundamental views [1]: (i) functional view (interlinked functional dependencies), (ii) procedural view (logical and dynamic relations) and (iii) hardware/software (HW/SW) architecture view (real physical entities realizing the functional and procedural system properties). Therefore any valuable modeling paradigm must inherently support these three fundamental system views.

Modeling paradigms Three of state of the art systems modeling paradigms are addressed further as representative examples: Structured Analysis (SA), UML/SysML and Simulink/Stateflow co-design. In particular the latter two paradigms have become very popular in recent years and they are widely distributed in industrial research and development. Moreover these paradigms are very well supported today by computer tools making them very well suited for automated design approaches.

Model-based systems design Although systems design in general is inherently linked closely to working with models the meaning of the term ‘model-based design’ goes far beyond this. Assuming the readiness of appropriate system models (i.e. incorporating the relevant views) in terms of formalized models and computerized models, the model-based design paradigm tends to derive new and ‘hidden’ information out of these baseline models using appropriate methods for processing and manipulation of these models. Preferably this processing is done in an automated way using computerized tools. Interestingly the model-based design paradigm shows an exponential growth since the early 1980’s for all engineering disciplines (e.g. IEEE Xplore paper count) in general as well as for mechatronic systems design related areas.

Dependability Fundamentally a proper systems design must provide a system realization solution that fulfills the stated requirements on the system under consideration. Generally it is distinguished between functional and nonfunctional requirements. The design for functional requirements, i.e. definition of specific system behavior (e.g. accuracies of dynamic performances), is rather traditional and well established using physically oriented mathematical models (differential equations, etc.) and system theoretical methods (e.g. frequency domain, time domain). A sometimes more fuzzy issue is the consideration of nonfunctional requirements, i.e. specification of criteria judging the operation of a system, rather than its specific behaviors. Some of these nonfunctional requirements are dealing with dependability. Our dependability terminology follows the seminal work of [2], [3]. Dependability in modern systems engineering understanding comprises all aspects of dealing with “the trustworthiness of a (computer) system such that reliance can justifiably be placed on the service it delivers”. The concept of dependability covers

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a wide range of aspects: (i) attributes (availability, reliability, safety, confidentiality, integrity and maintainability), (ii) means (fault prevention, fault tolerance, fault removal and fault forecasting) and as origin of all possible malfunctions (iii) threats (faults, errors and failures). To be concise we recall the definitions of the threats: Fault:= is a defect in the system that can be activated and cause an error; Error:= is an incorrect internal state of the system, or a discrepancy between the intended behavior of a system and its actual behavior; Failure:= is an instance in time when the system displays behavior that is contrary to its specification.

Design for dependability The ultimate design objective for a design for dependability can be stated simply as ‘appropriate robustness of system operation against threats’. As a consequence the fundamental questions to be answered in context with design for dependability are therefore: “What ‘dependability’ models (methods) have to be used?” and “How to work with these ‘dependability’ models (methods)?” in the context of building dependable systems that are robust against threats.

Dependability aspects ‘threats’ and ‘error propagation’ The threats actually are the fundamental sources of every nondependable behavior and therefore they are in the focus of every dependability analysis. Fundamental questions to be answered in this context are the following:

How do errors propagate through complex (SW-sms.

What system elements are critical error sources? critical elements.

What are the probabilities for a certain error propagation path? critical paths.

What has caused an error? find error sources. Thus the understanding of error propagation mechanisms is

fundamental both for analysis of system behavior under existence of threats and for providing design measures making a system robust against threats. In the following we will therefore focus on the aspects of error propagation.

II. STATE OF THE ART

State of the art dependability related models It is obvious that baseline system models mentioned above like SA, UML/SysML or Simulink/Stateflow cannot be used directly for dependability analysis. Although they are representing the fundamental functional, procedural and structural properties of a mechatronic system, they are neither tailored for dealing with threats directly nor with particular error propagations aspects. A review of state of the art system level models for dependability analysis (focusing on reliability aspects) like Reliability Block Diagrams (RBD), Fault Tree Analysis (FTA) and Event Tree Analysis (ETA) reveals that they are covering rather well the functional view (data flow and logical error propagation) and the HW architecture view. The results gained are rather classical reliability figures for hardware driven systems in a chained architecture without closed loop feedback via the physical system elements (i.e. control plant).

Specific dependability aspects for SW driven systems This restricted systems view is not sufficient for mechatronic systems with its complex SW-implemented functions. SW

architecture can become considerably complex due to complex functionality and as fundamental difference to hardware driven systems the procedural view becomes governing the error propagation mechanisms. The procedural view has to cover the complex and interlinked data flow and control flow with considerably increased complexity in error propagation mechanisms. In the SW engineering domain, the majority of classical approaches to error propagation analysis are based on fault injection and error detection techniques. Fewer analytical models use mapping of system behavior into probabilistic mathematical models like Markov chains and stochastic Petri nets.

Specific dependability aspects for mechatronic systems In addition to SW-driven aspects there are two more issues making dependability analysis very challenging for mechatronic systems: mixed HW&SW system architectures and physical feedback structures. Hardware in this context does not only mean computer hardware but also sensors, actuators and in particular the mechanical structures to be controlled via physical feedback. These properties put requirements on the baseline system models from which specialized dependability models can be derived. The three system modeling paradigms addressed before SA, UML/SysML, Simulink/Stateflow are very well suited and can be effectively used as modeling basis. But still the challenge is left to transform these models into the dependability space and to have available adequate methods for analyzing dependability aspects of these models (in particular feedback structures).

III. NEW RESULTS ON ERROR PROPAGATION ANALYSISAND ITS APPLICATIONS TO DESIGN FOR DEPENDABILITY

We have developed recently a new model for probabilistic error propagation analysis of complex heterogeneous systems. The next five paragraphs introduce our recent research results: the model itself and its application in the context of several problems for the design for dependability

Dual graph error propagation model As outlined in the preceding sections the dependability modeling of mechatronic systems requires highly abstractive models for the proper mapping of the mutual interaction of heterogeneous system components such as software, hardware, and physical parts and it has to take into account specifically interlinked data flow and control flow of the software implemented functions. A well proved approach for error propagation analysis of software systems uses a Markovian representation of the control flow. However, these models imply that data errors always propagate through the control flow. This assumption limits their application to systems, in which components can be triggered in arbitrary order with non-sequential data flow. More realistically control and data flows must be considered separately for an accurate description of an error propagation process. As a more comprehensive approach we have introduced recently a new concept of error propagation analysis [4], [5], [6]. The central idea is a synchronous examination of two directed graphs: a control flow graph and a data flow graph

dual graph error propagation. The structures of these graphs can be derived systematically during system development. The knowledge about an operational profile and properties of

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individual system components allow the definition of additional parameters of the error propagation model. A discrete time Markov chain is applied for the modeling of faults activation, errors propagation, and errors detection during operation of the system. A state graph of this Markov chain can be generated automatically using the discussed dual-graph representation. A specific approach to computation of this Markov chain makes it possible to obtain the probabilities of erroneous and error-free system execution scenarios. Application results are shown for a mobile robot case study.

Error propagation for hybrid block diagram and finite state machine models Model-based control software development is widely used in a variety of safety critical domains including automotive, aerospace, and industrial automation. Control algorithms are typically developed using the combination of two classical types of models: time discrete block diagrams (BD) and discrete event finite state machines (FSM). The model-based approach ensures high consistency between baseline models and production code, which allows avoiding many faults that could be introduced in case of manual software development. The presented approach sketches a model-based probabilistic error propagation analysis for control algorithms built from hybrid time-discrete BD and discrete event FSM models. On the basis of our baseline dual-graph error propagation model and the Markov-based approach we sketch extensions for abstract modeling of specific BD/FSM properties (e.g. hierarchical nesting, multi-rate, internal memory) and methods for automated mapping of hybrid BD/FSM models in dual-graph error propagation models and computationally efficient DTMC models.

Error propagation in multi-rate time discrete models Control algorithms are typically designed using time discrete block diagram models and automatically deployed on embedded control units. For such multi-rate time discrete block-diagram models we show an extension of our baseline dual-graph error propagation model and algorithm for automated generation of this model from a multi-rate block diagram, and for transformation of the error propagation model into a discrete time Markov chain for quantitative probabilistic analysis [7]. Application results are shown for an automotive case study.

Optimized software-implemented fault tolerance Failures of computing hardware, caused by a negative environmental impacts like increasing heat, lowering voltage, or cosmic radiation, can lead to silent data corruption and will result in undetected incorrect system outputs. In case that high system availability and reliability are required, e.g. safety critical systems, the traditional solution uses specifically protected hardware. The application of software-implemented hardware fault detectors (SFD) is a promising alternative solution. SFDs offer the opportunity to use cost effective but less reliable hardware, while maintaining the required level of system reliability. However, application of the SFDs entails generation of extra source code resulting in a considerable computational overhead and as a consequence leads to performance degradations. We present an approach that aims minimizing the negative performance impact of SFDs while maintaining the required system reliability level [8]. It is shown that the selective and balanced application of SFDs solely to

the most critical parts of the software results in an efficient system design solution. The presented approach uses a combination of reliability and performance analysis methods. These methods are based on an extended version of a dual-graph error propagation model and discrete time Markov chain models, introduced previously by us. The method for reliability analysis estimates the mean number of undetected errors on critical system outputs, whereas the method for performance analysis evaluates the mean execution time of system functions. Both methods are used for the quantitative exploration of different strategies of selective application of SFDs and allow finding a balance between system performance and reliability. Application results are shown for the embedded flight control software of an unmanned aerial vehicle (UAV).

Model-based selective regression testing A common regression testing strategy reruns all test from this suite. This consumes inordinate time and resources and makes it inapplicable for the real projects. An alternative and promising strategy is selective retesting with the help of a test suite prioritization method. The general idea is to choose the tests from the old test suite that deemed necessary to test the modified software. Expected execution time of these selected tests is much less than the execution time of entire test suit. The proposed approach considers software reliability as a measure of testing quality. Development of a new test cases selection method that allows to maintain software reliability after modifications (integrations of new software parts) is the goal of the approach. An extended and version of our baseline error propagation model is used for the identification of the most critical software parts and reliability estimation.

REFERENCES

[1] K. Janschek, Mechatronic Systems Design: Methods, Models, Concepts. Springer Berlin Heidelberg, 2012.

[2] J. C. Laprie, A. Avizienis, and H. Kopetz. Dependability: Basic Concepts and Terminology. Springer-Verlag, Secaucus, NJ,USA, 1992.

[3] J.C. Laprie, Dependable Computing: Concepts, Limits, Challenges, Invited paper to FTCS-25, the 25th IEEE International Symposium on Fault-Tolerant Computing,Pasadena, California, USA, June 27-30, 1995, Special Issue, pp. 42-54.

[4] A. Morozov, K. Janschek, E. Koycheva, Architecture-based Approach to Software Errors Localization. Fast Abstract Session - ID 515, 21st IEEE International Symposium on Software Reliability Engineering (ISSRE 2010), November 1st - 4th, 2010, San Jose, CA, USA.

[5] A. Morozov, K. Janschek, Dual Graph Error Propagation Model for Mechatronic System Analysis. In: Proceedings of the 18th IFAC World Congress, August 28 - September 2, 2011, Milano, Italy, pp. 9893-9898, DOI 10.3182/20110828-6-IT-1002.03371.

[6] A. Morozov, K. Janschek, Probabilistic Error Propagation Model for Mechatronic Systems. Mechatronics (Elsevier), Volume 24, Issue 8, 2014, pp. 1189 - 1202.

[7] A. Morozov, R. Took, K. Janschek, Error Propagation Analysis of Multi-rate Time Discrete Block Diagrams. Unpublished (submitted to IEEE Transactions on Reliability, November 2014)

[8] A. Morozov, K. Janschek, Reliability and Performance Optimization for Software-implemented Hardware Fault Detectors. Unpublished (submitted to Springer Software Engineering for Self-Adaptive Systems, February 2015)

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SS-04 - Rehabilitation Mechatronics Friday, March 6th

Room: Room A - # 5211 Hour: 10:30 Duration: 120 minutes

Chair/s: Noritaka Sato Esam Hafez Abdelhameed Abdelgany Papers: 10:30 Stability analysis of a non-linear adaptive impedance controller for rehabilitation purposes

Prof. Roberto Oboe, University of Padova Mr. Davide Pilastro, University of Padova

10:50 Rehabilitation robot in primary walking pattern training for SCI patient -Training robot for home-use based on the experiments of the hospital-use type

Prof. Taisuke Sakaki, Kyushu Sangyo University Prof. Toshihiko Shimokawa, Kyushu Sangyo University Prof. Nobuhiro Ushimi, Kyushu Sangyo University Prof. Koji Murakami, Kyushu Sangyo University Prof. Yong-Kwun Lee, Kyushu Sangyo University Prof. Kazuhiro Tsuruta, Kyushu Sangyo University Prof. Kanta Aoki, Kyushu Sangyo University Mr. Kaoru Fujiie, Spinal Injuries Center Mr. Ryuji Katamoto, Spinal Injuries Center Mr. Atsushi Sugyo, Spinal Injuries Center

11:10 Post-stroke robotic-assisted therapy Time-variant damping coefficient based control algorithm for isotonic exercise through circular motion

Dr. Esam Abdelgany, Aswan University Mr. Keita Kamada, Nagoya Institute of Technology Dr. Noritaka Sato, Nagoya Institute of Technology Prof. Yoshifumi Morita, Nagoya Institute of Technology

11:30 Development of an Upper Limb Rehabilitation Robot with Motion Guide Control by Pneumatic Artificial Muscles

Prof. Toshiaki Tsuji, Saitama University Mr. Shota Itoh, Saitama University Prof. Sho Sakaino, Saitama University Ms. Yuri Hasegawa, Kaze-no-Tani Project Co. Ltd.

11:50 Research of Training and Evaluation Aid Device with DOF Selective Constraint Mechanism for Hemiplegic Upper Limbs Rehabilitation

Mr. Koutaro Taniguchi, Kagoshima University Dr. Yong Yu, Kagoshima University Mr. Tomokazu Noma, Kagoshima University Dr. Ryota Hayashi, Kagoshima University Dr. Shuji Matsumoto, Kagoshima University

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Prof. Megumi Shimodozono, Kagoshima University Prof. Kazumi Kawahira, Kagoshima University

12:10 Improvement of Flexion/Extension Angle Range of KneeRobo to Replicate Involuntary Movements

Dr. Noritaka Sato, Nagoya Institute of Technology Mr. Qichang Qi, Nagoya Institute of Technology Ms. Yoshie Maeda, Nagoya Institute of Technology Prof. Yoshifumi Morita, Nagoya Institute of Technology Prof. Hiroyuki Ukai, Nagoya Institute of Technology Mr. Kouji Sanaka, Biological Mechanics Laboratory

SS-01 - Smart Material Systems, Modeling, Control, Applications Friday, March 6th

Room: Room B - # 5221 Hour: 10:30 Duration: 120 minutes

Chair/s: Michael Ruderman Daniele Davino Papers: 10:30 Application of Self-sensing Technique for Position Control Considering Vibration Suppression in Piezo-driven Stage

Prof. Kenta Seki, Nagoya Institute of Technology Prof. Makoto Iwasaki, Nagoya Institute of Technology

10:50 2 Inputs - 2 Outputs Hysteresis Model For Piezoelectric Actuators

Dr. Daniele Davino, University of Sannio 11:10 Comparison of Model-free and Model-based Control Techniques for a Positioning Actuator based on Magnetic Shape Memory Alloys

Dr. Giulio Binetti, Polytechnic University of Bari Mr. Giuseppe Leonetti, Polytechnic University of Bari Prof. David Naso, Polytechnic University of Bari Prof. Biagio Turchiano, Polytechnic University of Bari

11:30 Extended Lumped Parameter Electromechanical Model of Piezoelectric Actuators

Dr. Michael Ruderman, Nagoya Institute of Technology Mr. Yuki Kamiya, Nagoya Institute of Technology Prof. Makoto Iwasaki, Nagoya Institute of Technology

11:50 Self-Sensing in Dielectric Electro-Active Polymer Actuator Using Linear-In-Parametes Online Estimation

Mr. Gianluca Rizzello, Polytechnic University of Bari Prof. David Naso, Polytechnic University of Bari Dr. Alexander York, Saarland University Prof. Stefan Seelecke, Saarland University

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12:10 Online Identification of Piezoelectric Hysteresis by Direct Recursive Algorithm of Preisach Model

Dr. Michael Ruderman, Nagoya Institute of Technology Prof. Dmitrii Rachinskii, University of Texas in Dallas

TT-01 - Mechatronic Systems Friday, March 6th

Room: Room C - # 5222 Hour: 10:30 Duration: 120 minutes

Chair/s: Marcel Heertjes Susumu Hara Papers: 10:30 Offset-free Energy-optimal Model Predictive Control for Point-to-point Motions with high positioning accuracy

Mrs. Xin Wang, KU Leuven Prof. Jan Swevers, KU Leuven

10:50 Control System for High Precision Positioning Applications Based on Piezo Motors

Mr. Tarik Uzunovic, Sabanci University Mr. Edin Golubovic, Sabanci University Mr. Dogancan Kebude, AVL Research and Engineering Prof. Asif Sabanovic, Sabanci University

11:10 Disturbance Suppression Method for Position-Sensorless Motion Control of DC Brushed Motor

Mr. Yoshiyuki Kambara, Keio University Mr. Seiji Uozumi, Keio University Prof. Kouhei Ohnishi, Keio University

11:30 Model-based Temperature and Humidity Control of Paint Booth HVAC Systems

Mr. Simon Alt, University of Stuttgart Prof. Oliver Sawodny, University of Stuttgart

SS-03 - Legged Locomotion Friday, March 6th

Room: Room A - # 5211 Hour: 14:00 Duration: 120 minutes

Chair/s: Naoki Oda Yasutaka Fujimoto

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Papers: 14:00 An Approach to Modeling and Evaluation Methods of Human Locomotion using IMU Sensors

Mr. Naohisa Kagami, KEIO University Prof. Toshiyuki Murakami, KEIO University

14:20 Attitude Control of Quadruped Robot by Using Combination of Mono-and Bi-articular Muscles

Mr. Keisuke Ueda, Nagaoka University of Technology Mr. Yuichi Sato, Nagaoka University of Technology Prof. Toshimasa Miyazaki, Nagaoka University of Technology Prof. Kiyoshi Ohishi, Nagaoka University of Technology

14:40 The Stable Wheeled Locomotion in Low Speed Region for a Wheel-Legged Mobile Robot

Mr. Kenta Nagano, Yokohama National University Prof. Yasutaka Fujimoto, Yokohama National University

15:00 Inverse Kinematics with Knee Extension Walking Pattern for Bipedal Fast Walking

Mr. Hirokazu Mori, Maebashi Institute of Technology Prof. Chi Zhu, Maebashi Institute of Technology

15:20 Recovery Control by using Visually Estimated Foot Sole Floating Angle for Biped Walking Robot

Prof. Naoki Oda, Chitose Institute of Science and Technology Mr. Kazushi Kushida, Chitose Institute of Science and Technology Ms. Mina Yamazaki, Chitose Institute of Science and Technology

15:40 Variable compliance control with posture stabilization for biped robot

Mr. Keita Kusano, Shibaura Institute of Technology Mr. Muhammad Zharif, Shibaura Institute of Technology Prof. Yutaka Uchimura, Shibaura Institute of Technology

TT-02 - Robotics Friday, March 6th

Room: Room B - # 5221 Hour: 14:00 Duration: 120 minutes

Chair/s: Peter Xu Daisuke Matsuka Papers: 14:00 Optimized Trajectory Planning for Mobile Robot in the Presence of Moving Obstacles

Prof. Chun-Hsu Ko, I-Shou University Prof. Kuu-Young Young, National Chiao Tung University Mr. Yi-Hung Hsieh, National Chiao Tung University

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14:20 Personal Robot Assisting Transportation to Support Active Human Life - Human-Following Method based on Model Predictive Control for Adjacency without Collision

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

14:40 Gripper's Rotation of Five DoF Surgical Robot by Using Coordinate Transformation

Mr. Takuya Matsunaga, Keio Univ. Mr. Guillaume Fau, Keio Univ. Mr. Ryohei Kozuki, Keio Univ. Mr. Kazuki Tanida, Keio Univ. Prof. Kouhei Ohnishi, Keio Univ.

15:00 Qualitative Intelligent Control of Soft Robotic Peristaltic Sorting Tables

Mr. Martin Stommel, AUT University Mr. Weiliang Xu, University of Auckland

15:20 Passivity-based Model Free Control of an Omnidirectional Mobile Robot

Dr. Chao Ren, Ritsumeikan University Prof. Shugen Ma, Ritsumeikan University

15:40 Heavy-duty omni-directional Mecanum-wheeled robot for autonomous navigation system development and simulation realization

Mr. Li Xie, University of Auckland Mr. Christian Scheifele, University of Stuttgart Prof. Weiliang Xu, University of Auckland Dr. Karl A. Stol, University of Auckland

TT-03 - Motion Control Friday, March 6th

Room: Room C - # 5222 Hour: 14:00 Duration: 120 minutes

Chair/s: Michael Ruderman Tomohiro Shibata Papers: 14:00 Virtual-Bilateral-Type Force Control for Stable and Quick Contact Motion

Mr. Takami Miyagi, Keio University Prof. Seiichiro Katsura, Keio University

29

14:20 Force Sensorless Power Assist Control using Operation Force Observer for Nursing Lift

Mr. Masakazu Ishihara, National Institute of Technology, Toyota College Prof. Kazuaki Ito, National Institute of Technology, Toyota College Prof. Katsumi Inuzuka, National Institute of Technology, Toyota College

14:40 A Novel Intention Prediction Strategy for a Shared Control Tele-manipulation System in Unknown Environments

Mr. Haitham El-Hussieny Hussien, Egypt-Japan University of Science and Technology Dr. Samy F. M. Assal, Egypt-Japan University of Science and Technology Prof. A. A. Abouelsoud, Egypt-Japan University of Science and Technology Prof. Said M. Megahed, Egypt-Japan University of Science and Technology

15:00 Modulated Potential Field for Position Adjusting with Human Interaction for Implant Surgery

Mr. Koyo Yu, Keio University Mr. Tomohiro Nakano, Keio University Prof. Kouhei Ohnishi, Keio University Dr. Shin Usuda, Keio University Dr. Hiromasa Kawana, Keio University Prof. Taneaki Nakagawa, Keio University

15:20 Consideration on Function Mode Design for Motion Construction

Mr. Seiji Uozumi, Keio Univ. Mr. Koyo Yu, Keio Univ. Prof. Kouhei Ohnishi, Keio Univ.

15:40 Synchronism Evaluation of Multi-DOF Motion-Copying System for Motion Training

Mr. Koichiro Nagata, Keio University Mr. Seiichiro Katsura, Keio University

SS-06 - Real-World Haptics for Human Support Saturday, March 7th

Room: Room A - # 5211 Hour: 10:30 Duration: 120 minutes

Chair/s: Seiichiro Katsura Tomoyuki Shimono Papers: 10:30 Measurement of Complicated Quantity of Monitoring Area and Detection of High Active Part of Invasion Object in Complicated Background for Surveillance Camera System

Ms. Miwa Takai, Tokyo Institute of Technology

30

10:50 Robotics-Assisted Rehabilitation Therapy for the Hands and Wrists Using Force Sensorless Bilateral Control with Shadow and Mirror Mode

Dr. Chowarit Mitsantisuk, Kasetsart University Prof. Kiyoshi Ohishi, Nagaoka University of Technology

11:10 Optimal Design of Length Factor for Cross-Coupled 2-DOF Motor with Halbach Magnet Array

Mr. Shodai Tanaka, Yokohama National University Prof. Tomoyuki Shimono, Yokohama National University Prof. Yasutaka Fujimoto, Yokohama National University

11:30 A Method for Improving Scaling Bilateral Control by Integration of Physical and Control Scaling Ratio

Mr. Kenji Ogawa, Keio Unversity Mr. Ryohei Kozuki, Keio Unversity Prof. Kouhei Ohnishi, Keio Unversity

11:50 Ultrafine Manipulation Considering Input Saturation Using Proxy-based Sliding Mode Control

Mr. Fumito Nishi, Keio University Prof. Seiichiro Katsura, Keio University

12:10 Position based Free-Motion Data Connecting by using Minimum Force-Differential Model

Mr. Ko Igarashi, Keio University Prof. Seiichiro Katsura, Keio University

SS-02-1 - Advanced Motion Control on Electric Vehicles and Sustainable Mobility Saturday, March 7th

Room: Room B - # 5221 Hour: 10:30 Duration: 120 minutes

Chair/s: Hiroshi Fujimoto Paolo Bosetti Papers: 10:30 Robust Yaw-Moment Control for Electric Vehicles

Dr. Jia-Sheng Hu, National University of Tainan Dr. Yafei Wang, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo Prof. Yoichi Hori, The University of Tokyo

10:50 Electric Vehicles with Individually Controlled On-board Motors: Revisiting the ABS Design

Prof. Valentin Ivanov, Ilmenau University of Technology Mr. Dzmitry Savitski, Ilmenau University of Technology Prof. Klaus Augsburg, Ilmenau University of Technology Dr. Phil Barber, Jaguar Land Rover Limited

31

11:10 Adaptive Backstepping Controller with Kalman State Estimator for Stabilisation and Manoeuvre of pedestrian controlled Uniaxial Transport Vehicles

Mr. Matthias Brüning, Fraunhofer IPK Mr. Gregor Thiele, Technical University Berlin Mr. Werner Schönewolf, Fraunhofer IPK Prof. Jörg Krüger, Fraunhofer IPK

11:30 Position and speed control of a low-cost two-wheeled, self-balancing inverted pendulum vehicle

Mr. Mirko Brentari, University of Trento Dr. Andrea Zambotti, University of Trento Prof. Luca Zaccarian, University of Trento Prof. Paolo Bosetti, University of Trento Prof. Francesco Biral, University of Trento

11:50 Minimum Collision Avoidance Distance Control for Four-wheel-driven Electric Vehicles with Active Front and Rear Steerings

Mr. Daisuke Sawamura, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo

12:10 Lift Control of Electric Airplanes by Using Propeller Slipstream for Safe Landing

Mr. Nobukatsu Konishi, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo Prof. Yasumasa Watanabe, The University of Tokyo Prof. Kojiro Suzuki, The University of Tokyo Mr. Hiroshi Kobayashi, Aerospace Exploration Agency Dr. Akira Nishizawa, Aerospace Exploration Agency

TT-04 - Mechatronics and Robotics Saturday, March 7th

Room: Room C - # 5222 Hour: 10:30 Duration: 120 minutes

Chair/s: Rached Dhaouadi Markus Hutterer Papers: 10:30 Nonlinear Reduced Order Observer Design for Elastic Drive Systems Using Invariant Manifolds

Mr. Irfan Ullah Khan, American University of Sharjah Prof. Rached Dhaouadi, American University of Sharjah

10:50 Automatic loop shaping: optimization-based controller tuning for motion systems

Mr. Benjamin Henke, University of Stuttgart Mr. Michael Ringkowski, University of Stuttgart Prof. Oliver Sawodny, University of Stuttgart

32

11:10 Filter choice for an effective measurement noise attenuation in PI and PID controllers

Prof. Mikulas Huba, STU Bratislava 11:30 A Nonlinear Stability Analysis for the Robust Position Control Problem of Robot Manipulators via Disturbance Observer

Dr. Emre Sariyildiz, National University of Singapore Prof. Haoyong Yu, National University of Singapore Mr. Koyo Yu, Keio University Prof. Kouhei Ohnishi, Keio University

11:50 Decoupled Control of an Active Magnetic Bearing System for a High Gyroscopic Rotor

Mr. Markus Hutterer, Vienna University of Technology Dr. Matthias Hofer, Vienna University of Technology Prof. Manfred Schrödl, Vienna University of Technology

12:10 Variable Noise-Covariance Kalman Filter based Instantaneous State Observer for Industrial Robot

Mr. Takashi Yoshioka, Nagaoka University of Technology Dr. Thao Tran Phuong, Nagaoka University of Technology Prof. Kiyoshi Ohishi, Nagaoka University of Technology Prof. Toshimasa Miyazaki, Nagaoka University of Technology Prof. Yuki Yokokura, Nagaoka University of Technology

SS-08 - Smart Precision Motion Control in Mechatronic Systems Saturday, March 7th

Room: Room A - # 5211 Hour: 13:30 Duration: 120 minutes

Chair/s: Kenta Seki Koichi Sakata Papers: 13:30 Feasible trajectory generation for a dual stage positioning system using a simplified model predictive control approach

Prof. Roberto Oboe, University of Padova Dr. Riccardo Antonello, University of Padova Prof. Hiroshi Fujimoto, University of Tokyo Mr. Wataru Ohnishi, University of Tokyo Mr. Yuma Yazaki, University of Tokyo Mr. Stefano Bizzotto, University of Padova Mr. Emanuele Siego, University of Padova

33

13:50 GA-Based Auto-Tuning of Vibration Suppression Controller for Positioning Devices with Strain Wave Gearings

Dr. Masafumi Yamamoto, Harmonic Drive Systems Inc. Mr. Yoshifumi Okitsu, Harmonic Drive Systems Inc. Prof. Makoto Iwasaki, Nagoya Institute of Technology

14:10 Integrated Servo-Mechanical Design Using Nyquist Plots for Chance-Constrained Robust Mechatronics

Dr. Yan Zhi Tan, National University of Singapore Prof. Chee Khiang Pang, National University of Singapore Prof. Tong Heng Lee, National University of Singapore

14:30 Robust Vibration Suppression Control for Resonant Frequency Variation in Dual-Stage Actuator-Driven Load Devices

Mr. Yusaku Shinohara, Nagoya Institute of Technology Prof. Kenta Seki, Nagoya Institute of Technology Prof. Makoto Iwasaki, Nagoya Institute of Technology

14:50 Common Zeros in Synchronization of High-Precision Stage Systems

Mr. Miguel Ochoa Navarrete, Delft University of Technology Dr. Marcel Heertjes, Eindhoen University of Technology Prof. Robert Munnig Schmidt, Delft University of Technology

15:10 LMI-Based Position Command Design of Table Systems Considering Compensation for Impact Force and Interference

Mr. Naoto Sugiura, Nagoya Institute of Technology Prof. Kazuaki Ito, National Institute of Technology, Toyota College Prof. Makoto Iwasaki, Nagoya Institute of Technology

SS-02-2 - Advanced Motion Control on Electric Vehicles and Sustainable Mobility Saturday, March 7th

Room: Room B - # 5221 Hour: 13:30 Duration: 120 minutes

Chair/s: Francesco Biral Toshiaki Tsuji Papers: 13:30 Basic Study of Transmitting Power Control Method without Signal Communication for Wireless In-Wheel Motor via Magnetic Resonance Coupling

Mr. Dasiuke Gunji, The University of Tokyo / NSK Ltd. Dr. Takehiro Imura, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo

34

13:50 Taniguchi-Pulse Width Amplitude Modulation for High Efficiency Power Train of Electric Vehicle

Mr. Keisuke Ishida, Yokohama National University Prof. Atsuo Kawamura, Yokohama National University

14:10 Estimation and Control of Lateral Displacement of Electric Vehicle Using WPT Information

Mr. Pakorn Sukprasert, The University of Tokyo Mr. Binh Minh Nguyen, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo

14:30 Sensorless Pedaling Torque Estimation by Front and Rear Wheels Independently Driven Power Assist Bicycle

Mr. Hiroyuki Kawajiri, Saitama University Mr. Hiroto Mizoguchi, Saitama University Prof. Sho Sakaino, Saitama University Prof. Toshiaki Tsuji, Saitama University

14:50 Posture Stabilization of Two-Wheel Drive Electric Motorcycle by Slip Ratio Control Considering Camber Angle

Mr. Takamasa Abumi, Keio University Prof. Toshiyuki Murakami, Keio University

TT-05 - Control Theory Saturday, March 7th

Room: Room C - # 5222 Hour: 13:30 Duration: 120 minutes

Chair/s: Mikulas Huba Noriaki Hirose Papers: 13:30 Practical PID Controller Tuning for Motion Control

Mr. Ozhan Ozen, Sabanci University Dr. Emre Sariyildiz, National University of Singapore Prof. Haoyong Yu, National University of Singapore Mr. Kenji Ogawa, Keio University Prof. Kouhei Ohnishi, Keio University Prof. Asif Sabanovic, Sabanci University

13:50 Robustness versus performance in PDO FPI Control of the IPDT plant

Prof. Mikulas Huba, STU Bratislava 14:10 Fusion of Large-Time-Delay Measurement with Non-Delay Measurement based on Upper-Bound Scheme

Mr. Binh Minh Nguyen, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo Prof. Yoichi Hori, The University of Tokyo

35

14:30 Generation Method of Admissible Sets for Mode Switching Control Using Final-State Control with Thrust Limitation

Mr. Yuma Yazaki, The University of Tokyo Prof. Hiroshi Fujimoto, The University of Tokyo

14:50 Weight Optimization for H Infinity Loop Shaping Method Using Frequency Response Data for SISO Stable Plant

Mr. Takayuki Kubo, Mie university Prof. Kazuhiro Yubai, Mie university Prof. Daisuke Yashiro, Mie university Prof. Junji Hirai, Mie university

SS-09 - Advanced Control Technologies for Nanoscale Servo Systems Saturday, March 7th

Room: Room A - # 5211 Hour: 16:00 Duration: 120 minutes

Chair/s: Kazuaki Ito Chee Khiang Pang Papers: 16:00 Design of a Feedforward Control System Considering Dead Time for Optical Disc Systems

Mr. Keisuke Yoshida, Nagaoka University of Technology Mr. Takahiro Ohashi, Nagaoka University of Technology Prof. Kiyoshi Ohishi, Nagaoka University of Technology Prof. Toshimasa Miyazaki, Nagaoka University of Technology

16:20 Multirate Adaptive Feedforward FIR Filter for Suppressing Disturbances to the Nyquist Frequency and Beyond

Mr. Weili Yan, National University of Singapore Dr. Chunling Du, A*STAR Data Storage Institute Prof. Chee Khiang Pang, National University of Singapore

16:40 Reaction-Torque-Based Reflected Wave Rejection for Vibration Suppression of Integrated Resonant and Time-Delay System

Mr. Eiichi Saito, Keio University Prof. Seiichiro Katsura, Keio University

17:00 Compensation for Torque Fluctuation Caused by Temperature Change in Fast and Precise Positioning of Galvanometer Scanners

Mr. Daisuke Matsuka, Hitachi, Ltd Mr. Satoshi Fukushima, Via Mechanics, Ltd Prof. Makoto Iwasaki, Nagoya Institute of Technology

36

17:20 Use of MEMS Accelerometers for Load Position Estimation of Ball-screw Driven Table Systems

Mr. Koji Watanabe, National Institute of Technology, Toyota College Prof. Kazuaki Ito, National Institute of Technology, Toyota College Dr. Riccardo Antonello, University of Padova Prof. Roberto Oboe, University of Padova Prof. Katsumi Inuzuka, National Institute of Technology, Toyota College

17:40 Impact of hysteresis lost motion on the sensorless torsion control of elastic robotic joints

Dr. Michael Ruderman, Nagoya Institute of Technology Prof. Makoto Iwasaki, Nagoya Institute of Technology

SS-10 - Electrical Machines and Drives for Automobile Applications Saturday, March 7th

Room: Room B - # 5221 Hour: 16:00 Duration: 120 minutes

Chair/s: Saha Suburata Takashi Kosaka Papers: 16:00 Parameter Sensitivity Study for Optimization of Single Phase E-Core Hybrid Excitation Flux Switching Machine

Dr. Erwan Sulaiman, Uthm Ms. Siti Nur Umira Zakaria, Uthm

16:20 Groove Depth Determination Based on Extended Leakage Factor in a 12-Slot 10-Pole Machine

Mr. Bonkil Koo, Postech Mr. Minhyeok Lee, Postech Prof. Kwanghee Nam, Postech

16:40 Optimization of Outer-Rotor HEFSM for In-Wheel Direct Drive Electric Vehicle

Mr. Md Zarafi Ahmad, Uthm Dr. Erwan Sulaiman, Uthm

17:00 Operation Evaluations in High Speed Range of Wound Field Synchronous Motor Drive Integrated with ZSI

Mr. Genki Tajima, Nagoya Institute of Technology Prof. Takashi Kosaka, Nagoya Institute of Technology Prof. Nobuyuki Matsui, Nagoya Institute of Technology Mr. Kazuki Tonogi, Toyota Industries Corporation Mr. Norimoto Minoshima, Toyota Industries Corporation Mr. Toshihiko Yoshida, Toyota Industries Corporation

37

17:20 Quick and Stable Speed Control of SPMSM Based on Current Differential Signal and Extension of DC-Link Voltage Utilization in Flux-Weakening Region

Mr. Yoshiaki Seki, Nagaoka University of Technology Prof. Kiyoshi Ohishi, Nagaoka University of Technology Prof. Yuki Yokokura, Nagaoka University of Technology

17:40 Proposal of Ultra High Efficient Energy Conversion System (HEECS) for Electric Vehicle Power Train

Mr. Yukihiro Tanaka, Yokohama National University Dr. Yukinori Tsuruta, Yokohama National University Dr. Takahiro Nozaki, Yokohama National University Dr. Atsuo Kawamura, Yokohama National University

TT-06 - Haptics Saturday, March 7th

Room: Room C - # 5222 Hour: 16:00 Duration: 120 minutes

Chair/s: Daisuke Yashiro Chawarit Mitsantisuk Papers: 16:00 Analysis and Compensation of Operational Force in Bilateral Control Systems under Time-Varying Delay

Mr. Yoshiki Ohno, Keio University Mr. Nobuto Yoshimura, Keio University Prof. Kouhei Ohnishi, Keio University

16:20 The Contact/Non-contact Thimble Haptic device

Mr. Woohyeok Choi, Korea Institute of Science and Technology Mr. Sungmoon Hur, Korea Institute of Science and Technology Dr. Jaeha Kim, Korea Institute of Science and Technology Dr. Yonghwan Oh, Korea Institute of Science and Technology

16:40 A Quantization Method for Haptic Data Lossy Compression

Mr. Tomohiro Nakano, Keio University Mr. Seiji Uozumi, Keio University Prof. Rolf Johansson, Lund University Prof. Kouhei Ohnishi, Keio University

17:00 An Estimation of Strength Ratios of Antagonistic Muscle Groups Based on Variable Moment Arm

Mr. Naoya Tojo, Yokohama National University Prof. Tomoyuki Shimono, Yokohama National University

38

17:20 Reproduction of Motion Obtained in Bilateral Control Considering Environment Position

Ms. Seinan Kyo, Kieo University Prof. Kouhei Ohnishi, Keio University

17:40 Quantitative Evaluation of Stroke Paralysis Considering Individual Differences in Symptoms

Mr. Takaaki Ikeda, Keio University Mr. Kenji Ogawa, Keio University Prof. Kouhei Ohnishi, Keio University

SS-05 - Advanced Control Technologies Applied to Mechanical Systems Sunday, March 8th

Room: Room A - # 5211 Hour: 09:30 Duration: 150 minutes

Chair/s: Kenichiro Nonaka Seiichiro Katsura Papers: 09:30 Dynamics of a Two-Mass-Spring System Which Is Separated by External Input

Mr. Yohei Kushida, Nagoya University Dr. Susumu Hara, Nagoya University

09:50 Experimental verification of engine vibration suppression control using Hybrid Electric Vehicle simulator

Mr. Tomoki Yamazaki, Tokyo Denki University Mr. Tatsuro Fujita, Tokyo Denki University Prof. Masami Iwase, Tokyo Denki University

10:10 Modeling and Control of snake-like robot to move in the tube

Mr. Makito Kasahara, Tokyo Denki University Mr. Takeru Yanagida, Tokyo Denki University Prof. Masami Iwase, Tokyo Denki University

10:30 Velocity Estimation using EKF for Caster Odometers - Numerical Verification

Mr. Yuta Yonezawa, Tokyo City University Prof. Kazuma Sekiguchi, Tokyo City University Prof. Kenichiro Nonaka, Tokyo City University

10:50 Configuration of High Reliable Distributed Control System

Mr. Yunfei Zang, Yokohama National University Prof. Yasutaka Fujimoto, Yokohama National University

39

11:10 Analysis of Touching Motion Using Singular Spectrum Transformation

Ms. Eri Fujii, Keio University Prof. Seiichiro Katsura, Keio University

11:30 Rubbing Motion Reproduction Method in Work Space by Considering Summation of Contact Force

Mr. Ryutaro Honjo, Keio University Prof. Seiichiro Katsura, Keio University

SS-07 - Network-based Control Systems and Its Applications Sunday, March 8th

Room: Room B - # 5221 Hour: 09:30 Duration: 150 minutes

Chair/s: Yutaka Uchimura Kenji Natori Papers: 09:30 Circle Theorem-based Realization of Nonlinear Force Control for Teleoperation under Time Delay

Dr. Hidetaka Morimitsu, Keio University Prof. Seiichiro Katsura, Keio University

09:50 An Analysis and Design of Velocity Feedback in Time-Delayed Teleoperation System

Mr. Nobuto Yoshimura, Keio University Mr. Yoshiki Ohno, Keio University Prof. Kouhei Ohnishi, Keio University

10:10 Damping Injection Using Position-Based Contact Detection for Bilateral Control System under Time Delay

Mr. Shuhei Shimizu, Keio University Mr. Yoshiki Ohno, Keio University Prof. Kouhei Ohnishi, Keio University

10:30 On Event-triggered and Self-triggered Control Using Online Optimization

Dr. Koichi Kobayashi, Advanced Institute of Science and Technology Prof. Kunihiko Hiraishi, Advanced Institute of Science and Technology

10:50 Elimination of Reactive Operational Force in Bilateral Control System under Time Delay

Mr. Ryohei Kozuki, Keio University Mr. Kenji Ogawa, Keio University Mr. Kouhei Ohnishi, Keio University

40

11:10 Implementation of Dual Model-Free Time Delay Compensator for Bilateral Control System with Time Delay

Mr. Shoyo Hyodo, Keio University Prof. Kouhei Ohnishi, Keio University

11:30 Prediction error observer for networked predictive control systems with network delay and model error

Mr. Takuya Takahashi, Shibaura Institute of Technology Prof. Yutaka Uchimura, Shibaura Institute of Technology

TT-07 - Sensing Technology Sunday, March 8th

Room: Room C - # 5222 Hour: 09:30 Duration: 150 minutes

Chair/s: Valentin Ivanov Naoki Oda Papers: 09:30 Adaptive Source Localization with Unknown Permittivity and Path Loss Coefficients

Dr. Baris Fidan, University of Waterloo Ms. Ilknur Umay, University of Waterloo

09:50 Development of an Optical Fiber FMG Sensor for the Assessment of Hand Movements and Forces

Prof. Eric Fujiwara, Unicamp, FEM Ms. Yu Tzu Wu, Unicamp, FEM Mr. Murilo F. M. Santos, Unicamp, FEM Mr. Egont A. Schenkel, Unicamp, FEM Prof. Carlos K. Suzuki, Unicamp, FEM

10:10 Map Building of Uncertain Environment Based on Iterative Closest Point Algorithm on the Cloud

Ms. Yi-Jou Wen, National Taiwan Normal University Prof. Chen-Chien Hsu, National Taiwan Normal University Prof. Wei-Yen Wang, National Taiwan Normal University

10:30 Hardware-assisted Direction Estimation for Mobile Robot Target Tracking Applications

Dr. Geunho Lee, University of Miyazaki 10:50 Robust Attitude Tracking Control of Hexarotor MAVs using Plug-In Gain Scheduling Robust Compensator Technique

Mrs. Nurul Dayana Salim, Universiti Teknologi Malaysia, Malaysia Mr. Dafizal Derawi, Universiti Teknologi Malaysia, Malaysia Dr. Hairi Zamzuri, Universiti Teknologi Malaysia, Malaysia Dr. Mohd Azizi Abdul Rahman, Universiti Teknologi Malaysia, Malaysia Dr. Shahrum Shah Abdullah, Universiti Teknologi Malaysia, Malaysia

41

Authors Index

A

Abdelgany, E. ……………………………….. 25 Abdul Rahman, M. ………………………….. 41 Abdullah, S. …………………………………. 41 Abouelsoud, A. ……………………………… 30 Abumi, T. ……………………………………. 35 Ahmad, M. …………………………………... 37 Alt, S. …………………………………........... 27 Antonello, R. ……………………………. 33, 37 Aoki, K. ……………………………............... 25 Assal, S. ……………………………………... 30 Augsburg, K. ………………………………... 31

B

Barber, P. ……………………………………. 31 Binetti, G. …………………………………… 26 Biral, F. ……………………………………… 32 Bizzotto, S. ………………………………….. 33 Bosetti, P. ……………………………………. 32 Brentari, M. …………………………………. 32 Brüning, M. …………………………………. 32

C

Choi, W. …………………………………...… 38

D

Davino, D. ………….……………………….. 26 Derawi, D. ………….……………………….. 41 Dhaouadi, R. ……….……………………….. 32 Du, C. ……………….………………………. 36

F

Fau, G. ……………………………………..... 29 Fidan, B. …………………………………….. 41 Fujii, E. ……………………………………… 40 Fujiie, K. …………………………………….. 25 Fujimoto, H. …...… 31, 32, 32, 33, 34, 35, 35, 36 Fujimoto, Y. …………………………. 28, 31, 39 Fujita, T. …………………………………….. 39 Fujiwara, E. …………………………………. 41 Fukushima, S. ……………………………….. 36

G

Golubovic, E. ………………………………... 27 Gunji, D. …………………………………….. 34

H

Hara, S. ……………………………………… 39 Hasegawa, Y. ………………………………... 25 Hayashi, R. ………………………………….. 25 Heertjes, M. …………………………………. 34 Henke, B. ……………………………………. 32 Hirai, J. ……………………………………… 36 Hiraishi, K. ………………………………….. 40 Hirose, N. ……………………………………. 29 Hofer, M. ……………………………………. 33 Honjo, R. ……………………………………. 40 Hori, Y. ………………………………….. 31, 35 Hsieh, Y. …………………………………….. 28 Hsu, C. ………………………………………. 41 Hu, J. ………………………………………… 31 Huba, M. ………………………………… 33, 35 Hur, S. ……………………………………….. 38 Hussien, H. ………………………………….. 30 Hutterer, M. …………………………………. 33 Hyodo, S. ……………………………………. 41

I

Igarashi, K. ………………………………….. 31 Ikeda, T. ……………………………………... 39 Imura, T. …………………………………….. 34 Inuzuka, K. ……………………………… 30, 37 Ishida, K. ……………………………………. 35 Ishihara, M. …………………………………. 30 Ito, K. ……………………………....... 30, 34, 37 Itoh, S. ………………………………………. 25 Ivanov, V. …………………………………… 31 Iwasaki, M. ………….. 26, 26, 34, 34, 34, 36, 37 Iwase, M. ………………………………... 39, 39

J

Johansson, R. ………………………………... 38

K

Kagami, N. …………………………………... 28 Kamada, K. ………………………………….. 25

43

Kambara, Y. …………………………………. 27 Kamiya, Y. …………………………………... 26 Kasahara, M. ………………………………… 39 Katamoto, R. ………………………………… 25 Katsura, S. ….…… 29, 30, 31, 31, 36, 40, 40, 40 Kawahira, K. ………………………………… 26 Kawajiri, H. …………………………………. 35 Kawamura, A. …………………………… 35, 38 Kawana, H. ………………………………….. 30 Kebude, D. …………………………………... 27 Khan, I. ……………………………………… 32 Kim, J. ………………………………………. 38 Ko, C. ……………………………………….. 28 Kobayashi, H. ……………………………….. 32 Kobayashi, K. ……………………………….. 40 Konishi, N. …………………………………... 32 Koo, B. ………………………………………. 37 Kosaka, T. ………………………………........ 37 Kozuki, R. …………………………… 29, 31, 40 Krüger, J. ……………………………………. 32 Kubo, T. ……………………………………... 36 Kusano, K. …………………………………... 28 Kushida, K. ………………………………...... 28 Kushida, Y. ………………………………….. 39 Kyo, S. ………………………………………. 39

L

Lee, G. ………………………………………. 41 Lee, M. ………………………………………. 37 Lee, T. ……………………………………….. 34 Lee, Y. ………………………………………. 25 Leonetti, G. ………………………………….. 26

M

Ma, S. ………………………………………... 29 Maeda, Y. …………………………………… 26 Matsui, N. …………………………………… 37 Matsuka, D. …………………………………. 36 Matsumoto, S. ……………………………….. 25 Matsunaga, T. ……………………………….. 29 Megahed, S. …………………………………. 30 Minoshima, N. ………………………………. 37 Mitsantisuk, C. ………………………………. 31 Miyagi, T. …………………………………… 29 Miyazaki, T. ………………………..... 28, 33, 36 Mizoguchi, H. ……………………………….. 35 Mori, H. ……………………………………... 28 Morimitsu, H. ……………………………….. 40 Morita, Y. ……………………………….. 25, 26 Munnig Schmidt, R. ………………………… 34

Murakami, K. ………………………………... 25 Murakami, T. ……………………………. 28, 35

N

Nishizawa, A. ……………………………….. 32 Nagano, K. …………………………………... 28 Nagata, K. …………………………………… 30 Nakagawa, T. ………………………………... 30 Nakano, T. ………………………………. 30, 38 Nam, K. ……………………………………... 37 Naso, D. ………………………………… 26, 26 Nguyen, B. ……………………………… 35, 35 Nishi, F. ……………………………………... 31 Noma, T. …………………………………….. 25 Nonaka, K. …………………………………... 39 Nozaki, T. …………………………………… 38

O

Oboe, R. …….……………………….. 25, 33, 37 Ochoa Navarrete, M. …………..……………. 34 Oda, N. ………...…………………………….. 28 Ogawa, K. …………………..…… 31, 35, 39, 40 Oh, Y. ……………………………………….. 38 Ohashi, T. …………………………………… 36 Ohishi, K. …………….……… 28, 31, 33, 36, 38 Ohnishi, K. ……… 27, 29, 30, 30, 31, 33, 35, 38, ……………………..… 38, 39, 39, 40, 40, 40, 41 Ohnishi, W. ………………………………..… 33 Ohno, Y. ………….…………………. 38, 40, 40 Okitsu, Y. ……………...…………………….. 34 Ozen, O. ……………………...……………… 35

P

Pang, C. ………….……………………… 34, 36 Pilastro, D. …………...……………………… 25

Q

Qi, Q. ………………...……………………… 26

R

Rachinskii, D. ……………………………….. 27 Ren, C. ………………………………………. 29 Ringkowski, M. ………..……………………. 32 Rizzello, G. ………………………………..… 26 Ruderman, M. ……………………..… 26, 27, 37

44

S

Sabanovic, A. ……………………………. 27, 35 Saito, E. …………...………………………… 36 Sakaino, S. ……………………………..... 25, 35 Sakaki, T. ……………………………………. 25 Salim, N. …………………………………….. 41 Sanaka, K. …………………………………… 26 Santos, M. …………………………...………. 41 Sariyildiz, E. …………………………..… 33, 35 Sato, N. …………………………….......... 25, 26 Sato, Y. …………………………………….... 28 Savitski, D. ………………………………….. 31 Sawamura, D. ……………………………….. 32 Sawodny, O. …………..………………… 27, 32 Scheifele, C. …………………………………. 29 Schenkel, E. …………………………………. 41 Schrödl, M. ……………………………..…… 33 Schönewolf, W. …………………………...… 32 Seelecke, S. ………..………………………… 26 Seki, K. ………………………………..… 26, 34 Seki, Y. …………………...…………………. 38 Sekiguchi, K. ………….…………………….. 39 Shimizu, S. ………….……………………….. 40 Shimodozono, M. ………………………...…. 26 Shimokawa, T. …………….………………… 25 Shimono, T. ……………………………... 31, 38 Shinohara, Y. …………...…………………… 34 Siego, E. ……..………………………………. 33 Stol, K. ………….…………………………… 29 Stommel, M. ……………………………….... 29 Sugiura, N. ………….……………………….. 34 Sugyo, A. ……………...…………………….. 25 Sukigara, K. …………………………………. 29 Sukprasert, P. …………..……………………. 35 Sulaiman, E. …………….……………….. 37, 37 Suzuki, C. ………..………………………….. 41 Suzuki, K. ………………………………….... 32 Swevers, J. ……………………...…………… 27

T

Tajima, G. ……………………………..…….. 37 Tajima, R. ………………………………….... 29 Takahashi, T. ………...……………………… 41 Takai, M. ……………………………………. 30 Tan, Y. ………………….…………………… 34 Tanaka, S. ………………………………….... 31 Tanaka, Y. ……………..……………………. 38 Tanida, K. …………………………………… 29 Taniguchi, K. ……………….……………….. 25 Thiele, G. …………….……………………… 32

Tojo, N. ……………..……………………….. 38 Tonogi, K. ………………………………....… 37 Tran Phuong, T. ………….………………….. 33 Tsuji, T. …………………………………. 25, 35 Tsuruta, K. ………..…………………………. 25 Tsuruta, Y. ………………..…………………. 38 Turchiano, B. ……………...………………… 26

U

Uchimura, Y. ………………………….… 28, 41 Ueda, K. …………………………………..…. 28 Ukai, H. ………..……………………………. 26 Umay, I. …..…………………………………. 41 Uozumi, S. …………….…………….. 27, 30, 38 Ushimi, N. ………………………………...… 25 Usuda, S. ………….…………………………. 30 Uzunovic, T. ………………………………… 27

W

Wang, W. ………………………………….… 41 Wang, X. ……………………………….……. 27 Wang, Y. …………………….………………. 31 Watanabe, K. ………….…………………….. 37 Watanabe, Y. ………..………………………. 32 Wen, Y. …………..………………………….. 41 Wu, Y. ………………………………………. 41

X

Xie, L. ……………………………………….. 29 Xu, W. …………..………………………. 29, 29

Y

Yamamoto, M. …………………………….… 34 Yamazaki, M. ………..……………………… 28 Yamazaki, T. ………………………...……… 39 Yan, W. ………………...……………………. 36 Yanagida, T. …………..…………………….. 39 Yashiro, D. ………………………..…………. 36 Yazaki, Y. ……………………………….. 33, 36 Yokokura, Y. ……………………………. 33, 38 Yonezawa, Y. ………….……………………. 39 York, A. …………..…………………………. 26 Yoshida, K. ………………………………….. 36 Yoshida, T. ………………………………….. 37 Yoshimura, N. ……….………………….. 38, 40 Yoshioka, T. ………..……………………….. 33 Young, K. …………………………………… 28 Yu, H. ………….………………………... 33, 35

45

Yu, K. ……………………………..… 30, 30, 33 Yu, Y. …………………………………...…... 25 Yubai, K. …………...……………………….. 36

Z

Zaccarian, L. ……..………………………….. 32 Zakaria, S. …………………………………… 37 Zambotti, A. ……...………………………….. 32 Zamzuri, H. ………………………………….. 41 Zang, Y. …………..…………………………. 39 Zharif, M. ……………………………………. 28 Zhu, C. ……………...……………………….. 28

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