|
| |
Last Update:
12.29.2005
|
TECHNICAL PROGRAM
(You
can download a
PDF copy of
the Technical Program Booklet...)
|
Sunday March 26, 2006
|
17:00-19:00
Registration & Early Birds Welcome
|
|
Monday March 27, 2006
|
08:30-17:30
|
Registration
|
|
9:00-9:15
|
Opening Ceremony
|
|
9:15-10:00
|
Plenary Speech: Prof. Fumio Harashima,
Tokyo Denki University, Japan
|
|
10:00-10:20
|
Coffee Break
|
|
|
|
|
Room A
|
Room B
|
Room C
|
Room D
|
|
10:20-12:00
|
SS-3 - High Accurate
Positioning and Disk Drive Control
|
RS-9- Biped Walking Robots
|
RS-1- Motion Control Systems I
|
|
|
12:00-13:30
|
Lunch Break
|
|
13:30-15:10
|
SS-2 - Biped Robots
|
RS-11 - Micro/Nano Motion
Systems I
|
RS-2 - Motion Control Systems II
|
RS-16 - Visual Servo Systems
|
|
15:10:15:30
|
Coffee Break
|
|
15:30-17:30
|
SS-7 - Rehabilitation and Welfare
Application
|
RS-12 - Micro/Nano Motion Systems
II
|
RS-4 - Advanced Motion Control
|
RS-15 - Traction Control
|
|
Tuesday, March 28, 2006
|
08:30-17:30
|
Registration
|
|
9:00 -9:45
|
Plenary Speech: Prof. Illah
Nourbakhsh , CMU, USA
|
|
9:45-10:00
|
Coffee Break
|
|
|
|
|
Room A
|
Room B
|
Room C
|
Room D
|
|
10:00-11:40
|
SS-1 - Social robotics
|
RS-10 - Flexible Systems
|
RS-5 - Disturbance Observer
|
|
|
11:40-13:00
|
Lunch Break
|
|
13:00-15:00
|
SS-4 - Advanced Motion Control of Disk Drive System
|
RS-6 - Mobile Robots I
|
RS-3 - Motion Control Systems III
|
|
|
15:00-15:30
|
Coffee Break
|
|
15:30-17:30
|
SS-5 - Application of Disturbance
Observer
|
RS-7 - Mobile Robots II
|
RS-18 - Soft Computing Techniques
|
|
|
|
19:30-22:30
|
Conference Dinner, Altýn Kubbe, Hotel Hilton
|
|
Wednesday, March 29, 2006
|
08:00-13:00
|
Registration
|
|
8:30-9:15
|
Plenary Speech: Prof. Kouhei Ohnishi, Keio
University, Japan
|
|
9:15-9:30
|
Coffee Break
|
|
|
|
|
Room A
|
Room B
|
Room C
|
Room D
|
|
9:30-11:10
|
SS-6 - Haptics and Motion Control
in Medicine
|
RS-17- Robust Control
|
RS-13 - Motor Control I
|
|
|
11:10-11:25
|
Coffee Break
|
|
11:25-13:25
|
RS-8 - Haptics and Robotics in
Medicine
|
RS-19 - Sliding Mode Control
|
RS-14- Motor Control II
|
|
|
13:25-13:30
|
Closing Ceremony
|
|
13:30-15:00
|
Lunch Break
|
Plenary Sessions
|
Monday, March 27, 2006
|
Hour 9:15-10:00
|
Room:
|
B,C
|
|
Plenary Session PL – 1
|
|
Session Chair:
|
Kouhei Ohnishi, Keio
University, Japan
Asif Sabanovic,
Sabanci University, Turkey
Karel Jezernik,
University of Maribor, Slovenia
|
|
1
|
Human Adaptive Mechatronics - Interaction
and Intelligence
Fumio Harashima, Satoshi
Suzuki (Tokyo Denki University, Japan)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 9:00 -9:45
|
Room:
|
B,C
|
|
Plenary Session PL – 2
|
|
Session Chair:
|
Atsuo Kawamura,
Yokohama National University, Japan
Linnda R.
Caporael , Rensselaer Polytechnic Institute, USA
|
|
1
|
On
the Study of Human-Robot Collaboration
Illah Nourbakhsh, Carnegie
Mellon University, USA
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 8:30-9:15
|
Room:
|
B,C
|
|
Plenary Session PL – 3
|
|
Session Chair:
|
Dierek Scroeder,
Technic University of Munich, Germany
Yoichi Hori,
Institute of Industrial Science, University of Tokyo, Japan
|
|
1
|
New
Challenges in Motion Control
Kouhei Ohnishi, Keio
University, Japan
|
|
|
|
|
|
|
Organized Sessions
|
Tuesday, March 28, 2006
|
Hour 10:00- 11:40
|
Room:
|
A
|
|
Session SS - 1 :
Social robotics: Talking through disciplinary boundaries
|
|
Session Organizers:
|
Selma Sabanovic,
Rensselaer Polytechnic Institute, USA
Linnda R.
Caporael , Rensselaer Polytechnic Institute, USA
|
|
Session Chair
|
Illah Nourbakhsh,
Carnegie Mellon University, USA
Kiyoshi Ohishi,
Nagaoka University of Technology, Japan
|
|
1
|
Three Tips
from a Social Psychologist for Building a Social Robot
L. R. Caporael
(Rensselaer Polytechnic Institute, USA)
|
|
2
|
Comparing Human-Robot Interaction Scenarios Using Live and
Video Based Methods: Towards a Novel
Methodological Approach
Sarah Woods,
Michael Walters, Kheng Lee Koay, Kerstin Dautenhahn (University of
Hertfordshire, UK)
|
|
3
|
Robots in the
Wild:Observing Human-Robot Social Interaction Outside the Lab
Sabanovic Selma
(Rensselaer Polytechnic Institute, USA), Marek Michalowski and Reid Simmons
(Carnegie Mellon University, USA)
|
|
4
|
A Spatial
Models of Engagement for a Social Robot
Marek Michalowski
(Carnegie Mellon University, USA), Selma Sabanovic (Rensselaer Polytechnic
Institute, USA), Reid Simmons(Carnegie Mellon University, USA)
|
|
5
|
Social robots
for children: Practice in Communication-Care
Hideki Kozima and
Cocoro Nakagawa (National Institute for Information and Communications
Technology, Japan)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 13:30-15:10
|
Room:
|
A
|
|
Session SS - 2
: Biped Robots
|
|
|
Session Organizer &
Chair:
|
Yasutaka Fujimoto,
Yokohama National University, Japan
Kemalettin Erbatur,
Sabanci University, Turkey
|
|
1
|
A Study of
Energy-Saving Shoes for Robot considering 3D Motion
Hideaki Minakata
and Susumu Tadakuma (Chiba Institute of Technology, Japan)
|
|
2
|
A Study of CPG
Based Walking Utilizing Swing of Arms
Keiichi Osaku,
Hideaki Minakata, Susumu Tadakuma (Chiba Institute of Technology, Japan)
|
|
3
|
Discussion on
limitations for the 3D fast biped walking
Atsuo Kawamura,
Chi Zhu, Yusuke Takasu, Misamichi Ozeki, (Yokohama National
University, Japan)
|
|
4
|
Biped Robot Reference Generation
with Natural ZMP Trajectories
Okan Kurt, Kemalettin
Erbatur (Sabanci University, Turkey)
|
|
5
|
Control of
Spring Actuator and Its Application to Biped Robot
Sota Murai,
Yasutaka Fujimoto (Yokohama National University, Japan)
|
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 10:20- 12:00
|
Room:
|
A
|
|
Session SS - 3 :
High Accurate Positioning and Disk Drive Control
|
|
Session Organizer &
Chair:
|
Makoto Iwasaki,
Nagoya Institute of Technology, Japan
Hiroshi
Fujimoto, Yokohama National University, Japan
|
|
1
|
Control Design
for Self Servo Track Writer using Estimation of the Head Position
Norihito
Nakamura, Nobutaka Bando, Yoichi Hori (University of Tokyo,Japan)
|
|
2
|
Vibration Control
Above the Nyquist Frequency in Hard Disk Drives
Takenori Atsumi,
Atsushi Okuyama, Shinsuke Nakagawa ( Research& Development Group, Hitachi
Co., Japan)
|
|
3
|
Accurate
Friction Compensation for Precision Stage using Synchronous Piezoelectric
Device Driver
Minh Truong Ngoc,
Kiyoshi Ohishi, Masasuke Takata, (Nagaoka University of Technology, Japan),
Seiji Hashimoto (Gunma University, Japan), Kouji Kosaka (Tech-Concierge
Kumamoto Inc., Japan), Hiroshi Kubota (Kumamoto University, Japan), Tadahiro
Ohmi (Tohoku University, Japan)
|
|
4
|
Fast and
Precise Positioning of Ball Screw-driven Table System using Minimum Jerk
Control-based Command-Shaping
Kazuaki Ito
(Toyota National College of Technology, Japan), Masafumi Yamamoto,
Makoto Iwasaki, Nobuyuki Matsui (Nagoya Institute of Technology, Japan)
|
|
5
|
On-line
Measurement and Compensation of Geometrical Errors for Cartesian Numerical
Control Machines
Francesco Biral,
Paolo Bosetti (University of Trento, Italy)
|
|
6
|
A New Direct
Deformation Sensor for Active Compensation of Positioning Errors in Large
Milling Machines
Francesco Biral,
Paolo Bosetti, Roberto Oboe, Francesco Tondini (University of Trento, Italy)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 13:00 15:00
|
Room:
|
A
|
|
Session SS - 4 :
Advanced Motion Control of Disk Drive System
|
|
Session Organizer &
Chair:
|
Hiroshi
Fujimoto, Yokohama National University, Japan
Makoto Iwasaki,
Nagoya Institute of Technology, Japan
|
|
1
|
New Robust
Feedforward Tracking Control Structure for Optical Disk Recording System
Toshimasa
Miyazaki (Nagaoka National College of Technology, Japan), Kiyoshi Ohishi,
Toru Hayano, Isao Shibutani ( Nagaoka University of Technology, Japan),
Daiichi Koide, Haruki Tokumaru (NHK Science and Technical Research Lab.,
Japan)
|
|
2
|
Reduction of
external vibration in Hard Disk Drives using adaptive feed-forward control
with a single shock sensor
Kazuaki Usui,
Masashi Kisaka (Hitachi Global Storage Technologies, Japan), Atsushi
Okuyama, Masaki Nagashima ( Central Research Lab. Hitachi Ltd., Japan)
|
|
3
|
Controller
Switching Strategy for Constrained Systems and Its Application to Hard Disk
Drives
Atsushi Okuyama
(Central Research Lab.,Hitachi Ltd., Japan), Takashi Yamaguchi
(Hitachi Global Storage Technologies Inc., Japan)
|
|
4
|
R/W Gap Delay Estimation for
Self-Servo Track Writing
Jul Nee Teoh and
Lihua Xie (Nanyang Technological University, Singapore), Chunling Du and
Guoxiao Guo (A*STAR Data Storage Institute, Singapore)
|
|
5
|
Vibration
Suppression Multirate Seeking Control of Hard Disk Drives
Hiroshi Fujimoto
,Keisuke Fukushima (Yokohama National University, Japan), Shinsuke Nakagawa
(Central Research Lab.,Hitachhi Ltd., Japan)
|
|
6
|
Rejection of
Repeatable Runout in Hard Disk Drives Using Mixed-Radix Algorithm
Motohiro
Kawafuku, Noriyuki Ishida, Hiromu Hirai (Nagoya Institute of
Technology, Japan), Atsushi Okuyama,Masahito Kobayashi (Central Research
Lab., Hitachi Ltd., Japan)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 15:30- 17:30
|
Room:
|
A
|
|
Session SS - 5 :
Application of Disturbance Observer
|
|
Session Organizer &
Chair:
|
Kiyoshi Ohishi,
Nagaoka University of Technology, Japan
Jul Nee Teoh, Nanyang
Technological University, Singapore
|
|
1
|
Absolute
Stabilization of Multi-Mass Resonant System by Phase-Lead Compensator Based
on Disturbance Observer
Seiichiro Katsura
(Nagaoka University of Technology,Japan), Kouhei Ohnishi (Keio University,
Japan)
|
|
2
|
Advanced
Motion Control by Multi-Sensor based Disturbance Observer
Kouhei Irie,
Seiichiro Katsura, Kiyoshi Ohishi (Nagaoka University of Technology, Japan)
|
|
3
|
Motion Control of Electric Vehicle
Based on Cornering Stiffness Estimation with Yaw-moment Observer
Hiroshi Fujimoto and Naoki
Takahashi (Yokohama National University, Japan), Akio Tsumasaka and
Toshihiko Noguchi (Nagaoka University of Technology, Japan)
|
|
4
|
Skid
Prevention for EVs based on Back-EMF Observer and its Implementation to IPM
Motor Driven EV
Xiaoxing Liu,
Takashi Koike, Yoichi Hori (University of Tokyo, Japan)
|
|
5
|
Time Delay
Compensation by Communication Disturbance Observer in Bilateral
Teleoperation Systems
Kenji Natori,
Toshiaki Tsuji, Kouhei Ohnishi (Keio University, Japan)
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 9:30- 11:10
|
Room:
|
A
|
|
Session SS - 6 :
Haptics and Motion Control in Medicine
|
|
Session Organizer &
Chair
|
Seiichiro Katsura,
Nagaoka University of Technology, Japan
|
|
Co-Chair:
|
Selim Yannier,
Sabanci University, Turkey
|
|
1
|
Walker with
Hand Haptic Interface for Spatial Recognition
Hiroshi
Hashimoto, Tomonori Sasaki, Yasuhiro Ohyama ( Tokyo University of
Technology, Japan), Chiharu Ishii (Kogakuin University, Japan)
|
|
2
|
Improvement of
performance in bilateral teleoperation by using FPGA
Ena Ishii,
Hiroaki Nishi, Kouhei Ohnishi (Keio University, Japan)
|
|
3
|
Realization of
Virtual Force Sensation through Bilateral Teleoperation
Hideyuki
Kobayashi, Kouhei Ohnishi (Keio University, Japan)
|
|
4
|
Free
Allocation of Actuator against End-Effector by Using ”Flexible Actuator”
Koichiro Tsuji,
Yujiro Soeda, Hiroyuki Nagatomi , Masaki Kitajima, Yasuhide Morikawa, Soji
Ozawa, Ohnishi Kouhei (Keio University, Japan), Toshiharu Furukawa (Keio Law
School, Japan),Toshikazu Kawai (Hitachi Ltd., Japan)
|
|
5
|
Decoupled
Haptic Transmission by Multilateral Control
Toshiyuki
Suzuyama, Seiichiro Katsura, Kiyoshi Ohishi (Nagaoka University of
Technology, Japan)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 15:30- 17:10
|
Room:
|
A
|
|
Session SS - 7 :
Rehabilitation and Welfare Application
|
|
Session Organizer &
Chair
|
Satoshi Komada, Mie
University, Japan
|
|
1
|
Human walking
Assist Control on Level Ground
Naoki Hata,
Yoichi Hori (Institute of Industrial Science, University of Tokyo, Japan)
|
|
2
|
Integrated
Motion Control of a Wheelchair in the Longitudinal, Lateral and Pitch
Directions
Sehoon Oh, Naoki
Hata, Yoichi Hori (Institute of Industrial Science, University of Tokyo,
Japan)
|
|
3
|
Power-Assist
Motion of an Electric Wheelchair for a Caregiver
Yukiko Kaida,
Toshiyuki Murakami (Keio University, Japan)
|
|
4
|
Study
of parameters identification of dynamic equation of human lower
limb for improved estimation of muscular tensions
Shohei Oda, Noboru Okuyama,
Satoshi Komada, Junji Hirai (Mie University, Japan)
|
|
|
|
|
|
|
Regular Sessions
|
Monday, March 27, 2006
|
Hour 10:20- 12:00
|
Room:
|
C
|
|
Session RS – 1 : Motion
Control Systems I
|
|
Session Chair:
|
Wurslin Rainer,
University of Applied Sciences Esslingen, Germany
Onderj Holub, Czech
Techical University, Czech Republic
|
|
1
|
A
Control System with High Speed and Real Time Communication Links
Tianjian Li and Yasutaka
Fujimoto (Yokohama National University, Japan)
|
|
2
|
LMI-based l2 -lµ
Stability Analysis and Control of Networked Control Systems with Randomly
Time-varying long delays
Changhong Wang, Qinghua Li,
Qiyong Wen and Weinan Xie (Harbin Institute of Technology, China)
|
|
3
|
Passive Teleoperation Control With
Varying Time Delay
Changlei Zhang, Yeedong Lee
and Kil To Chong (Chonbuk National University, South Korea)
|
|
4
|
Design of
Gain-Scheduling Controller Based on Interpolation of Loop shaping Hµ
controller
Yuki Maekawa, Kazuhiro
Yubai and Junji Hirai (Mie University, Japan)
|
|
5
|
Open Architecture Hierarchical
Predictive Control for Saturation Avoidance
Mara Susanu and Didier
Dumur (Supelec, France)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 13:30- 15:10
|
Room:
|
C
|
|
Session RS - 2 :
Motion Control Systems II
|
|
Session Chair:
|
Akira Shimada,
Polytechnic University, Japan
Seiichiro Katsura,
Nagaoka University of Technology, Japan
|
|
1
|
Comparative Analysis of Two
Adaptive Controls based on Geometric Principles of Identification and the
Extension of the Modified Renormalization Transformation
József K. Tar, Imre J.
Rudas (Budapest Tech, Hungary), Kazuhiro Kosuge ( Tohoku University, Japan)
|
|
2
|
Model Predictive Controller
Combined with LQG Controller and Velocity Feedback to Control the Stewart
Platform
Esmaeil Shahrak
Nadimi, Thomas Bak, Roozbeh Izadi-Zamanabadi (Aalborg University, Denmark)
|
|
3
|
Position Control of a Stewart-Gough Platform Using Inverse Dynamics Method
With Full Dynamics
Amir Ghobakhloo, Mohammad
Eghtesad, Mohammad Azadi (Shiraz University, Iran)
|
|
4
|
New Synthesis Design of Reliable Robust
Tracking Controllers Using LMI
Fu-Zhong Wang, Yuan-Wei Jing (Shenyang El.Power Institute, China),G.
Dimirovski (Dogus University, Turkey),Si-Ying Zhang (QuingDao University,
Shandong, China)
|
|
5
|
Takeoff and Landing Control using
Force Sensor by Electrically-Powered Helicopters
Akira Shimada, Masanori
Fujita (Polytechnic University Hashimotodai, Japan)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 13:00- 15:00
|
Room:
|
C
|
|
Session RS - 3 :
Motion Control Systems III
|
|
Session Chair:
|
Ales Hace, University
od Maribor, Slovenia
Shahzad Khan, Sabanci
University, Turkey
|
|
1
|
An Integrated Environment for the
Modeling and Simulation of Mechatronics Devices
J. M. Rosario (University
of Campinas, Brazil), D. Dumur (SUPELEC, France)
|
|
2
|
Gravity Estimation and
Compensation of Grasped Object for Bilateral Teleoperation
Koichi Nishimura, Kouhei
Ohnishi (Keio University, Japan)
|
|
3
|
Contact State Determination for
Robotic-Based Cylindrical Pair Height Adjustment under Dynamic Conditions
Prasan De Waas Tilakaratna,
Bijan Shirinzadeh (Monash University, Australia), Gursel Alici (University
of Wollongong, Australia)
|
|
4
|
Modal System Design of Multi-Robot
Systems by Interaction Mode Control
Seiichiro Katsura, Kiyoshi
Ohishi (Nagaoka University of Technology, Japan)
|
|
5
|
A Fundamental Study on
Reconfigurable Robot System Construction with Central- and Local
Intelligence
Nobuyasu Miwa, Kazuhiro
Yubai, Junji Hirai (Mie University, Japan)
|
|
6
|
Motion Control Design of a
Manufactory Plant by Dedicated Software
Alessandro De Carli and
Oreste Marinelli, (University of Roma “La Sapienza”, Italy)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 15:30- 17:10
|
Room:
|
C
|
|
Session RS - 4 :
Advanced Motion Control
|
|
Session Chair:
|
Bojan Grcar,
University of Maribor, Slovenia
|
|
1
|
Robust Force
Sensorless Control in Motion Control System
Atsushi Kato and
Kouhei Ohnishi (Keio University, Japan)
|
|
2
|
A Controller
Design Method based on Functionality
Toshiaki Tsuji
and Kouhei Ohnishi (Keio University, Japan), Asif Sabanovic (Sabanci
University, Turkey)
|
|
3
|
High
Performance Force Control for Cooperative of Null Space and Task Space
Motion in Redundant Manipulator
Toshihiro
Makinouchi and Toshiyuki Murakami (Keio University, Japan)
|
|
4
|
A Control
Strategy of Null Space Motion Using Passivity of PID Controller
Tsuyoshi Shibata
and Toshiyuki Murakami (Keio University, Japan)
|
|
5
|
High Precise
Position Control of a Novel Electromagnetic Actuator Using Sensorless
Detection
Xiaoming Wang,
Tao Lei and Xuyan Huang (Harbin Institute of Technology, China)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 10:00- 11:40
|
Room:
|
C
|
|
Session RS – 5 :
Disturbance Observer
|
|
Session Chair:
|
Kemaletin Erbatur,
Sabanci University, Turkey
Fuat Gürleyen,
Istanbul Technical University, Turkey
|
|
1
|
Evaluation of
Error Bound for a DT Sliding Mode Control with Disturbance Observer
Yegan Erdem
(Sabanci University, Turkey), Khalid Abidi (National University of
Singapore, Singapore), Asif Sabanovic (Sabanci University, Turkey)
|
|
2
|
Improvement of
Disturbance Suppression Based on Disturbance Observer
Mariko Mizuochi,
Toshiaki Tsuji, Kouhei Ohnishi (Keio University, Japan)
|
|
3
|
PID+Rule-based Variable Structure
Control of Active Magnetic Bearings for High Speed Rigid Rotors
Fuat Gürleyen
(Istanbul Technical University, Turkey)
|
|
4
|
Plant Behavior
Dictation using a Sliding Mode Model Reference Controller
Cagdas Onal
(Carnegie Mellon University, USA ), Asif Sabanovic (Sabanci University,
Turkey)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 13:00-15:00
|
Room:
|
B
|
|
Session RS - 6 :
Mobile Robots I
|
|
Session Chair:
|
Mustafa Unel, Sabanci
University, Turkey
Nusrettin Gulec,
Sabanci University, Turkey
|
|
1
|
Collision Avoidance Maneuver for
an Autonomous Vehicle
Mohammad Durali, Ghasem
Amini Javid, Alireza Kasaiezadeh (Sharif University of Technology, Iran)
|
|
2
|
Coordinated
Task Manipulation by Nonholonomic Mobile Robots
Nusrettin Gulec,
Mustafa Unel, Asif Sabanovic (Sabanci University, Turkey)
|
|
3
|
A Voice
Command System for Autonomous Robots Guidance
Mohamed Fezari,
Mounir Bousbia-Salah (Badji Mokhtar University, Algeria)
|
|
4
|
Experimental
Study of Wheeled Forms for Lunar Rover on Slope Terrain
Kojiro Iizuka and
Takashi Kubota (ISAS/JAXA, Japan), Yoshinori Sato and Yoji Kuroda (Meiji
University, Japan)
|
|
5
|
Managing the
Dynamics of a Potential Field-Guided Robot in a Cluttered Environment
Ahmad Masoud
(KFUPM, Saudi Arabia)
|
|
6
|
Semi-Decentralized Control of Multi-Agent Systems Based on Redundant
Manipulator Optimization Methods
Nasser Sadati and
Ehsan Elhamifar (Sharif University of Technology, Iran)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 15:30- 17:30
|
Room:
|
B
|
|
Session RS – 7 :
Mobile Robots II
|
|
Session Chair:
|
Ahmad Masoud, KFUPM,
Saudi Arabia
Akira Shimada,
Polytechnic University, Japan
|
|
1
|
Real-time Collision-free Path
Planning for Robot Manipulator Based on Octree Model
Lu Wu and Yoichi Hori
(University of Tokyo, Japan)
|
|
2
|
Development of
a Snake-like Robot
Jure Bezgovsek,
Igor Grabec, P.Muzic (University of Ljubljana, Slovenia)
|
|
3
|
Mobile Robot
Navigation in an Unknown Environment
Ali Jazayeri,
Alireza Fatehi, H.Taghirad (K.N. Toosi University of Technology, Iran)
|
|
4
|
Optimal Motion
Planner of the Mobile Manipulators in the Generalized Point To Point Task
Moussa Haddad,
Taha Chettibi, Halim Elamin Lehtihet, Samir Hanchi (Laboratory of Structure
Mechanics, E.M.P, Algeria)
|
|
5
|
High-Speed
Motion Control of Inverted Pendulum Robots
Akira Shimada and
Naoya Hatakeyama (Polytechnic University, Japan)
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 11:25- 13:25
|
Room:
|
A
|
|
Session RS – 8 :
Haptics and Robotics in Medicine
|
|
Session Chair:
|
Ales Hace, University
of Maribor, Slovenia
Satoshi Komada, Mie
University, Japan
|
|
1
|
Comparison of
Real Environmental Models for Reproduction of Force Sensation in Bilateral
Motion Control
Tomoyuki Shimono
and Kouhei Ohnishi (Keio University, Japan), Seiichiro Katsura (Nagaoka
University of Technology, Japan),
|
|
2
|
An Extraction
Method of Environmental Surface Profile Using Planar End-Effectors
Ryogo Kubo and
Kouhei Ohnishi (Keio University, Japan)
|
|
3
|
Assist Control
and its Tuning Method for Haptic System
Satoshi Suzuki,
Fumio Harashima and Keiichi Kurihara (Tokyo Denki University, Japan)
|
|
4
|
Cellular
Neural Network Based Deformation Simulation with Haptic Force Feedback
Yongmin Zhong,
Bijan Shirinzadeh, Julian Smith (Monash University, Australia),
G.Alici (University of Wollongong, Australia)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 10:20- 12:00
|
Room:
|
B
|
|
Session RS – 9 :
Biped Robots
|
|
Session Chair:
|
Atsuo Kawamura,
Yokohama National University, Japan
|
|
1
|
Position and
Attitude Control of a Spherical Rolling Robot Equipped with a Gyro
Toshiaki Otani,
Takateru Urakubo, Hisashi Tamaki and Yukio Tada (Kobe University,
Japan), Satoshi Maekawa (National Institute of Information and Communication
Technology, Japan)
|
|
2
|
A Method of
Deciding Force Feedback Gain against External Force for Biped Robot
Motomi Ikebe and
Kouhei Ohnishi (Keio University, Japan)
|
|
3
|
Stability on
Orientation Motion of Biped Walking Robot aiming at a Target Object
Yosuke Asano
(Kisarazu National College of Technology, Japan), Atsuo Kawamura (Yokohama
National University, Japan)
|
|
4
|
Free Gait for
Quadruped Robots with Posture Control
Fumio Harashima ,
Hiroshi Igarashi, Tamotsu Machida and Masayoshi Kakikura (Tokyo Denki
University, Japan)
|
|
5
|
Impulsive
control for a thirteen-link biped
Yannick Aoustin,
David Tlalolini Romero, Christine Chevallereau and Sebastien Aubin
(Universite de Nantes, France)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 10:00- 11:40
|
Room:
|
B
|
|
Session RS – 10 :
Flexible systems
|
|
Session Chair:
|
Dierk Schröder,
Technical University of Munich, Germany
O.Seta Bogosyan,
University of Alaska Fairbanks, USA
|
|
1
|
Tip Position
Control of a Flexible-Link Arm
A.Arisoy (Turkish
Air Force Academy, Turkey), Metin Gokasan (Istanbul Technical University,
Turkey), O.Seta Bogosyan (University of
Alaska Fairbanks, USA )
|
|
2
|
Fault-Tolerant
Control of Flexible Arm Based on Dual Youla Parameter Identification
Tsubasa Sakuishi,
Yu Izumikawa, Kazuhiro Yubai, Junji Hirai (Mie University, Japan)
|
|
3
|
Funnel-Control
with Integrating Prefilter for Nonlinear, Time-Varying Two-Mass Flexible
Servo Systems
Christoph M.
Hackl, Hans Schuster, Christian Westermaier, Dierk Schröder (Technical
University of Munich, Germany)
|
|
4
|
Adaptive
switching control method for active vibration isolation
Zhou Shuo, Li
Yuntang, Meng Guang, Ding Han (Shanghai Jiao Tong University, China)
|
|
5
|
A Joint Design
Method for Achieving Robust Performance -Experimental Study in 2-mass
System-
Naoya Wakayama,
Kazuhiro Yubai, Junji Hirai (Mie University, Japan)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 13:30- 15:10
|
Room:
|
B
|
|
Session RS – 11 :
Micro/Nano Motion Systems I
|
|
Session Chair:
|
Roberto Oboe,
University of Trento, Italy
Toshiyaki Tsuji, Keio
University, Japan
|
|
1
|
A Robotic
Gripper based on Conducting Polymer Actuators
Gursel Alici, Nam
N. Huynh (University Of Wollongong, Australia)
|
|
2
|
Towards Improving Positioning
Accuracy of Conducting Polymer Actuators
Gursel Alici, Nam N. Huynh
(University Of Wollongong, Australia)
|
|
3
|
Stick-Slip
Based Micropositioning Stage for Transmission Electron Microscope
Ondrej Holub,
Martin Spiller and Zdenek Hurak (Czech Technical University, Czech Republic)
|
|
4
|
Microsystems and System-on-Chip
Integration applied to Inertial Measuring System Development
Xavier Fito
(IMB-CNM,Spain), Francesc Lleixa and Yi Guo (IEEC-UAB, Spain ), Carles
Ferrer (IMB-CNM, Spain)
|
|
5
|
Object tracking in the GI tract :
a novel microcontroller approach
Khalil Arshak and
Francis Adepoju (University of Limerick, Ireland)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 15:30- 17:10
|
Room:
|
B
|
|
Session RS – 12 :
Micro/Nano Motion Systems II
|
|
Session Chair:
|
Gursel Alici,
University Of Wollongong, Australia
Paolo Bosetti,
University of Trento, Italy
|
|
1
|
Soft
Microcontact Printing with Force Control using Microrobotic Assembly based
Templates
Afshin Tafazzoli
and Metin Sitti (Carnegie Mellon University, USA)
|
|
2
|
Performance of
Driving Method of Piezoelectric Actuator by Using Current Pulse
Katsushi Furutani
(Toyota Technological Institute, Japan), Katsuhiko Iida (Nano-Control Co.,
Japan)
|
|
3
|
Modeling and
Control of IRST MEMS microphone
Davide Cattin
(University of Trento, Italy), Alessandro Faes and Benno Margesin (IRTS-ITC,
Italy), Roberto Oboe (University of Trento, Italy)
|
|
4
|
Special Class of Positive Definite
Functions for Formulating Adaptive Micro/Nano Manipulator Control
Hwee Choo Liaw,
Denny Oetomo and Bijan Shirinzadeh (Monash University ,Australia), Gursel
Alici (University of Wollongong, Australia)
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 9:30- 11:10
|
Room:
|
C
|
|
Session RS – 13 : Motor
Control I
|
|
Session Chair:
|
Bojan Grcar,
University of Maribor, Slovenia
Jul Nee Teoh, Nanyang
Technological University, Singapore
|
|
1
|
Adaptive Space
Vector Modulator for three level NPC PWM inverter-fed Induction Motor
Mariusz
Malinowski, Wojciech Kolomyjski and Marian P. Kazimierowski (Warsaw
University of Technology, Poland)
|
|
2
|
Magnetic
Levitation Control and Spiral--Linear Transformation System for Spiral Motor
Tsutomu Kominami
and Yasutaka Fujimoto (Yokohama National University,Japan)
|
|
3
|
Thrust
Characteristic of Spiral Motor Using FEM Analysis and Compensation for
Thrust Fluctuation
Hyuk-jin Kwon and
Yasutaka Fujimoto (Yokohama National University, Japan)
|
|
4
|
Commutation Torque Ripple of
Four-Switch Brushless DC Motor Drives, Part I: Analysis
Abolfazl Halvaei Niasar and
Abolfazl Vahedi (Iran University of Science and Technology, Iran), Hassan
Moghbelli (Isfahan University of Technology, Iran)
|
|
5
|
Commutation Torque Ripple of
Four-Switch, Brushless DC Motor Drives, Part II:
Controllability and Minimization
Abolfazl Halvaei Niasar and
Abolfazl Vahedi (Iran University of Science and Technology, Iran), Hassan
Moghbelli (Isfahan University of Technology, Iran)
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 11:25- 13:25
|
Room:
|
C
|
|
Session RS – 14 :
Motor Control II
|
|
Session Chair:
|
Fuat Gurleyen,
Istanbul Technical University, Turkey
Yasutaka Fujimoto,
Yokohama National University, Japan
|
|
1
|
Speed
Sensorless Variable Structure and Event Driven Torque Control of PMSM
Ales Polic, Evgen
Urlep and Karel Jezernik (University of Maribor, Slovenia)
|
|
2
|
AC Servo Motor
Position Sensorless Control using Mechanical Springs
Akira Shimada and
Yu Kishiwada (Polytechnic University of Hashimotodai, Japan), Michiyo
Arimura (Toyo Denki Seizo K.K., Japan)
|
|
3
|
Active
Estimation Of The Initial Phase For Brushless Synchronous Motors
Jérémy Malaizé
(Micro-Controle Spectra-Physics S.A, France), Jean Lévine (Ecole
Nationale Superieure des Mines de Paris, France)
|
|
4
|
MRAS-based
Adaptive Speed Estimator in PMSM Drive
Hossein Madadi
Kojabadi (Sahand University of Technology, Iran), Mohsen Ghribi (University
of Moncton, Canada)
|
|
5
|
Non-holonomy
in IM Torque Control
Bojan Grcar,
Peter Cafuta and Gorazd Stumberger (University of Maribor, Slovenia),
Aleksandar Stankovic (Northeastern University, USA)
|
|
6
|
Predictive
Control of an Electromagnetic Suspension System Based on Locally Linear
Model Tree and Subset Selection
Iman
Mohammadzaman (Iranian Academic Center for Education, Culture and Research,
Iran), Atiye Sarabi-Jamab (Malek Ashtar University of Technology,
Iran)
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 15:30- 17:30
|
Room:
|
D
|
|
Session RS – 15 :
Traction Control
|
|
Session Chair:
|
Georgi Dimirovski,
Dogus University, Turkey
Yoichi Hori,
Institute of Industrial Science, University of Tokyo, Japan
|
|
1
|
Vehicle
Stabilizing Control Using Small EV powered only by Ultra Capacitor
Kiyotaka
Kawashima, Toshiyuki Uchida, Yoichi Hori (University of Tokyo, Japan)
|
|
2
|
Robust Design
of Body Slip Angle Observer with Cornering Power Identification at Each Tire
for Vehicle Motion Stabilization
Yoshofumi Aoki,
Zhao Li, Yoichi Hori (University of Tokyo,Japan)
|
|
3
|
Optimum
Traction Force Distribution for Stability Improvement of 4WD EV In Critical
Driving Condition
Peng He, Yoichi
Hori (University of Tokyo, Japan)
|
|
4
|
Cooperative
Control of Full Electric Braking System With Independently Driven Four
Wheels
Taizo Sakamoto,
Kuniaki Hirukawa, Tsutomu Ohmae (Chuo University, Japan)
|
|
5
|
Multi-Objective Evolutionary Design of Fuzzy Logic Controllers for Car
Parking Problem
Joon-Yong Lee,
Min-Soeng Kim, Ju-Jang Lee (KAIST-Korea)
|
|
6
|
In-wheel Motor Design for Electric Vehicles
Kazim Çakýr and Asif
Sabanovic, Sabanci University, Turkey
|
|
|
|
|
|
|
|
Monday, March 27, 2006
|
Hour 13:30- 15:10
|
Room:
|
D
|
|
Session RS - 16 :
Visual Servo Systems
|
|
Session Chair:
|
Mustafa Unel, Sabanci
University, Turkey
Eray Dogan, Sabanci
University, Turkey
|
|
1
|
Vision-based
Tracking Control using Mark Recognition
Shunsuke Nara,
Daisuke Miyamoto, Satoru Takahashi (Kagawa University, Japan)
|
|
2
|
A New Method
for Uncalibrated Visual Servoing
Mirjana Bonkovic
(University of Split, Croatia), Ales Hace and Karel Jezernik (University of
Maribor, Slovenia)
|
|
3
|
Visual
Tracking and Control of a Moving Overhead Crane Load
Yasuo Yoshida and
Kouji Tsuzuki (Chubu University, Japan)
|
|
4
|
Visual Servo
of Active Camera and Manipulator with Simple On-line Calibration for
Estimated Image Feature
Itsushi Kinbara,
Satoshi Komada, Junji Hirai (Mie University, Japan)
|
|
5
|
Visual Servo
System for Controlling Tension of Non-Linear-Elastic Web Deformation
Muhammadazmi Ayub
(University of Technology MARA, Malaysia), M.R.Jackson (Loughborough
University of United Kingdom, UK)
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 9:30-11:10
|
Room:
|
B
|
|
Session RS - 17 :
Robust Control
|
|
Session Chair:
|
Georgy Dimirovski,
Dogus University, Turkey
Ahmad Masoud , K FU
PM, Saudi Arabia,
|
|
1
|
Robust Control of Rotary Cranes
Based on Pole Placement Approach
Naoki Uchiyama, Shoji
Takagi, Shigenori Sano (Toyohashi University of Technology, Japan)
|
|
2
|
Robust Control of Two 5 DOF
Cooperating Robot Manipulators
Mohammad Azadi, Mohammad
Eghtesad, Amir Ghobakhloo (Shiraz University, Iran)
|
|
3
|
Combined Adaptive-Robust and
Neural Network Control of RLED Robot Manipulators Using Backstepping Design
Hamed Jafarian,
Mohammad Eghtesad, Ali Tavasoli (Shiraz University, Iran)
|
|
4
|
Trajectory
Optimization of Mechanical Hybrid Systems Using SUMT
Kerim Yunt,
Christoph Clocker (Institute of Mechanical Systems, Switzerland)
|
|
5
|
A Nonlinear
PID Servo Controller for Computer Hard Disk Drives
Muhammad Hawwa
and Ahmad Masoud (King Fahd University of Petroleum and Minerals,
Saudi Arabia)
|
|
6
|
Robust Maximum Principle
Vladimir G. Boltyanski (CIMAT, Mexico)
|
|
|
|
|
|
|
|
Tuesday, March 28, 2006
|
Hour 15:30-17:30
|
Room:
|
C
|
|
Session RS - 18 :
Soft Computing Techniques
|
|
Session Chair:
|
Karel Jezernik,
University of Maribor, Slovenia
Khalid Abidi,
National University of Singapore, Singapore
|
|
1
|
An Adaptive
Output Feedback Tracking Control of Robot Manipulator via Fuzzy Logic Based
Compensation
Husnu Turker
Sahin, Emre Eroglu, Erkan Zergeroglu (Gebze Institute of Technology, Turkey)
|
|
2
|
Self-adaptive
robot control using Fuzzy Logic
Ignacio Rojas,
Hector Pomares, J. Gonzalez, L.J.Herrera, A. Guillen, O.Valenzuela
(University of Granada, Spain)
|
|
3
|
Is fuzzy logic
a practical choice in resource-constrained embedded control systems
implemented using general-purpose microcontrollers?
Ricardo Bautista,
Michael Pont (University of Leicester,UK)
|
|
4
|
Fuzzy Model
Based Nonlinear Control of an Active Oscillation Suppression System
Comprised of Mechanically Flexible Elements and Triple Configuration of
U-Shaped Electromagnets
Kadir Erkan,
Takafumi Koseki (University of Tokyo, Japan)
|
|
5
|
Nonlinear
speed control of a dc motor drive system with online trained recurrent
neural network
Khaled Nouri and
Naceur Benhadj Braiek (Ecole Politechnique de Tunisie, Tunisie), Rached
Dhaouadi (American University of Sharjah, UAE )
|
|
6
|
Soft-Computing
techniques for the development of adaptive helicopter flight controller
Ignacio Rojas,
Hector Pomares, J. Gonzalez, L.J.Herrera, A. Guillen, F.Rojas (University of
Granada, Spain)
|
|
|
|
|
|
|
|
Wednesday, March 29,
2006
|
Hour 11:25- 13:25
|
Room:
|
B
|
|
Session RS - 19 :
Sliding Mode Control
|
|
Session Chair:
|
Kemaletin Erbatur,
Sabanci University, Turkey
Husnu Turker, Gebze
Institute of Technology, Turkey
|
|
1
|
Model
Reference Adaptive Sliding Mode Control of Uncertain Systems Subject to
Input Nonlinearity
Wen-long Song,
Jun Cao (Northeast Forestry University, China)
|
|
2
|
Experimental Investigation of a
SMC High Precision Control
Khalid Abidi (
National University of Singapore, Singapore), Asif Sabanovic and Selim
Yannier (Sabanci University, Turkey)
|
|
3
|
A Discrete-Time Periodic Adaptive
Control Approach for Time-Varying Parameters with Known Periodicity
Khalid Abidi and Xu
Jian-Xin (National University of Singapore, Singapore)
|
|
4
|
A Sliding Mode Approach to Visual
Motion Estimation
Eray Dogan, Burak
Yilmaz, Asif Sabanovic, Mustafa Unel (Sabanci University, Turkey)
|
|
5
|
Discrete-time
Sliding Mode Control of High Precision Linear Drive using Frictional Model
Shahzad Khan,
Asif Sabanovic (Sabanci University, Turkey)
|
|
|
|
|
|
|
|
|
Back to Main
Plenary Talks
Final Program
Registrations
Travel and
Accommodations
About
Istanbul