International Conference on Mechatronics · 2019-03-17 · 4 Welcome Message from the ICM2019 General Co-Chairs IEEE ICM 2019 continues a series of biennial conferences dedicated

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International Conference on Mechatronics

Ilmenau, Germany

March 18-20, 2019

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Table of Content

Welcome Message from the ICM2019 General Co-Chairs .................................................................... 4

ICM2019 Organizing Committees ........................................................................................................... 5

Special Session Organizers ..................................................................................................................... 7

Conference Program ............................................................................................................................... 8

ICM 2019 Floor Map ............................................................................................................................. 10

General Information ............................................................................................................................. 12

Conference Venue ............................................................................................................................. 12

Transportation to the Venue ............................................................................................................. 12

Conference Opening & Closure ......................................................................................................... 12

Registration Information ................................................................................................................... 12

Conference Social & Networking Opportunities ............................................................................... 13

Keynote Speakers ................................................................................................................................. 15

18 March 2019 – Keynote Presentation by Professor Makoto Kaneko ............................................ 15

19 March 2019 – Keynote Presentation by Professor Bijnan Bandyopadhyay ................................. 16

Technical Sessions................................................................................................................................. 17

Monday 18th of March ..................................................................................................................... 17

CE - Opening Ceremony: Grand Opening ...................................................................................... 17

CE - Keynote Speech: Beyond Human Technology” Opens a New Bio/Medical World ................ 17

TTMC - Oral Session: Motion Control I .......................................................................................... 18

TTROB - Oral Session: Robotics I ................................................................................................... 19

TTHMI - Oral Session: Human Machine Interface ......................................................................... 20

SS03 - Oral Session: Physical Human-Robot Interaction I ............................................................. 21

TTMC - Oral Session: Motion Control II ......................................................................................... 22

TTROB - Oral Session: Robotics II .................................................................................................. 23

TTMS Oral Session: Mechatronic Systems I .................................................................................. 24

SS03 - Oral Session: Physical Human-Robot Interaction II ............................................................ 25

Tuesday 19th of March...................................................................................................................... 26

CE - Keynote Speech: Keynote Speech “Super-Twisting based Integral Sliding Mode control and

Implementation issues of Super Twisting Control” ....................................................................... 26

TTMC - Oral Session: Motion Control III ........................................................................................ 26

SS05 - Oral Session: Advanced Motion Control for Vehicles I ....................................................... 27

TTMS - Oral Session: Mechatronic Systems II ............................................................................... 28

SS06 - Oral Session: Industrial Robotics and Applications I........................................................... 29

SS04 - Oral Session: Smart Precision Motion Control ................................................................... 30

SS05 - Oral Session: Advanced Motion Control for Vehicles II ...................................................... 31

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TTMS - Oral Session: Mechatronic Systems III .............................................................................. 32

SS06 - Oral Session: Industrial Robotics and Applications II.......................................................... 33

Wednesday 20th of March ................................................................................................................ 34

ME - Meeting: Meeting of IEEE IES Technical Committee of Motion Control............................... 34

TTIM - Oral Session: Intelligent Manufacturing ............................................................................ 34

SS05 - Oral Session: Advanced Motion Control for Vehicles III ..................................................... 35

TTMNM - Oral Session: Micro and Nano Mechatronics ................................................................ 36

SS02 - Oral Session: Intelligent Sensing Applications .................................................................... 37

CE - Closing Ceremony ................................................................................................................... 38

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Welcome Message from the ICM2019 General Co-Chairs

IEEE ICM 2019 continues a series of biennial conferences dedicated to recent and

prospective developments in various field of mechatronics. The conference is

organized under patronage of IEEE Industrial Electronics Society and will be held on

March 18th-20th, 2019 at Technische Universität Ilmenau, Germany.

IEEE International Conference on Mechatronics 2019 is organized under the motto

“Mechatronics for Cross-disciplinary Research”. The main conference topics include

but are not limited to:

• Advanced Motion Control; Sensors / Actuators;

• Micro and Nano Mechatronics; Robotics and Biomechatronics;

• Intelligent Control and AI in Mechatronics;

• Mechatronics Education.

The targeted application fields cover:

• Ambient Assisted Living;

• Personalized and Automated Transportation;

• Electric Vehicles;

• Intelligent Manufacturing;

• Energy Systems;

• Cyber-Physical Systems;

• Medical Systems and Bioengineering.

The conference invites researchers, engineering and practitioners to present their

high-quality papers and presentations in various mechatronics-related subjects.

General Co-Chairs

Prof. Dr. Yasutaka Fujimoto Yokohama National University

PD Dr.-Ing. habil. Valentin Ivanov Technische Universität Ilmenau

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ICM2019 Organizing Committees

Honorary Co-Chairs

Kouhei Ohnishi – Keio University (Japan) Luís Gomes – Universidade Nova de Lisboa (Portugal) John Y. Hung – Auburn University (USA)

General Co-Chairs

Valentin Ivanov – Technische Universität Ilmenau (Germany) Yasutaka Fujimoto – Yokohama National University (Japan)

Technical Program Co‐Chairs

Antonella Ferrara – Università degli studi di Pavia (Italy) Michael Ruderman – Universitetet i Agder (Norway) Hiroshi Fujimoto – University of Tokyo (Japan)

Special Session Co-Chairs

Marcel Heertjes – The Eindhoven University of Technology (Netherlands) Toshiaki Tsuji – Saitama University (Japan)

Finance Chair

Klaus Augsburg – Technische Universität Ilmenau (Germany)

Publication Co-Chairs

Kenta Seki – Nagoya Institute of Technology (Japan) Vincenzo Ricciardi– Technische Universität Ilmenau (Germany)

Publicity Co-Chairs

Seiichiro Katsura – Keio University (Japan) Johann Reger – Technische Universität Ilmenau (Germany)

International Advisory Board

Phil Barber – Jaguar Land Rover (UK) Makoto Iwasaki – Nagoya Institute of Technology (Japan) Kiyoshi Ohishi – Nagaoka University of Technology (Japan) Herman Van der Auweraer – Siemens (Belgium) Junmin Wang – Ohio University (USA)

Technical Program Committee:

Vladimir Vantsevich – The University of Alabama at Birmingham (USA) Ansgar Trächtler – University of Paderborn (Germany)

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Barys Shyrokau – TU Delft (The Netherlands) Tomoyuki Shimono – Yokohama National University (Japan) Oliver Sawodny – Universität Stuttgart (Germany) Kenji Natori – Chiba University (Japan) Roland Kasper – Otto-von-Guericke-Universität Magdeburg (Germany) Stratis Kanarachos – Coventry University (UK) Dzmitry Savitski – Technische Universität Ilmenau (Germany) Marek Jasinski – Warsaw University of Technology (Poland) Kazuaki Ito – Gifu University (Japan) Yousef Ibrahim – Federation University Australia (Australia) Martin Horn – TU Graz (Austria)

Local Steering Committee (Technsiche Universität Ilmenau)

Klaus Augsburg (Chair) Hannes Töpfer Tom Ströhla Johann Reger Armin Zimmermann Andrea Schneider Margitta Huck Maria Eugenia Dalmau Vincenzo Ricciardi

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Special Session Organizers

SS “Intelligent Sensing Applications for Human Assistive Systems” Organizers: Naoki Motoi (Kobe University, Japan), Hiroshi Igarashi (Tokyo Denki University, Japan), Sota Shimizu (Shibaura Institute of Technology, Japan) Topics: Sensor; Intelligent sensing application; Human support system; Remote control; Mobile robotics; Computer vision; Point clouds; Intelligent signal processing

SS “Physical Human-Robot Interaction” Organizers: Emre Sariyildiz (University of Wollongong, Australia), Barkan Ugurlu (Ozyegin University, Turkey), Takahiro Nozaki (Keio University & Kanagawa institute of Industrial Science and Technology, Japan) Topics: Compliant Actuators and Robots; Rehabilitation Robots; Humanoids; Human Robot Collaboration; Force and Admittance control; Haptic Sensation; Teleoperation; Soft Robotics; Motion Control Technologies

SS “Smart Precision Motion Control in Mechatronic Systems” Organizers: Kazuaki Ito (Gifu University, Japan), Kenta Seki (Nagoya Institute of Technology, Japan), Hiroshi Fujimoto (The University of Tokyo, Japan), Tom Oomen (Eindhoven University of Technology, The Netherlands) Topics: High precision actuators and sensors in motion control systems; High precision positioning techniques in industrial mechatronic systems; Nanoscale servo systems in industrial applications; Mass storage control systems; Innovative control strategies in advanced motion control; Modeling and compensation techniques for nonlinearities in industrial mechatronic systems; Robust and/or adaptive controller algorithms; Sensor fusion; Novel mechanical design

SS “Advanced Motion Control Systems for Smart, Green and Integrated Vehicles” Organizers: Valentin Ivanov (Technische Universität Ilmenau, Germany), Barys Shyrokau (Delft University of Technology, The Netherlands) Topics: Electric vehicles; Automated vehicles with and without pilot/driver; Automotive mechatronics; Vehicle dynamics and control; Advanced chassis and powertrain systems; Advanced driver assistance systems; Sensing, estimation and actuation for automotive applications; Sensor fusion technologies and environment perception.

SS “Industrial Robotics and Applications” Organizers: Alexandr Klimchik (Innopolis University, Russia), Anatol Pashkevich (IMT Atlantique, France), Sergey Kolyubin (ITMO, Russia) Topics: Industrial robots; Intelligent system; Advanced control; Calibration; Error compensation; Machining; Assembling; Welding; Robot-based transportation

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Conference Program

March 18th

SR 129 SR 201 SR 211/212 Hörsaal

Humboldtbau

08:00-

09:00 CE – Registration (Foyer Humboldtbau)

09:00-

09:20 CE – Grand Opening (Audimax Humboldtbau)

9:20-

10:20 CE – Keynote Speech (Audimax Humboldtbau)

10:20-

10:40 CF – Coffee Break (Foyer Humboldtbau)

10:40-

12:40

TTMC – Motion

Control I

TTROB –

Robotics I

TTHMI – Human

Machine

Interface

SS03 – Physical

Human Robot

Interaction I

12:40-

13:20 LU – Lunch Break (Foyer Humboldtbau)

13:20-

15:20

TTMC – Motion

Control II

TTROB –

Robotics II

TTMS –

Mechatronic

Systems I

SS03 – Physical

Human Robot

Interaction II

15:20-


16:00-

22:00 DI – Welcome Event Reception

March 19th


Humboldtbau

08:00-

09:00 CE – Registration (Foyer Humboldtbau)

9:00-

10:00 CE – Keynote Speech (Audimax Humboldtbau)

10:20-


10:20-

12:20

TTMC – Motion

Control III

SS05 –

Advanced

Motion Control

for Vehicles I

TTMS –

Mechatronic

Systems II

SS06 – Industrial

Robotics and

Applications I

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12:20-


13:00-

15:00

SS04 – Smart

Precision Motion

Control

SS05 –

Advanced

Motion Control

for Vehicles II

TTMS –

Mechatronic

Systems III

SS06 – Industrial

Robotics and

Applications II

15:00-


15:30-

22:00 DI – Social Programme and Gala Dinner

March 20th


Humboldtbau

09:00-

10:00

Meeting of IEEE IES Technical Committee of Motion Control (Hörsaal

Humboldtbau)

10:00-


10:20-

12:20

TTIM – Intelligent

Manufacturing

SS05 –

Advanced

Motion Control

for Vehicles III

TTMNM – Micro

and Nano

Mechatronics

SS02 – Intelligent

Sensing and

Applications

12:20-

13:00 CE – Closing Ceremony (Audimax Humboldtbau)

12:40-


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ICM 2019 Floor Map

Humboldtbau Technische Universität Ilmenau

Gustav-Kirchhoff-Platz 1, 98693 Ilmenau

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General Information

Conference Venue

The conference takes place in the Humboldtbau (Gustav-Kirchhoff-Platz 1, 98693 Ilmenau) at the campus of the TU Ilmenau. A walk from the city to the conference building will take 20 minutes.

Transportation to the Venue

The Goethe and university town of Ilmenau – population approx. 30,000 – is situated in the foothills of the Thuringian Forest. Surrounded by the mountains of the Thuringian Forest in Germany’s “green heart”, it makes an excellent base for hiking. It is also the start of the 20-km Goethe trail following in the footsteps of the great writer and poet. You can travel to Ilmenau by plane, train, or car.

Travelling by car: We recommend to leave the A71 motorway using the exit “Ilmenau Ost” and then follow the “UNI” signs to the campus of TU Ilmenau. On campus, the signposting will help you find the way to the conference building (Humboldtbau) easily.

Travelling by plane: We would like to recommend to go by plane to the airports of Frankfurt/Main (FRA), Leipzig (LEJ), or Berlin (TXL or SXF). There are ICE train connections from all of these airports to Erfurt.

Travelling by train: You can travel to Ilmenau by train via Erfurt (ICE station), where you can use the connecting train to Ilmenau. The trip from Erfurt to Ilmenau takes about 50 min.

Conference Opening & Closure

The formal opening session will take place at 09:00, Monday 18th March, in Hörsaal Humboldtbau. The closing will take place at 12:20, Wednesday 20th March, in Hörsaal Humboldtbau.

Registration Information

The registration desk (Foyer Humboldtbau) will be open at the following times:

March 18th (Monday): 08:00 - 09:00

March 19th (Tuesday): 08:00 - 09:00

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Conference Social & Networking Opportunities

Welcome Reception - Traces and Places of the Bach Family in the historic Residence Town of Arnstadt

Johann Sebastian Bach as the most famous member of a large musical family with more than 300 gifted musicians was born in Eisenach in 1685. His work as a violinist, organist and composer took him all around Thuringia. Important stations of his life in Thuringia are i.e. the towns of Arnstadt, Muehlhausen, Weimar and Eisenach.

With more than 1300 years, the ancient town of Arnstadt is the oldest in Thuringia. Come and follow the traces of the Bach family through the narrow alleys of the old town in an amusing and imaginary guided tour. You will learn about the work and life of Johann Sebastian Bach who already in his young years was accepted as the organist in Arnstadt. At the end of the circuit, you will enjoy Bach’s music at the place of origin now called Bachkirche. At about 7 p.m. the welcome reception will take place in the Rathaussaal an there will be a get together afterwards.

Timetable: 3:50 p.m. – Coaches depart from Audimax | Humboldtbau 4:40 p.m. – Departure of the old steam train from central station Ilmenau to Arnstadt 5:10 p.m. – Reception of guests and start of a short city tour to the Bach Church 6:00-6:30 p.m. – Organ concert 6:45-9:00 p.m. – Welcome Reception and Get together 9:00 p.m. – Coaches depart from Arnstadt town hall 9:30 p.m. – Departure of the special train from station Arnstadt Süd to Ilmenau The price 95 € covers the journey, the city tour, the organ concert and the catering.

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Gala Dinner – Get to know the state capital Erfurt – and enjoy the hospitality of

Thuringia

Choose from 2 possibilities to explore the Thuringian capital.

Option 1: Experience the historic old town of Erfurt and immerse yourself in the past of this more than 1270 year old city with history. Learn everything about the Krämerbrücke, the cathedral, the fish market, the synagogue, the production of woad in Erfurt and many other interesting things. Option 2: The ascent to Zitadelle Petersberg leads along mysterious paths through the underworld of an old fortress. The tour leads through the historic old town up to the only largely preserved baroque city fortress in Central Europe. The fortress plateau offers a unique view of the city.

After the city tours you can enjoy a dinner in a unique location in combination with sophisticated gastronomy! The perfect location in the centre of the Thuringian capital is the character of the Palmenhaus characterized by the striking architecture and the associated historical charisma. https://palmenhaus-erfurt.de/

Timetable: 3:30 p.m. – The coaches depart from the Audimax | Humboldtbau from 4:30 p.m. Start of differnet city tours through Erfurt Option 1: Guided city tour through the historic old town of Erfurt Option 2: Visit to the Erfurt citadel (Please think of sturdy footwear) following Gala dinner at Palmenhaus Erfurt 10:30 p.m. – Transfer by Coaches back to the hotels The price 110 € covers the journey, the city tour and the catering.

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Keynote Speakers

18 March 2019 – Keynote Presentation by Professor Makoto Kaneko

Dr. Makoto Kaneko (M’88-SM’03-F’06 for IEEE) is a professor of the Department of Mechanical Engineering, Graduate School of Engineering, Osaka University. He received Ph.D. at the University of Tokyo in 1981. His current research interests include dynamic active sensing, such as Strobe Imager, cell deformability sensing, dynamic sensing of human eye, and dynamic sensing of internal organs by using both high speed vision and high speed actuator. He has received 30 awards, including the Humboldt Research Award in 1997, the IEEE ICRA Best Manipulation Paper Award in 2000, the IEEE ISATP Outstanding Paper Award in 2001, the IEEE RAS King-Sun Fu Memorial Best Transactions Paper Award in 2003, the IEEE ICIA Best Conference Paper Award in 2005, the IEEE

ICMA Best Paper Award in Automation in 2013, and the IEEE MHS Best Paper Award in 2012 and 2014. He also received the Honorary Doctor from Darmstadt University of Technology, Germany in 2013.

Keynote Presentation: “Beyond Human Technology” Opens a New Bio/Medical World”

This talk begins by explaining what is “Beyond Human Technology”. Knowing of the limitation of human perception and action, we show how to design artificial systems leading to “Beyond Human” by utilizing two kernel components, an online high speed vision and a high speed actuator where both operating speeds are several hundred times faster than human eye and muscle, respectively. We introduce a couple of examples in both robotics and bio/medical fields. As for robotics, we show “The 100G capturing robot”, “Two-fingered hyper human robot hand”, “Hyper plate manipulation learnt from pizza master”, and “Hyper magician”. As for bio/medical application, we show a fast and fine cell manipulation system with the frequency of 100Hz and the resolution of 250 nanometers by using both a newly developed syringe pump and an online high speed vision. As an application of cell manipulation, we show “Cell Stress Test” where a sinusoidal mechanical stress is continuously imparted to a cell until it eventually gets damage. We also show an interesting behavior of red blood cells where their recovery characteristics after the microchannel dramatically change depending upon the loading time. Finally, we would discuss the correlation between the deformability of red blood cell and brain progress, with my personal viewpoints. All topics in this talk will be explained together with video demonstration.

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19 March 2019 – Keynote Presentation by Professor Bijnan Bandyopadhyay

Bijnan Bandyopadhyay received his B.E. degree in Electronics and Telecommunication Engineering from the University of Calcutta, Calcutta, India in 1978, and Ph.D. in Electrical Engineering from IIT Delhi, India in 1986. In 1987, he joined the Systems and Control Engineering group, IIT Bombay, India, as a faculty member, where he is currently a chair professor. In 1996, he was with the Lehrstuhl fur Elektrische Steuerung und Regelung, RUB, Bochum, Germany, as an Alexander von Humboldt Fellow. He was awarded Distinguished Visiting Fellow by the Royal Academy of Engineering, London in 2009 and 2012. Professor Bandyopadhyay is a Fellow of Indian National Academy of Engineering. He has 400

publications which include monographs, book chapters, journal articles and conference papers. He has guided 36 Ph.D. theses at IIT Bombay. His research interests include the areas of multirate output feedback based discrete-time sliding mode control, event-triggered sliding mode control and nuclear reactor control. Prof. Bandyopadhyay served as Co-Chairman of the International Organization Committee and as Chairman of the Local Arrangements Committee for the IEEE ICIT, Goa, India, in 2000. He also served as one of the General Chairs of IEEE ICIT conference, Mumbai, India in 2006. Prof. Bandyopadhyay has served as General Chair for IEEE International Workshop on VSSSMC, Mumbai, 2012. Prof. Bandyopadhyay is currently serving as Technical Editor of IEEE/ASME Transactions on Mechatronics, Associate Editor of IEEE Transaction on Industrial Electronics and Associate Editor IET Control Theory and Application. Professor Bandyopadhyay is an IEEE Fellow.

Keynote Presentation:

“Super-Twisting based Integral Sliding Mode control and Implementation issues of Super Twisting Control”

The talk will be on a new algorithm on continuous sliding mode based on integral sliding mode control (ISMC) where the discontinuous part of the ISMC is replaced by continuous control. It is shown that the well known super twisting control (STC) which replaces the discontinuous part of the ISMC acts as a disturbance observer and hence cancels the matched disturbance. As the overall controller is continuous, the proposed method is advantageous over the existing integral sliding mode control, which has a discontinuous term. Also from the practical implementation point of view, in particular for mechanical systems, discontinuous term will result in chattering which is very much undesirable. Some implementation results on a practical system and its superiority will be also discussed. In the second part of the talk, an output feedback stabilization of perturbed double integrator systems using super twisting control (STC) will be presented. It will be shown that when STC is implemented based on super twisting observer (STO) then it is not possible to achieve second order sliding mode (SOSM) using continuous control on the chosen sliding surface. Two methodologies are proposed to circumvent the above mentioned problem. In the first method, control input is discontinuous which may not be desirable for practical systems. In second method continuous STC is proposed based on higher order sliding mode observer (HOSMO) which achieves SOSM on the chosen sliding surface. For simplicity, we are considering here only the perturbed double integrator, which can be generalized for an arbitrary order. Some Numerical simulations and experimental validation will be also presented to show the effectiveness of the proposed method.

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Technical Sessions

Monday 18th of March

CE - Opening Ceremony: Grand Opening Room: Humboldt-Audimax Hour: 09:00 Duration: 20 minutes

CE - Keynote Speech: Beyond Human Technology” Opens a New Bio/Medical World Room: Humboldt-Audimax Hour: 09:20 Duration: 60 minutes Keynote Speaker: Prof. Makoto Kaneko

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TTMC - Oral Session: Motion Control I

Room: SR 129 Hour: 10:40 Duration: 120 minutes Chair/s: Mr. Vincenzo Ricciardi

Papers

Hour: 10:40 Title: Algorithm Design for the Novel Mechatronics Electro-hydraulic Driving System: Micro-Independent Metering Authors: Mr. Karem Abuowda, PhD researcher, United Kingdom Dr. Siamak Noroozi, Head of scientific researcher, United Kingdom Dr. Mihai Dupac, Lecturer, United Kingdom Mr. Phil Godfrey, Engineering director, United Kingdom

Hour: 11:00 Title: Proposal of Speeding up Scheme for Pneumatic Stage Authors: Mr. Hiroki Ishii, Tokyo University of Agriculture and Technology, Japan Prof. Shinji Wakui, Tokyo University of Agriculture and Technology, Japan

Hour: 11:20 Title: Hybrid Control and Strain Suppression using Ball Screw Drive Device Authors: Mr. Kotaro Minoda, Tokyo University of Agriculture and Technology, Japan Prof. Shinji Wakui, Tokyo University of Agriculture and Technology, Japan Mr. Daigo Hotta, Sumitomo Heavy Industries, Japan Mr. Hiroshi Morita, Sumitomo Heavy Industries, Japan

Hour: 11:40 Title: Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver Authors: Mr. Kazuma Kobayashi, Okayama University, Japan Prof. Kentaro Hirata, Okayama University, Japan Prof. Yukinori Nakamura, Okayama University, Japan Prof. Kunihisa Okano, Okayama University, Japan

Hour: 12:00 Title: RLS-based Adaptive Feedforward Control of Cranes with Double Pendulum Dynamics Authors: Mr. Florentin Rauscher, Institute for System Dynamics, University of Stuttgart, Germany Prof. Oliver Sawodny, Institute for System Dynamics, University of Stuttgart, Germany

Hour: 12:20 Title: Trajectory Tracking Control of a Tracked Mobile Robot with a Passive Bio-inspired Suspension Authors: Mr. Zc Li, Hong Kong Polytechnic University, China Dr. Xj Jing, Hong Kong Polytechnic University, China Prof. Jy Yu, Harbin Institute of Technology, China

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TTROB - Oral Session: Robotics I Room: SR 201 Hour: 10:40 Duration: 120 minutes Chair/s: Prof. Sehoon Oh

Papers

Hour: 10:40 Title: Synthesis of Robot Hand Skills Powered by Crowdsourced Learning Authors: Mr. Leidi Zhao, New Jersey Institute of Technology, USA Mr. Raheem Lawhorm, New Jersey Institute of Technology, USA Prof. Cong Wang, New Jersey Institute of Technology, USA Prof. Lu Lu, New Jersey Institute of Technology, USA Prof. Bo Ouyang, Hunan University, China

Hour: 11:00 Title: Automatic Generation of Labeled 3D Point Clouds of Natural Environments with Gazebo Authors: Mr. Manuel Sánchez, Universidad de Málaga, Spain Prof. Jorge L. Martínez, Universidad de Málaga, Spain Dr. Jesús Morales, Universidad de Málaga, Spain Mr. Alfredo Robles, Universidad de Málaga, Spain Mr. Mariano Morán, Universidad de Málaga, Spain

Hour: 11:20 Title: Exploration in Extreme Environments with Swarm Robotic System Authors: Ms. Xinge Huang, The University of Manchester, United Kingdom Dr. Farshad Arvin, The University of Manchester, United Kingdom Dr. Craig West, Bristol Robotics Laboratory, United Kingdom Dr. Simon Watson, The University of Manchester, United Kingdom Prof. Barry Lennox, The University of Manchester, United Kingdom

Hour: 11:40 Title: Design, realization and verification of a novel knee joint actuator for robotic exoskeletons Authors: Mr. Johannes Schick, University of Applied Sciences Aalen, Germany Prof. Markus Glaser, University of Applied Sciences Aalen, Germany Mr. Steven Huber, University of Applied Sciences Aalen, Germany

Hour: 12:00 Title: Angle Measurement Using Moir`e Patterns Enlarging the Rotation in the Linear Motion Authors: Mr. Junya Tsunoda, Graduate School of Science and Engineering, Saitama University, Japan Prof. Sho Sakaino, Graduate School of Science and Engineering, Saitama University, Japan Prof. Toshiaki Tsuji, Graduate School of Science and Engineering, Saitama University, Japan

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TTHMI - Oral Session: Human Machine Interface Room: SR 211/212 Hour: 10:40 Duration: 120 minutes Chair/s: Prof. Barys Shyrokau

Papers

Hour: 10:40 Title: Variable Slave Force Gain for Oblique Coordinate Control Under the Presence of Time-delay Authors: Mr. Toshiaki Okano, Keio University, Japan Prof. Kouhei Ohnishi, Haptics Research Center, Japan Prof. Toshiyuki Murakami, Keio University, Japan

Hour: 11:00 Title: Sensorless Bilateral Control Using Hall ICs Authors: Mr. Shuhei Akutsu, Keio University, Japan Prof. Takahiro Nozaki, Keio University, Japan Prof. Toshiyuki Murakami, Keio University, Japan

Hour: 11:20 Title: Cross-Talk Compensation in Low-Cost Resistive Pressure Matrix Sensors Authors: Dr. Steffen Müller, Technische Universität Ilmenau, Germany Mr. Daniel Seichter, Technische Universität Ilmenau, Germany Prof. Horst-Michael Gross, Technische Universität Ilmenau, Germany

Hour: 11:40 Title: A Compact Wearable Eye Movement Measurement System for Support of Safe Driving Authors: Prof. Kiyoshi Hoshino, University of Tsukuba, Japan Mr. Nayuta Ono, University of Tsukuba, Japan

Hour: 12:00 Title: Online Recognition of the Mental States of Drivers with an fNIRS-Based Brain-Computer Interface Using Deep Neural Network Authors: Mr. Gauvaine Huve, Doshisha University, Japan Prof. Kazuhiko Takahashi, Doshisha University, Japan Prof. Masafumi Hashimoto, Doshisha University, Japan

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SS03 - Oral Session: Physical Human-Robot Interaction I Room: Humboldt-Hörsaal Hour: 10:40 Duration: 120 minutes Chair/s: Dr. Emre Sariyildiz and Prof. Takahiro Nozaki

Papers

Hour: 10:40 Title: A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators Authors: Dr. Emre Sariyildiz, University of Wollongong, Australia Dr. Rahim Mutlu, University of Wollongong, Australia Prof. Takahiro Nozaki, Keio University, Japan Prof. Toshiyuki Murakami, Keio University, Japan

Hour: 11:00 Title: Stick-slip suppression in geared motor using speed-variant transient components of high-order Motor-side Normalization Compensator Authors: Mr. Juan Padron, Nagaoka University of Technology, Japan Prof. Kiyoshi Ohishi, Nagaoka University of Technology, Japan Prof. Yuki Yokokura, Nagaoka University of Technology, Japan

Hour: 11:20 Title: Experimental Validation of Contact Force Control of Quadrotor Based on Rotor Angular Acceleration Control Authors: Mr. Yuki Hayashi, Mie University, Japan Prof. Daisuke Yashiro, Mie University, Japan Prof. Kazuhiro Yubai, Mie University, Japan Prof. Satoshi Komada, Mie University, Japan

Hour: 11:40 Title: Trust-based Variable Impedance Control for Cooperative Physical Human-Robot Interaction Authors: Mr. Harsh Maithani, SIGMA Clermont, France Prof. Juan Antonio Corrales Ramon, SIGMA Clermont, France Prof. Youcef Mezouar, SIGMA Clermont, France

Hour: 12:00 Title: Control Method Examination of Two-Wheeled Walker for Walking Assistance Authors: Mr. Phi Van Lam, Yokohama National University, Japan Prof. Yasutaka Fujimoto, Yokohama National University, Japan

Hour: 12:20 Title: Automatically-tuned Damping Injection for Stable Bilateral Control under Time Delay Authors: Mr. Satoshi Hangai, Keio University, Japan Prof. Takahiro Nozaki, Keio University, Japan

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TTMC - Oral Session: Motion Control II Room: SR 1 - SR 129 Hour: 13:20 Duration: 120 minutes Chair/s: Prof. Tomoyuki Shimono

Papers

Hour: 13:20 Title: Model predictive control and trajectory optimization of large vehicle-manipulators Authors: Mr. Balint Varga, FZI Research Center for Information Technology, Germany Ms. Selina Meier, FZI Research Center for Information Technology, Germany Mr. Stefan Schwab, FZI Research Center for Information Technology, Germany Prof. Sören Hohmann, Karlsruhe Institute of Technology, Germany

Hour: 13:40 Title: Finite Element Input Shaping Design for Vibration Suppression of Mechatronics Systems Authors: Prof. Kuo-Shen Chen, National Cheng-Kung University, Taiwan Ms. Weiju Chen, National Cheng-Kung University, Taiwan Prof. Mi-Ching Tsai, National Cheng-Kung University, Taiwan

Hour: 14:00 Title: Experimental Study on Bilateral Control System under Different Wireless Communication Methods Authors: Dr. Takahiro Mizoguchi, Motion Lib, inc., Japan Mr. Genki Kokubun, Motion Lib, inc., Japan Mr. Naoki Yamaguchi, Motion Lib, inc., Japan Prof. Tomoyuki Shimono, Yokohama National University, Japan Prof. Kouhei Ohnishi, Keio University Haptics Research Center, Japan

Hour: 14:20 Title: Torque Control of Two-Inertia System Using Ultrasonic Motor with Angular Velocity Saturation Authors: Mr. Toshiya Nakamura, Mie University, Japan Prof. Daisuke Yashiro, Mie University, Japan Prof. Kazuhiro Yubai, Mie University, Japan Prof. Satoshi Komada, Mie University, Japan

Hour: 14:40 Title: Flow Disturbance Suppression for Pneumatic Anti-Vibration Apparatus Using Central Pattern Generator Authors: Mr. Sho Kashiwazaki, Tokyo University of Agriculture and Technology, Japan Prof. Shinji Wakui, Tokyo University of Agriculture and Technology, Japan

Hour: 15:00 Title: Repetitive Control-based Vibration Attenuation for Pneumatic Vibration Isolators Using a Phase-Lag Type Compensator Authors: Dr. Yukinori Nakamura, Okayama University, Japan Mr. Yuki Noguchi, Tokyo University of Agriculture and Technology, Japan Prof. Shinji Wakui, Tokyo University of Agriculture and Technology, Japan

23

TTROB - Oral Session: Robotics II Room: SR 201 Hour: 13:20 Duration: 120 minutes Chair/s: Dr. Keir Groves

Papers

Hour: 13:20 Title: Scene matching in GPS denied environments: a comparison of methods for orthophoto registration Authors: Mr. Erick M. Moreira, Military Institute of Engineering, Brazil Mr. Otavio A. M. Camargo, Military Institute of Engineering, Brazil Dr. Julio C. Duarte, Military Institute of Engineering, Brazil Dr. Paulo F. F. Rosa, Military Institute of Engineering, Brazil

Hour: 13:40 Title: Exploiting Controllability for Vibration Damping in Multiple Planes of Link-Elastic Robot Arms Authors: Mrs. Freia Irina Muster, TU Dortmund University, Germany Dr. Jörn Malzahn, Istituto Italiano Di Tecnologia (IIT), Italy Prof. Torsten Bertram, TU Dortmund University, Germany

Hour: 14:00 Title: Embodiment of an Aquatic Surface Vehicle in an Omnidirectional Ground Robot Authors: Mr. Callum Lennox, University of Southampton, United Kingdom Dr. Keir Groves, The University of Manchester, United Kingdom Mr. Vlad Hondru, The University of Manchester, United Kingdom Dr. Farshad Arvin, The University of Manchester, United Kingdom Mr. Konrad Gornicki, The University of Manchester, United Kingdom Prof. Barry Lennox, The University of Manchester, United Kingdom

Hour: 14:20 Title: Bilateral Control between Manipulators with Different Structure Considering Fluctuation of Equivalent Mass Matrix Authors: Mr. Wanping Lyu, Keio University, Japan Prof. Toshiyuki Murakami, Keio University, Japan

Hour: 14:40 Title: Modeling and precision motion control of dexterous object in-hand rotation Authors: Mr. Jiawei Li, New Jersey Institute of Technology, United States Prof. Lu Lu, New Jersey Institute of Technology, United States Prof. Cong Wang, New Jersey Institute of Technology, United States

24

TTMS Oral Session: Mechatronic Systems I Room: SR 211/212 Hour: 13:20 Duration: 120 minutes Chair/s: Prof. Yasutaka Fujimoto

Papers

Hour: 13:20 Title: Experimental Validation of Linear Matrix Inequality based H2 Full State Feedback Controllers on a 3-DoF 4-Pole Hybrid Electromagnetic Vibration Isolation Stage Authors: Mr. Baris Can Yalcin, Phd Student, Turkey Mr. Ahmet Fevzi Bozkurt, Phd Student, Turkey Dr. Kadir Erkan, Assistant Prof., Turkey

Hour: 13:40 Title: Approach to the Dynamical Scanning of Object Contours using Tactile Sensors Authors: Mr. Lukas Merker, Technische Universität Ilmenau, Germany Mr. Moritz Scharff, Technische Universität Ilmenau, Germany Prof. Carsten Behn, Merseburg University of Applied Sciences, Germany

Hour: 14:00 Title: Design of a Bioinspired Variable Stiffness Sensor Authors: Mr. Jose Zarate, Biomechatronics Group, Germany Mr. Thomas Helbig, Biomechatronics Group, Germany Prof. Hartmut Witte, Biomechatronics Group, Germany

Hour: 14:20 Title: Pipeline Monitoring Architecture based on observability and controllability Analysis Authors: Mr. Sina Razvarz, Departamento de Control Automatico CINVESTAV-IPN (National Polytechnic Institute) Mexico City 07360, Mexico, Mexico Dr. Cristóbal Vargas-Jarillo, Departamento de Control Automatico CINVESTAV-IPN (National Polytechnic Institute), Mexico Dr. Raheleh Jafari, Centre for Artificial Intelligence Research (CAIR), University of Agder, Grimstad, 4879, Norway, Norway

Hour: 14:40 Title: A New Backlash and Gear Play Model with Friction Authors: Mr. Klemens Kranawetter, Graz University of Technology, Austria Dr. Richard Seeber, Graz University of Technology, Austria Dr. Robert Bauer, Kristl, Seibt & Co. GmbH., Austria Prof. Martin Horn, Graz University of Technology, Austria

25

SS03 - Oral Session: Physical Human-Robot Interaction II Room: HUMBOLDT-HÖRSAAL Hour: 13:20 Duration: 120 minutes Chair/s: Dr. Emre Sariyildiz and Prof. Takahiro Nozaki

Papers

Hour: 13:20 Title: Development of Three-axis Seating Posture Holding Assist Chair and Proposed Variable Compliance Control Authors: Dr. Nobuyuki Togashi, Kanagawa Institute or Industrial Science and Technology, Japan Prof. Tomoyuki Shimono, Yokohama National University, and Kanagawa Institute or Industrial Science and Technology, Japan Prof. Takahiro Nozaki, Keio University and Kanagawa Institute or Industrial Science and Technology, Japan Mr. Toshio Shibata, National Rehabilitation Center for Children with Disabilities, Japan Mr. Yuuki Aoyama, National Rehabilitation Center for Children with Disabilities, Japan Ms. Yuki Kitahashi, National Rehabilitation Center for Children with Disabilities, Japan

Hour: 13:40 Title: Symmetric Operational Force Compensator for Bilateral Teleoperation under Time Delay Based on Power Flow Direction Authors: Dr. Shuhei Shimmyo, Keio University, Japan Dr. Yuki Saito, Keio University, Japan Dr. Takahiro Nozaki, Keio University, Japan Prof. Kouhei Ohnishi, Keio University, Japan

Hour: 14:00 Title: Electro-mechanical model of a two-wheeled vehicle balancing a passive human subject Authors: Mr. Balazs A. Kovacs, Department of Applied Mechanics, Budapest University of Technology and Economics and MTA-BME Lendulet Human Balancing Research Group, Hungary Prof. Gabor Stepan, Department of Applied Mechanics, Budapest University of Technology and Economics and MTA-BME Research Group on Dynamics of Machines and Vehicles, Hungary Prof. Zaihua Wang, State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, China Prof. Tamas Insperger, Department of Applied Mechanics, Budapest University of Technology and Economics and MTA-BME Lendulet Human Balancing Research Group, Hungary

Hour: 14:20 Title: Realization of Robot Aided Isokinetic Exercise using Exercise-as-desired Control Authors: Mr. Sangjin Bae, Dgist, Korea (South) Mr. Wonbum Yun, Dgist, Korea (South) Mr. Chan Lee, Dgist, Korea (South) Prof. Sehoon Oh, Dgist, Korea (South)

Hour: 14:40 Title: Design and Kinematics of 4-DoF Multi-Purpose Wearable Mechanical Arm (MUWA) Support for Enhanced Operation Stability Authors: Ms. Pegah Nomanfar, Istanbul Technical University, Turkey Prof. Seta Bogosyan, Istanbul Technical University, Turkey Prof. Ahmet Tekin, Ozyegin University, Turkey Prof. Polat Sendur, Ozyegin University, Turkey

26

Tuesday 19th of March

CE - Keynote Speech: Keynote Speech “Super-Twisting based Integral Sliding Mode control and Implementation issues of Super Twisting Control” Room: Humboldt-Hörsaal Hour: 09:00 Duration: 60 minutes Keynote Speaker: Prof. Bijnan Bandyopadhyay

TTMC - Oral Session: Motion Control III Room: SR 129 Hour: 10:20 Duration: 120 minutes Chair/s: Prof. Johann Reger Papers Hour: 10:20 Title: Estimation and Analysis of Power Loss in a Reduced Switches Count H-bridge Multilevel Inverter Authors: Mr. Almachius Kahwa, Yokohama National University, Japan Prof. Hidemine Obara, Yokohama National University, Japan Prof. Yasutaka Fujimoto, Yokohama National University, Japan

Hour: 10:40 Title: Criterion for the existence of a separated coordinate representation for underactuated mechanical systems Authors: Dr. Carsten Knoll, TU Dresden, Germany Mrs. Chenzi Huang, Design Automation Division, Fraunhofer-Institute Integrated Circuits, Germany Prof. Klaus Röbenack, TU Dresden, Germany

Hour: 11:00 Title: Tracking-control for the boost-pressure of a turbo-charger based on a local model network Authors: Mr. Julian Willkomm, TU Ilmenau, Germany Dr. Kai Wulff, TU Ilmenau, Germany Prof. Johann Reger, TU Ilmenau, Germany

Hour: 11:20 Title: Hybrid State Feedback Position-Force Control of Hydraulic Cylinder Authors: Mr. Philipp Pasolli, University of Agder, Norway Prof. Michael Ruderman, University of Agder, Norway

Hour: 11:40 Title: Condition monitoring of wind-power units using the H-infinity Kalman Filter Authors: Dr. Gerasimos Rigatos, Industrial Systems Institute / Unit of Industrial Automation, Greece Dr. Nikolaos Zervos, Industrial Systems Institute, Greece Dr. Dimitrios Serpanos, University of Patras / Dept. of Electrical Eng., Greece Mr. Vasilios Siadimas, University of Patras / Dept. of Electrical Eng., Greece Dr. Pierluigi Siano, University of Salerno / Dept. of Industrial Eng, Italy Dr. Masoud Abbaszadeh, General Electric Co, United States

27

SS05 - Oral Session: Advanced Motion Control for Vehicles I Room: SR 201 Hour: 10:20 Duration: 120 minutes Chair/s: Prof. Barys Shyrokau Papers Hour: 10:20 Title: On Highly-Skilled Autonomous Competition Vehicles: An FSM for Autonomous Rallycross. Authors: Mr. Manuel Acosta, Arrival Ltd, United Kingdom Prof. Valentin Ivanov, TU-Ilmenau, Germany Mr. Sergey Malygin, Arrival Ltd, United Kingdom

Hour: 10:40 Title: Experimental Validation of a GPS-aided Model-based UKF Vehicle State Estimator Authors: Mr. Hannes Heidfeld, Otto-von-Guericke-University Magdeburg, Germany Dr. Martin Schünemann, Otto-von-Guericke-University Magdeburg, Germany Prof. Roland Kasper, Otto-von-Guericke-University Magdeburg, Germany

Hour: 11:00 Title: Speed Control of Electric Vehicle Propulsion with Autotuning at Changeable Driving Modes and Road Conditions Authors: Mr. Andrei Aksjonov, SKODA Auto a.s., Czech Republic Dr. Pavel Nedoma, SKODA Auto a.s., Czech Republic Prof. Valery Vodovozov, Tallinn University of Technology, Estonia Dr. Zoja Raud, Tallinn University of Technology, Estonia Prof. Eduard Petlenkov, Tallinn University of Technology, Estonia

Hour: 11:20 Title: Driving Force Controller for Electric Vehicle Considering Sideslip Angle based on Brush Model Authors: Mr. Hiroyuki Fuse, The University of Tokyo, Japan Prof. Hiroshi Fujimoto, The University of Tokyo, Japan

Hour: 11:40 Title: Pedestrians walking on reachable sets and manifolds Authors: Mr. Michael Hartmann, University of Technology Graz and Vehicle Research Center, Austria Mr. Daniel Watzenig, University of Technology Graz and Vehicle Research Center, Austria

Hour: 12:00

Title: Stop Position Estimation for Automatic Stop Control of Electric Vehicle in Semi-dynamic

Wireless Charging System

Authors: Mr. Jirawat Sithinamsuwan, The University of Tokyo, Japan Mr. Kensuke Hanajiri, The University of Tokyo, Japan Dr. Katsuhiro Hata, The University of Tokyo, Japan Prof. Takehiro Imura, The University of Tokyo, Japan Prof. Hiroshi Fujimoto, The University of Tokyo, Japan Prof. Yoichi Hori, The University of Tokyo, Japan

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TTMS - Oral Session: Mechatronic Systems II Room: SR 211/212 Hour: 10:20 Duration: 120 minutes Chair/s: Mr. Vincenzo Ricciardi

Papers

Hour: 10:20 Title: High-Power and Precise Actuation System with Direct Drive and Variable Structured Elasticity Authors: Mr. Yoshitaka Abe, Keio University, Japan Mr. Timur Almeev, Leibniz University, Germany Prof. Jingang Yi, Rutgers University, USA Prof. Seiichiro Katsura, Keio University, Japan

Hour: 10:40 Title: Development of a Simple Instantaneous Torque Measurement System on a Rotating Shaft Authors: Mr. Carl Caruana, University of Malta, Malta Prof. Pierluigi Mollicone, University of Malta, Malta Prof. Mario Farrugia, University of Malta, Malta

Hour: 11:00 Title: An accurate programmable pulse generator for stepper actuated real-time control systems Authors: Prof. Hossein Ramezani, University of Southern Denmark, Denmark Prof. Rune Torbensen, University of Southern Denmark, Denmark Prof. Lars Duggen, University of Southern Denmark, Denmark Prof. Jerome Jouffroy, University of Southern Denmark, Denmark

Hour: 11:20 Title: Optimization of the End Winding Patterns in Needle Wound Traction Stators Authors: Mr. Martin Gerngroß, TH Ingolstadt, Germany Mr. Patrick Herrmann, TH Ingolstadt, Germany Dr. Christian Westermaier, Audi AG, Germany Prof. Christian Endisch, TH Ingolstadt, Germany

Hour: 11:40 Title: Method of adaptive selective assembly of electromagnets based on the analysis of the dynamic characteristics of the magnetization Authors: Mr. Anton Lankin, South-Russian State Technical University, Russian Federation

29

SS06 - Oral Session: Industrial Robotics and Applications I Room: Humboldt-Hörsaal Hour: 10:20 Duration: 120 minutes Chair/s: Dr. Alexandr Klimchik

Papers

Hour: 10:20 Title: Partially structured robotic picking for automation of tomato transplantation Authors: Mrs. I Yung, Consorzio Intellimech, University of Bergamo, Italy Ms. Yamuna Maccarana, University of Bergamo, Italy Mr. Gabriele Maroni, University of Bergamo, Italy Mr. Fabio Previdi, University of Bergamo, Italy

Hour: 10:40 Title: Optimal motion generation for mobile robot with non-skidding constraints Authors: Dr. Jiuchun Gao, Institute Mines-Telecom Atlantique, France Prof. Anatol Pashkevich, Institute Mines-Telecom Atlantique, France Dr. Fabien Claveau, Institute Mines-Telecom Atlantique, France Prof. Philippe Chevrel, Institute Mines-Telecom Atlantique, France

Hour: 11:00 Title: Real-time external contact force estimation and localization for collaborative robot Authors: Mr. Dmitry Popov, Innopolis University, Russian Federation Dr. Alexandr Klimchik, Innopolis University, Russian Federation

Hour: 11:20 Title: A Digital Electromagnetic Conveyance Device: Design, Modeling and Experimentation Authors: Mr. Ajinkya Deshmukh, Sorbonne Universités, Université de Technologie de Compiègne, Roberval Laboratory, FRE UTC-CNRS 2012, France Dr. Laurent Petit, Sorbonne Universités, Université de Technologie de Compiègne, Roberval Laboratory, FRE UTC-CNRS 2012, France Prof. Christine Prelle, Sorbonne Universités, Université de Technologie de Compiègne, Roberval Laboratory, FRE UTC-CNRS 2012, France

Hour: 11:40 Title: A Robotic Vehicle System for Conveyor Inspection in Mining Authors: Dr. Harald Staab, Abb Ag, Germany Mr. Eduardo Botelho, ABB Ltda., Brazil Mr. Daniel T. Lasko, ABB Inc., USA Mr. Harshang Shah, ABB Inc., USA Mr. Will Eakins, ABB Inc., USA Mr. Ulf Richter, ABB Automation GmbH, Germany

30

SS04 - Oral Session: Smart Precision Motion Control Room: SR 129 Hour: 13:00 Duration: 120 minutes Chair/s: Prof. Kenta Seki Papers Hour: 13:00 Title: Force Sensorless Force Control Using Notch-Type Dual Disturbance Observer Authors: Mr. Naoki Kamiya, Nagaoka University of Technology, Japan Prof. Kiyoshi Ohishi, Nagaoka University of Technology, Japan Prof. Yuki Yokokura, Nagaoka University of Technology, Japan Prof. Toshimasa Miyazaki, Nagaoka University of Technology, Japan

Hour: 13:20 Title: Combined Optimal Torque and Modal Current Control for Low Inductance PM Motor Authors: Prof. Roland Kasper, Otto von Guericke University Magdeburg. Institute of Mobile Systems (IMS), Germany Mr. Dmytro Golovakha, Otto von Guericke University Magdeburg. Institute of Mobile Systems (IMS), Germany Mr. Finn Süberkrüb, Otto von Guericke University Magdeburg. Institute of Mobile Systems (IMS), Germany

Hour: 13:40 Title: An Input-mapping Initialization Approach to Accelerate Iterative Learning of Similar Tasks Authors: Mr. Jeroen Willems, DecisionS lab, Flanders Make, Belgium Dr. Erik Hostens, DecisionS lab, Flanders Make, Belgium Dr. Bruno Depraetere, DecisionS lab, Flanders Make, Belgium Mr. Daniele Ronzani, MECO Research Team, KU Leuven and DMMS lab, Flanders Make, Belgium Mr. Armin Steinhauser, MECO Research Team, KU Leuven and DMMS lab, Flanders Make, Belgium Prof. Jan Swevers, MECO Research Team, KU Leuven and DMMS lab, Flanders Make, Belgium

Hour: 14:00 Title: Comparisons of Frequency Response Function Identification Methods using Single Motion Data: Time- and Frequency-domain Approaches Authors: Mr. Hiroki Tachibana, Nagoya Inst. of Tech., Japan Mr. Naoki Tanaka, Nagoya Inst. of Tech., Japan Prof. Yoshihiro Maeda, Nagoya Inst. of Tech., Japan Prof. Makoto Iwasaki, Nagoya Inst. of Tech., Japan

Hour: 14:20 Title: Optimization of Motion Control for a Variably Excited Linear Hybrid Stepper Motor Authors: Mr. Heiko Weiß, TU Ilmenau, Germany Prof. Yuri Shardt, TU Ilmenau, Germany Prof. Christoph Ament, Universität Augsburg, Germany

Hour: 14:40 Title: Sensorless Position Control for Compact Dual Solenoid Actuator Using Disturbance Observer Authors: Mr. Sakahisa Nagai, Yokohama National University, Japan Prof. Atsuo Kawamura, Yokohama National University, Japan

31

SS05 - Oral Session: Advanced Motion Control for Vehicles II Room: SR 201 Hour: 13:00 Duration: 120 minutes Chair/s: Prof. Valentin Ivanov Papers Hour: 13:00 Title: Trajectory Phase-Plane Method - Based Analysis of Stability and Performance of a Fuzzy Logic Controller for an Anti-Lock Braking System Authors: Mr. Andrei Aksjonov, Innovations, Skoda Auto a.s., Czech Republic Mr. Vincenzo Ricciardi, Department of Automotive Engineering TU Ilmenau, Germany Prof. Valery Vodovozov, Department of Electrical Power Engineering and Mechatronics, TUT, Estonia Prof. Klaus Augsburg, Department of Automotive Engineering, TU Ilmenau, Germany

Hour: 13:20 Title: Feedforward Transient Control for In-motion Wireless Power Transfer using Envelope Model Authors: Mr. Keiichiro Tokita, The University of Tokyo, Japan Mr. Kensuke Hanajiri, The University of Tokyo, Japan Dr. Katsuhiro Hata, The University of Tokyo, Japan Prof. Takehiro Imura, The University of Tokyo, Japan Prof. Hiroshi Fujimoto, The University of Tokyo, Japan Prof. Yoichi Hori, The University of Tokyo, Japan

Hour: 13:40 Title: Gear Collision Reduction of In-wheel-motor by Joint Torque Control Using Load-side High-resolution Encoder Authors: Mr. Seigo Wakui, The University of Tokyo, Japan Mr. Tomoki Enmei, The University of Tokyo, Japan Prof. Hiroshi Fujimoto, The University of Tokyo, Japan Prof. Yoichi Hori, The University of Tokyo, Japan Mr. Kenji Omata, Nikon corporation, Japan

Hour: 14:00 Title: Simulation-based Testing Framework for Autonomous Driving Development Authors: Dr. Son Tong, Siemens PLM Software, Belgium Dr. Ajinkya Bhave, Siemens PLM Software, Belgium Dr. Herman Van der Auweraer, Siemens PLM Software, Belgium

Hour: 14:20 Title: The Simultaneous Estimation Method of Terrain Parameter and Vehicle Dynamics Variables for Agricultural Vehicle Authors: Mr. Makoto Suzuki, The University of Tokyo, Japan Dr. Hiroshi Fujimoto, The University of Tokyo, Japan Prof. Yoichi Hori, The University of Tokyo, Japan

Hour: 14:40 Title: A Low-cost Embedded Data Collection System for Traction Control Systems in Electric Vehicles Authors: Mr. Daghan Dogan, Istanbul Technical University, Turkey Prof. Seta Bogosyan, Istanbul Technical University, Turkey Dr. Pinar Boyraz Baykas, Chalmers University of Technology, Sweden

32

TTMS - Oral Session: Mechatronic Systems III Room: SR 211/212 Hour: 13:00 Duration: 120 minutes Chair/s: Prof. Michael Ruderman Papers Hour: 13:00 Title: On energy harvesting using piezoelectric transducer with two-port model under force excitation Authors: Mr. Rafael Tavares, University of Agder, Norway Dr. Michael Ruderman, University of Agder, Norway

Hour: 13:20 Title: Simplified Method for Calculation of the Frequency Spectrum of Time and Value Discretized Signals Authors: Mr. Simon Densborn, University of Stuttgart, Germany Prof. Oliver Sawodny, University of Stuttgart, Germany

Hour: 13:40 Title: Integrated Automotive Requirements Engineering With a SysML-Based Domain-Specific Language Authors: Dr. Ralph Maschotta, Technische Universität Ilmenau, Germany Ms. Kristina Gruber, BMW Group, Germany Mr. Alexander Wichmann, Technische Universität Ilmenau, Germany Prof. Armin Zimmermann, Technische Universität Ilmenau, Germany

Hour: 14:00 Title: Model-Based Control of a Large-Scale Ball-on-Plate System With Experimental Validation Authors: Mr. Adam Kastner, Karlsruhe Institute of Technology (KIT), Germany Mr. Jairo Inga, Karlsruhe Institute of Technology (KIT), Germany Mr. Thomas Blauth, Karlsruhe Institute of Technology (KIT), Germany Mr. Florian Köpf, Karlsruhe Institute of Technology (KIT), Germany Dr. Michael Flad, Karlsruhe Institute of Technology (KIT), Germany Prof. Sören Hohmann, Karlsruhe Institute of Technology (KIT), Germany

Hour: 14:20 Title: The Capacitor Voltage Balancing of Cascaded H-bridge Multilevel Inverter Authors: Dr. Oleg V. Nos, Novosibirsk State Technical University, Russian Federation Prof. Sergey A. Kharitonov, Novosibirsk State Technical University, Russian Federation Ms. Ekaterina E. Abramushkina, Novosibirsk State Technical University, Russian Federation Prof. Sergey V. Brovanov, Novosibirsk State Technical University, Russian Federation Mr. Pavel N. Smirnov, Technische Universität Ilmenau, Germany

Hour: 14:40 Title: Nonlinear optimal control of induction motors for Maglev trains propulsion Authors: Dr. Gerasimos Rigatos, Industrial Systems Institute / Unit of Industrial Automation, Greece Dr. Pierluigi Siano, University of Salerno / Department of Industrial Engineering, Italy Dr. Filippo Marignetti, University of Cassino, Italy Dr. Carlo Cecati, University of L' Aquila, Italy

33

SS06 - Oral Session: Industrial Robotics and Applications II Room: Humboldt-Hörsaal Hour: 13:00 Duration: 120 minutes Chair/s: Dr. Alexandr Klimchik

Papers

Hour: 13:00 Title: Case Study on Energy-Aware Position Control for Flexible Link Mechatronic Systems Authors: Mr. Evgeny Skosarev, ITMO University, Russian Federation Dr. Sergey Kolyubin, ITMO University, Russian Federation

Hour: 13:20 Title: Development of Light-Weight and Rapidly Deployable Cable-Driven Robot Authors: Mr. Daniil S. Monich, ITMO University, Russian Federation Mr. Ivan I. Borisov, ITMO University, Russian Federation Mr. Evgeny S. Skosarev, ITMO University, Russian Federation Mr. Sergey A. Kolyubin, ITMO University, Russian Federation

Hour: 13:40 Title: Towards the accuracy improvement of a mobile robot for large parts sanding Authors: Mr. Thomas Muller, LS2N - Nantes University, France Dr. Sebastien Garnier, LS2N - Nantes University, France Dr. Kevin Subrin, LS2N - Nantes University, France Mr. Thomas Bressac, LS2N - Nantes University, France Prof. Benoit Furet, LS2N - Nantes University, France

Hour: 14:00 Title: Using a multidimensional input/output neural network-regression for experienced replay suitability on real world test bench data Authors: Mr. Martin Schiele, TU Ilmenau, Germany Prof. Klaus Augsburg, TU Ilmenau, Germany

Hour: 14:20 Title: Vehicle Dynamics Analysis from a Production Vehicle’s CAN Bus Data Augmented with Additional IMU’s Authors: Mr. Mark Anthony Azzopardi, University of Malta, Malta Mr. Jean Paul Azzopardi, University of Malta, Malta Prof. Mario Farrugia, University of Malta, Malta Mr. Michael Farrugia, Reata Engineering, Malta

34

Wednesday 20th of March

ME - Meeting: Meeting of IEEE IES Technical Committee of Motion Control Room: Humboldt-Hörsaal Hour: 09:00 Duration: 60 minutes Organizer: Prof. Michael Ruderman

TTIM - Oral Session: Intelligent Manufacturing Room: SR 129 Hour: 10:20 Duration: 120 minutes Chair/s: Prof. Mario Farrugia Papers Hour: 10:20 Title: Winding density regulation in the composite shell manufacture Authors: Dr. Aleksei Kutin, ITMO University (Saint Petersburg National Research University of Information Technologies, Mechanics and Optics), Russian Federation Prof. Victor Musalimov, ITMO University (Saint Petersburg National Research University of Information Technologies, Mechanics and Optics), Russian Federation

Hour: 10:40 Title: Adaptive Production Control in a Modular Assembly System Based on Partial Look-ahead Scheduling Authors: Mr. Sebastian Mayer, Technische Hochschule Ingolstadt, Germany Prof. Christian Endisch, Technische Hochschule Ingolstadt, Germany

Hour: 11:00 Title: Realization of data analytics projects in manufacturing using a microservice-based approach Authors: Ms. Sara Höhr, Bosch Rexroth AG, Germany Mr. Timur Tasci, University of Stuttgart, Germany Prof. Alexander Verl, University of Stuttgart, Germany

Hour: 11:20 Title: Industrial service oriented architecture: Application to a milk processing plant Authors: Dr. Alina Itu, Transilvania University of Brasov, Romania

Hour: 11:40 Title: Benefits of Numerical Optimization and CAD/CAM in Needle Winding Processes Authors: Mr. Patrick Herrmann, Technische Hochschule Ingolstadt, Germany Mr. Martin Gerngross, Technische Hochschule Ingolstadt, Germany Prof. Christian Endisch, Technische Hochschule Ingolstadt, Germany

Hour: 12:00 Title: A Cloud Manufacturing Application for Additive Manufacturing Methods Authors: Mr. Vahid Haseltalab, Middle East Technical University, Turkey Prof. Ulas Yaman, Middle East Technical University, Turkey

35

SS05 - Oral Session: Advanced Motion Control for Vehicles III Room: SR 201

Hour: 10:20

Duration: 120 minutes

Chair/s: Prof. Valentin Ivanov

Papers Hour: 10:20 Title: A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles Authors: Mr. Yanggu Zheng, Delft University of Technology, Netherlands Dr. Barys Shyrokau, Delft University of Technology, Netherlands

Hour: 10:40 Title: Two-In-Wheeled Self-Balancing Electric Vehicle Based on Active Disturbance Rejection Controller Authors: Mr. Gonzalo Curiel Olivares, Universidad Tecnologica de la Mixteca, Mexico Dr. Jesus Linares Flores, Universidad Tecnologica de la Mixteca, Mexico Dr. Arturo Hernández Méndez, Universidad Tecnologica de la Mixteca, Mexico Dr. José Fermi Guerrero Castellanos, Benemérita Universidad Autónoma de Puebla, Mexico Dr. Gerardo Mino Aguilar, Benemérita Universidad Autónoma de Puebla, Mexico

Hour: 11:00 Title: Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information Authors: Mr. Francesco Pretagostini, Delft University of Technology, Netherlands Mr. Giovanni Berardo, Toyota Motor Europe, Belgium Dr. Barys Shyrokau, Delft University of Technology, Netherlands

Hour: 11:20 Title: Short Circuit and Avalanche Effects in 12V Power Distribution for Automated Driving Authors: Mr. Stefan Schumi, Infineon Technologies AG, Germany Mr. Fabian Schipperges, Dr. Ing. h.c. F. Porsche AG, Germany

Hour: 11:40 Title: Machine learning algorithms for wet road surface detection using acoustic measurements Authors: Mr. Michalis Kalliris, Coventry University, United Kingdom Dr. Stratis Kanarachos, Coventry University, United Kingdom Dr. Rigas Kotsakis, Aristotle University of Thessaloniki, Greece Dr. Olivier Haas, Coventry University, United Kingdom Prof. Mike Blundell, Coventry University, United Kingdom

Hour: 12:00 Title: Using the Distributed Co-Simulation Protocol for a Mixed Real-Virtual Prototype Authors: Mr. Peter Baumann, Robert Bosch GmbH, Germany Mr. Martin Krammer, VIRTUAL VEHICLE Research Center, Austria Mr. Mario Driussi, VIRTUAL VEHICLE Research Center, Austria Prof. Lars Mikelsons, University of Augsburg, Germany Dr. Josef Zehetner, AVL List GmbH, Austria Mr. Werner Mair, Spath Micro Electronic Design GmbH, Austria Prof. Dieter Schramm, University of Duisburg-Essen, Germany

36

TTMNM - Oral Session: Micro and Nano Mechatronics Room: SR 211/212 Hour: 10:20 Duration: 120 minutes Chair/s: To be confirmed Papers Hour: 10:20 Title: Opto-mechatronic system for control and characterization of the coherence properties of light sources Authors: Mrs. Xinrui Cao, Technische Universität Ilmenau, Germany Prof. Stefan Sinzinger, Technische Universität Ilmenau, Germany Hour: 10:40 Title: Control of projection uniformity and fidelity in spatial light modulator-based holography Authors: Mr. David Fischer, TU Ilmenau, Germany Prof. Stefan Sinzinger, TU Ilmenau, Germany

Hour: 11:00 Title: Active cantilevers with Diamond-tip for Field Emission Scanning Probe Lithography and Imaging Authors: Mr. Martin Hofmann, TU Ilmenau, Germany Mr. Stephan Mechold, TU Ilmenau, Germany Mr. Mathias Holz, nano analytik GmbH, Germany Dr. Ahmad Ahmad, TU Ilmenau, Germany Dr. Tzvetan Ivanov, TU Ilmenau, Germany Prof. Ivo Rangelow, TU Ilmenau, Germany Hour: 11:20 Title: Study On Improvement Of Settling Time For Pneumatic Servo Stage By Reviewing Feedforward Compensation Authors: Mr. Atsushi Yanagawa, Sumitomo heavy industries,ltd, Japan Mr. Naoki Kishi, Sumitomo heavy industries,ltd, Japan Mr. Takumi Ito, Sumitomo heavy industries,ltd, Japan Mr. Tatsuya Yoshida, Sumitomo heavy industries,ltd, Japan Mr. Shinya Hamada, Sumitomo heavy industries,ltd, Japan Mr. Shinji Wakui, Tokyo university of agriculture and techonology, Japan Hour: 11:40 Title: Creep Modeling with Time-dependent Damping Parameters in Piezoelectric Actuators Authors: Prof. Kenta Seki, Nagoya Institute of Technology, Japan Mr. Jun-ya Hirata, Nagoya Institute of Technology, Japan Prof. Michael Ruderman, University of Agder, Norway Prof. Makoto Iwasaki, Nagoya Institute of Technology, Japan Hour: 12:00 Title: Towards Magneto-Sensitive Elastomers based End-effectors for Gripping Application Technologies Authors: Mr. Jhohan Chavez Vega, Ilmenau University of Technology, Germany Mr. Philipp Schorr, Ilmenau University of Technology, Germany Mr. Moritz Scharff, Ilmenau University of Technology, Germany Dr. Florian Schale, Ilmenau University of Technology, Germany Prof. Valter Böhm, OTH Regensburg, Germany Prof. Klaus Zimmermann, Ilmenau University of Technology, Germany

37

SS02 - Oral Session: Intelligent Sensing Applications Room: Humboldt-Hörsaal Hour: 10:20 Duration: 120 minutes Chair/s: Prof. Naoki Motoi

Papers

Hour: 10:20 Title: Remote Control Method with Force Assist Based on Collision Prediction Calculated from Each Turning Radius in Mobile Robot Authors: Prof. Naoki Motoi, Kobe University, Japan Mr. Ryo Masaki, Kobe University, Japan Mr. Masato Kobayashi, Kobe University, Japan

Hour: 10:40 Title: Free-Space Estimation for Self-Driving System using Millimeter Wave Radar and Convolutional Neural Network Authors: Mr. Ryota Aihara, Yokohama National University, Japan Prof. Yasutaka Fujimoto, Yokohama National University, Japan

Hour: 11:00 Title: Development of Visual Remote Operation System for Low-Gravity Planet Rover Authors: Prof. Sota Shimizu, Shibaura Institute of Technology, Japan Mr. Ryoya Takewaki, Shibaura Institute of Technology, Japan Mr. Rei Murakami, Shibaura Institute of Technology, Japan Mr. Naoaki Kameyama, Shibaura Institute of Technology, Japan Prof. Naoki Motoi, Kobe University, Japan Mr. Tatsuya Yamazaki, Waseda University, Japan Prof. Nobuyuki Hasebe, Waseda University, Japan

Hour: 11:20 Title: Multiple Motion Combined Grasping Point Estimation Method Based on Saved Motions and Depth Data in Motion Reproduction System Authors: Mr. Xiaobai Sun, Keio, Japan Dr. Takahiro Nozaki, Keio, Japan Prof. Toshiyuki Murakami, Keio, Japan Prof. Kouhei Ohnishi, Keio, Japan

Hour: 11:40 Title: Data-based Design of Inverse Dynamics Using Gaussian Process Authors: Mr. Junghoon Lee, Dgist, Korea (South) Prof. Sehoon Oh, Dgist, Korea (South)

Hour: 12:00 Title: Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation Authors: Dr. Hamidreza Nemati, Lancaster University, United Kingdom Dr. Allahyar Montazeri, Lancaster University, United Kingdom

38

CE - Closing Ceremony

Room: Humboldt-Audimax

Hour: 12:20

Duration: 40 minutes

39

International Conference on Mechatronics

Documents

International Conference on Mechatronics · 2019-03-17 · 4 Welcome Message from the ICM2019 General Co-Chairs IEEE ICM 2019 continues a series of biennial conferences dedicated