ICCMA 2019 2019 The 7th International Conference on Control, Mechatronics and Automation
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ICCMA 2019
2019 The 7th International Conference on
Control, Mechatronics and Automation
TU Delft, Netherlands November 6-8, 2019
Published by
Sponsored by
CONTENTS Welcome Message ..................................................................................................................................1 Agenda Overview ......................................................................................................................................2 Venue ..........................................................................................................................................................4 Route...........................................................................................................................................................5 Presentation Guideline .............................................................................................................................6 Detailed Agenda ........................................................................................................................................8 Introduction of Plenary Speakers & Invited Speaker ........................................................................... 12 Abstract of author presentation 1 ......................................................................................................... 18 Abstract of author presentation 2 ......................................................................................................... 26 Abstract of author presentation 3 ......................................................................................................... 34 Abstract of author presentation 4 ......................................................................................................... 39 Abstract of author presentation 5 ......................................................................................................... 48
WELCOME
Dear distinguished delegates,
It is our great honor and pleasure to welcome you to 2019 The 7th International Conference on Control,
Mechatronics and Automation which is held in TU Delft, Netherlands on November 6-8, 2019. Welcome to TU
Delft.
ICCMA has served a wide international academic audience with the first edition held in Sydney (Australia) in
2013, followed by Dubai (UAE) in 2014 and the two consecutive editions of 2015 and 2016 in Barcelona (Spain),
2017 at University of Alberta, Edmonton, Canada, with the latest conference held in 2018 in Tokyo, Japan. The
conference provides a platform for scientists, scholars, engineers and students from universities and industries
around the world to present exciting ongoing research activities, and hence fosters research relations between
universities and the industry. This conference is now a well-known event worldwide and the number of paper
submissions and attendees are increasing every year.
The evaluation of all the papers was performed based on the reports from anonymous reviewers, who are
qualified in the field of control, mechatronics and automation. The conference committee is also honored to
invite 4 speakers to share their researches with us. They are Prof. Peter Plapper, University of Luxembourg,
Luxembourg, who will speak on Development of a Maturity Model for Lean and Industry 4.0 in SMEs; Prof.
YangQuan Chen, MESA Lab of University of California, Merced, USA, with the topic of Greener Process/Motion
Control Using Fractional Calculus; Prof. Georg Schitter, Vienna University of Technology, Austria, with the topic
of Integrated System Design and Control of Mechatronic Imaging Systems and Asst. Prof. Dr. Rafiq Ahmad,
University of Alberta, Canada speaking on the topic of Enable Industry 4.0 in manufacturing by supporting
intelligent problem solving. We believe these talks will be impressive, inspiring and provide a great spark for all
the conferences attendees
Apart from this, while the papers and presentations cover the main 4 sections themed on Control theory and
control system, Intelligent Robot Design and Control, Mechanical Engineering and Industrial Automation, Modern
Electronic Information Technology and Engineering, these will be distributed randomly throughout the 5 sessions.
Here we’d like to express our heartfelt appreciation to our chairs, technical program committee members,
organizing committee members, authors and delegates, who all have contributed a lot to this conference.
Thanks to your continued support and help, the conference can be held successfully with increasing quality year
by year.
We believe that by this excellent conference, you can get more opportunity for further communication with
researchers and practitioners with a common interest in this field. Obviously, your suggestions are warmly
welcomed for the further development of the conferences. Hope you will enjoy this conference, contribute
effectively towards it and take back with knowledge, great experiences, contacts and happy memories of these
days.
We look forward to seeing you in Delft.
Yours sincerely,
Conference Chairs
Prof. dr. ir. Just Herder, TU Delft, Netherlands
Dr. Hassan HosseinNia, TU Delft, Netherlands
1AGENDA OVERVIEW
November 6, 2019 (Wednesday)
Venue:
10:00-17:00 Registration and Collection of Badges Opens Delft University of Technology, Science Center Delft
Mijnbouwstraat 120, 2628 RX Delft
November 6, 2019 (Wednesday)
10:00-12:00 Lab Tour 3ME - TU Delft
13:00-13:30 Opening Ceremony Mekelrooms 2
Plenary Session 1
13:30-14:30 Mekelrooms 2
Prof. Peter Plapper
University of Luxembourg, Luxembourg
14:35-15:45 Author Presentations 1 Mekelrooms 2
15:45-17:00 Interactive session Mekelrooms 2
17:30-20:30 Reception Lagerhuysch, Mekelweg 2, 2628CD, Delft
November 7, 2019 (Thursday)
Plenary Session 2
9:00-10:00 Prof. Georg Schitter Mekelrooms 2
Vienna University of Technology, Austria
10:05-11:15 Author Presentations 2 Mekelrooms 2
11:15-12:30 Interactive session Mekelrooms 2
12:30-13:30 Lunch Mekelrooms 1
Plenary Session 3
Prof. Yangquan Chen
13:30-14:30 Mekelrooms 2
MESA Lab of University of California, Merced,
USA
14:35-15:45 Author Presentations 3 Mekelrooms 2
15:45-17:00 Interactive session Mekelrooms 2
Address: Oude Kerk Heilige Geestkerkhof 25, 2611
18:00-22:00 Gala Dinner
HP, Delft
2AGENDA OVERVIEW
November 8, 2019 (Friday)
Plenary Session 4
9:00-9:45 Asst. Prof. Dr. Rafiq Ahmad Mekelrooms 2
University of Alberta, Canada
9:50-11:15 Author Presentations 4 Mekelrooms 2
11:15-12:30 Interactive session Mekelrooms 2
12:30-13:30 Lunch Mekelrooms 1
13:30-14:40 Author Presentations 5 Mekelrooms 2
14:45-16:00 Interactive session Mekelrooms 2
16:00-16:30 Closing Ceremony Mekelrooms 2
3VENUE
Conference Venue: Delft University of Technology, Science Center Delft
Address: Mijnbouwstraat 120, 2628 RX Delft
Reception Venue: Lagerhuysch
Address: Mekelweg 2, 2628CD, Delft
Gala Dinner Venue: Oude Kerk
Address: HH Geestkerkhof 25, 2611 HP Delft
4ROUTE
How to get to the TU Delft from Schiphol Airport, Amsterdam?
By Taxi: Around 40 minutes (48.5km)
Public Transport: Train + Bus + Walking------Around 63 minutes
Schiphol Airport (Intercity train2433Dordrecht)---36min(4 stops)---Delft Station
Delft(Bus 40Rotterdam Centraal)---15min(non-stop)--- TU Delft Aula---(walk)---Science Center
Time Zone: GMT+1 Important Phone Numbers
Police, Fire, Ambulance and Emergency Rescue:
Currency: Euro 112
5GUIDELINE
Presentation Guideline
Please read it carefully:
Interactive Session (Mixture of pitch and poster). All presenters need to prepare a pitch (not more
than 3 slides) as well as a poster.
Timing of Presentation
*Each presenter will have 3 minutes presentation (A pitch) to attract people to his/her
poster. At the end of all scheduled presentations, the presenters are required to be present
in front of their poster for the interactive session.
*Rehearse your presentation; prepare your slides well. It is a discourtesy to your audience,
the session chair and the other speakers to exceed your allotted time. The Session Chairs
are instructed to adhere to the printed schedule for the session.
*All speakers must have their slides on a USB and bring it to their assigned session room 10
minutes prior to the sessions start time so it can be uploaded onto the session room
computer.
Presentation slides
*Each presentation will consist of a title slide for spacing between the pitches, and 3 slides
on the content of the work. We strongly recommend shaping the presentation to address a
wider audience, and leaving technical discussions for poster session. We advise each of the
3 slides to take 1 minute, and their content to be as follows:
Slide 1: Motivation and introduction
Slide 2: Methodology
Slide 3: Main results and conclusion(s)
We advise using illustrative material (photos, drawings, videos) and keywords, instead of
text.
6GUIDELINE
Equipment (For Pitch)
*The conference will be equipped with a projector and a laptop that is connected to the
projector for each presentation room. A laser pointer and HDMI to VGA cable will be also
provided.
*The computers are equipped with Windows 7 as well as Microsoft PowerPoint 2010
(Office), Google Chrome, Adobe Acrobat Reader, Windows Media Player.
*If necessary, especially if you have embedded multi-media content, please verify your
presentation for compatibility and proper operation one day before. We suggest the
presenting author to bring his/her own computer and a USB thumb drive with presentation
materials as backup.
Preparing the Poster
*Your poster should cover the KEY POINTS of your work.
*The title of your poster should appear at the top about 25mm (1″) high.
*The author(s) name(s) and affiliation(s) are put below the title
*Each poster must include text in a large enough font to be read easily by attendees from a
distance of 4 to 5 feet or more. Lettering on illustrations should be large and legible.
*Each author will be provided with a A1 size poster board area, reasonable amount of
mounting pins and tape. The board will indicate the poster number in upper right or left
corner. Authors are responsible for mounting their posters at least 10 minutes before the
session beginning and remove them as soon as the session ends. Posters left up past that
time will be discarded.
*Carefully prepare your poster well in advance of the conference. All illustrations, charts,
etc., to be posted should be prepared in advance as materials for these purposes will not
be available at the meeting site.
*It is also possible to print your poster in Delft, very close to the train station. We strongly
recommend not leaving the printing for the last day since work may queue. Please see
website of the copy shop: http://copie-sjop.nl/
7GUIDELINE
In ICCMA 2019, the below three awards will be given out. The awards winners will receive a
certificate provided by the organizing committee.
*Best presentation award
*Best paper award
*Best student paper award
The candidates for the best student paper award must meet the requirements below:
*The first author should be a student. (They should produce a letter to this effect)
*The student must be registered for the conference
*The student must present the paper at the conference
8DETAIL AGENDA
[November 6, 2019 (Wednesday)]
10:00-17:00
Registration & Materials Collection
Venue: Delft University of Technology, Science Center Delft
Address: Mijnbouwstraat 120, 2628 RX Delft
Give your Paper ID to the staff.
Sign your name in the attendance list and check the paper information.
Check your conference kit, which includes conference bag, name tag, lunch & dinner coupon, conference
program, the receipt of the payment, the USB of paper collection.
Tips for Participants
Registration will last during 10:00-17:00 on November 6th along with other activities. See the details on the
next page.
The listeners are welcome to register at any working time during the conference.
Get your presentation poster files（A1 size） prepared by yourself and bring it to the conference by you.
Please see http://copie-sjop.nl/ for poster printing services in Delft in case you have sufficient time reserve.
Regular presentation: 3 minutes per presenter along with interactive communication in each session.
Poster panels will be provided by the conference organizer.
Please take care of your personal belongings; the organizer of the conference does not assume any
responsibility for the loss of personal belongings.
Considering the personal and property safety of the delegates, the participants are required to enter and
exit the venue wearing the conference name tag, and not to lend the name tag to others. Non-participants
are not allowed to enter the conference without permission
We will have 3 best awards for this conference. The best paper award and the best student paper award
will be issued at the gala dinner. The best presentation award will be announced at the closing ceremony.
9DETAIL AGENDA
[November 6, 2019 (Wednesday)]
10:00-20:30
Venue: Mekelrooms 2
Delft University of Technology, Science Center Delft
10:00-12:00 Lab Tour 3ME-TU Delft
Opening Remark by
13:00-13:30 Opening Ceremony Dr. Hassan HosseinNia
Assistant Professor, TU Delft, Netherlands
Prof. Peter Plapper
Plenary Session 1 University of Luxembourg, Luxembourg
13:30-14:30
Chaired by Dana Copot Speech Title: Development of a Maturity Model for Lean and Industry 4.0
in SMEs
Author Presentations 1
Chaired by Niranjan Saikumar
17 Presentations-(3mins per presenter)
14:35-15:45
TF1-066, TF1-098, TF1-104, TF1-079, TF1-038, TF1-007,
TF1-094, TF1-051, TF1-048, TF1-018, TF1-027, TF1-091,
TF1-093, TF1-003, TF1-012, TF1-042, TF1-059
Interactive Session-Poster Display
(Coffee/Tea will be served in parallel)
15:45-17:00 TF1-066, TF1-098, TF1-104, TF1-079, TF1-038, TF1-007,
TF1-094, TF1-051, TF1-048, TF1-018, TF1-027, TF1-091,
TF1-093, TF1-003, TF1-012, TF1-042, TF1-059, TF1-131-A
Group Photo
Reception at Lagerhuysch
17:30-20:30
Address of Lagerhuysch: Mekelweg 2, 2628CD, Delft
10DETAIL AGENDA
[November 7, 2019 (Thursday)]
9:00-22:00
Venue: Mekelrooms 2
Delft University of Technology, Science Center Delft
Morning (9:00-13:30)
Prof. Georg Schitter
Plenary session 2 Vienna University of Technology, Austria
9:00-10:00
Chaired by Just Herder Speech Title: Integrated System Design and Control of Mechatronic
Imaging Systems
Author Presentations 2
Chaired by Andres Hunt
17 Presentations— (3mins per presenter)
10:05-11:15
TF1-083, TF1-068, TF1-076, TF1-123, TF1-045, TF1-056,
TF1-112, TF1-030, TF1-022, TF1-035, TF1-016, TF1-116,
TF1-040, TF1-084, TF1-095, TF1-010, TF1-102
Interactive session-Poster Display
(Coffee/Tea will be served in parallel)
11:15-12:30 TF1-083, TF1-068, TF1-076, TF1-123, TF1-045, TF1-056,
TF1-112, TF1-030, TF1-022, TF1-035, TF1-016, TF1-116,
TF1-040, TF1-084, TF1-095, TF1-010, TF1-102, TF1-107-A
Group Photo
12:30-13:30 Lunch @ Mekelrooms 1
Afternoon (13:30-19:00)
Plenary session 3 Prof. Yangquan Chen
13:30-14:30 Chaired by Hassan MESA Lab of University of California, Merced, USA
HosseinNia Speech Title: Greener Process/Motion Control Using Fractional Calculus
Author Presentations 3
14:35-15:45 Chaired by Cosmin Copot
17 Presentations— (3mins per presenter)
11DETAIL AGENDA
TF1-008, TF1-033, TF1-070, TF1-005, TF1-090, TF1-039,
TF1-077, TF1-078, TF1-108, TF1-009, TF1-032, TF1-110,
TF1-127, TF1-128, TF1-061, TF1-1001, TF1-113
Interactive session-Poster Display
(Coffee/Tea will be served in parallel)
15:45-17:00 TF1-008, TF1-033, TF1-070, TF1-005, TF1-090, TF1-039,
TF1-077, TF1-078, TF1-108, TF1-009, TF1-032, TF1-110,
TF1-127, TF1-128, TF1-061, TF1-1001, TF1-113, TF1-106-A
Group Photo
18:00-22:00 Dinner @ Oude Kerk Heilige Geestkerkhof 25, 2611 Hp Delft
[November 8, 2019 (Friday)]
9:00-16:30
Venue: Mekelrooms 2
Delft University of Technology, Science Center Delft
Morning (9:00-13:30)
Asst. Prof. Dr. Rafiq Ahmad
Plenary Session 4
University of Alberta, Canada
9:00-9:45 Chaired by Peter
Speech Title: Enable Industry 4.0 in manufacturing by supporting
Plapper
intelligent problem solving
Author Presentations 4
Chaired By Nima Karbasizadeh Esfahani
17 Presentations- (3mins per presenter)
9:50-11:15
TF1-067, TF1-119, TF1-100, TF1-129, TF1-037, TF1-034,
TF1-023, TF1-085, TF1-063, TF1-111, TF1-041, TF1-017,
TF1-099, TF1-064, TF1-114, TF1-025, TF1-126
Interactive session-Poster Display
(Coffee/Tea will be served in parallel)
11:00-12:20 TF1-067, TF1-119, TF1-100, TF1-129, TF1-037, TF1-034,
TF1-023, TF1-085, TF1-063, TF1-111, TF1-041, TF1-017,
TF1-099, TF1-064, TF1-114, TF1-025, TF1-126, TF1-092-A
12DETAIL AGENDA
Group Photo
12:20-13:30 Lunch @ Mekelrooms 1
Afternoon (13:30-16:30)
Author Presentations 5
Chaired by Rafiq Ahmad
16 Presentations— (3mins per presenter)
13:30-14:40
TF1-021, TF1-029, TF1-120, TF1-086,
TF1-004, TF1-047, TF1-028, TF1-065, TF1-043,
TF1-050, TF1-026, TF1-060, TF1-072, TF1-031, TF1-053
Interactive session-Poster Display
(Coffee/Tea will be served in parallel)
14:45-16:00 TF1-021, TF1-029, TF1-120, TF1-086,
TF1-004, TF1-047, TF1-028, TF1-065, TF1-043,
TF1-050, TF1-026, TF1-060, TF1-072, TF1-031, TF1-053, TF1-1003-A
16:00-16:30 Closing ceremony
13PLENARY SPEAKER
Prof. Peter Plapper,
University of Luxembourg, Luxembourg
Prof. Dr.-Ing. Peter Plapper was born in Mannheim, Germany on September 16th 1963. In
1986 he completed his studies on Mechanical Engineering / Design at TU Kaiserslautern with
the degree Dipl.-Ing. His doctoral thesis at the laboratory of tool machines (WZL) of RWTH
Aachen, Germany was awarded with the Borchers Medal for scientific excellence in 1993.
Since 1994, he worked for Adam Opel and General Motors in different management positions in Manufacturing
Engineering (ME) with increasing responsibility. He developed innovative production technologies, implemented
tool machines and coordinated the refurbishment of robotic assembly lines. From 1998 until 2002 he joined the
Tech Center of GM in Michigan, USA where he shaped the global manufacturing strategy for Body Shop and
General Assembly. During his industrial career he worked on many different robot applications, led the
installation of assembly lines all European GM vehicle plants and was responsible as HEAD of MANUFACTURING
Engineering for the equipment of all shops in plant Russelsheim. Following his assignment as MANAGER
ADVANCED TECHNOLOGIES EUROPE Peter Plapper was appointed in 2010 FULL-PROFESSOR for manufacturing
engineering to the University of Luxembourg.
Prof. Plapper is member of AIM (European Academy of Industrial Management), VDI (Verein Deutscher
Ingenieure), and Luxembourg Materials and Production Cluster Steering Committee. Since 2014 he is the
DIRECTOR of the new Master program “Master of Science in Engineering – Sustainable Product Creation”. For
the current list of publications please visit www.plapper.com.
Speech Title---Development of a Maturity Model for Lean and Industry 4.0 in SMEs
Speech Abstract---The concept of Industry 4.0 currently revolutionizes the manufacturing plants and challenges
especially Small and Medium Size Enterprises (SMEs). Most SMEs are not ready for this ubiquitous
transformation while sustaining the proven manufacturing systems, still attempting to introduce Lean
Production Systems (LPS). Both, lean and industry 4.0 concepts are needed to sustain competitiveness. However,
the possibilities as well as the priorities are not always known, roadmaps for such implementations are lacking.
Especially small companies are looking for guidance on which measures to implement. This speech will present a
method to assess the degree of lean implementation and readiness for industry 4.0 especially tailored for small/
medium companies. Based on characteristics of SMEs, gaps in existing maturity models a novel model was
developed and validated. The assessment model analyses the status quo related to lean and industry 4.0
implementation. The model covers five dimensions such as strategy, design of value stream, organization,
methods and tools, and personnel to evaluate an enterprise in holistic and in systems perspective. Finally, the
assessment is used to identify company specific opportunities to address existing gaps and to initiate
productivity enhancement measures. The future work will focus on creating roadmaps to deploy such methods
and technologies in SMEs.
14PLENARY SPEAKER
Prof. YangQuan Chen
MESA Lab of University of California, Merced, USA
YangQuan Chen earned his Ph.D. from Nanyang Technological University, Singapore, in
1998. He had been a faculty of Electrical Engineering at Utah State University from 2000-12.
He joined the School of Engineering, University of California, Merced in summer 2012
teaching “Mechatronics”, “Engineering Service Learning” and “Unmanned Aerial Systems” for undergraduates;
“Fractional Order Mechanics”, “Nonlinear Controls” and “Advanced Controls: Optimality and Robustness” for
graduates. His research interests include mechatronics for sustainability, cognitive process control, small
multi-UAV based cooperative multi-spectral “personal remote sensing”, applied fractional calculus in controls,
modeling and complex signal processing; distributed measurement and control of distributed parameter systems
with mobile actuator and sensor networks.
Dr. Chen serves as a Co-Chair for IEEE Robotics and Automation Society Technical Committee (TC) on Unmanned
Aerial Vehicle and Aerial Robotics (12-18). He recently served the TC Chair for the ASME DED Mechatronics
Embedded Systems Applications (2009-10); Associated Editor (AE) for IEEE Trans. on Control Systems Technology
(00-16), ISA Trans. (12-17), IFAC Control Engineering Practice (12-17), IET Control Theory and Applications (15-18)
and Journal of Dynamics Systems, Measurements and Control (09-15). He now serves as Topic Editor-in-Chief of
International Journal of Advanced Robotic Systems (Field Robotics), Section AE (Remote Sensors) for Sensors,
Senior Editor for International Journal of Intelligent Robotic Systems, Topical AE for Nonlinear Dynamics (18-)
and AE for IFAC Mechatronics, Intelligent Service Robotics, Energy Sources (Part A) (18-) and Fractional Calculus
and Applied Analysis. He is a member of IEEE, ASME, AIAA, ASPRS, AUVSI and AMA. He relies on Google citation
page to keep track of his publications at https://scholar.google.com/citations?user=RDEIRbcAAAAJ
Dr. Chen started some new investigations, published some papers and books, graduated some students, hosted
some visiting scholars and also received some awards including the IFAC World Congress Best Journal Paper
Award (Control Engineering Practice, 2011), First Place Awards for 2009 and 2011 AUVSI SUAS competitions, and
most importantly, the “Relationship Counselor” award from IEEE Utah State University Student Branch for
“explaining human relationship using control theory.” His is listed in Highly Cited Researchers by Clarivate in
2018.
Speech Title--- Greener Process/Motion Control Using Fractional Calculus
Speech Abstract---By fractional calculus we mean that the order of differentiation/integration can be
non-integer. Denying fractional calculus is like saying that there is no nonintegers in between integers. For
control engineers, the fundamental question is: Can the fractional order controller really outperform its integer
order counterparts under fairness consideration? We will show that fractional order proportional derivative and
integral controllers (FOPID) indeed outperform integer order PID controllers (IOPID) under fairness comparison
for first order plus time-delay (FOPTD) plants. It is now being accepted that the additional freedom in tuning the
FOPIDs can offer a good potential to achieve better performance at the cost of extra implementation efforts.
Since the embedded computing power and memory are both getting cheaper and cheaper, people are running
out of excuses not to attempt FOPID in industry 4.0 era when more optimal performance is being pursued.
FOPID can do better than the best of its integer order counterpart under fairness comparisons in terms of
performance, robustness margins and even control energy consumption. We then focus on the energy
consumption of control efforts and we make a convincing case that it is possible to achieve greener
process/motion control using fractional calculus that has huge implications in many industry sectors.
15PLENARY SPEAKER
Prof. Georg Schitter
Vienna University of Technology, Austria
Georg Schitter received a M.Sc. in Electrical Engineering from Graz University of Technology,
Austria, and a M.Sc. and a Ph.D. from ETH Zurich, Switzerland. He was a postdoctoral fellow
at UCSB (Santa Barbara, CA, USA), and an Associate Professor at Delft University of
Technology, the Netherlands. Currently he is a full Professor at Vienna University of Technology, Austria, in the
Department of Electrical Engineering.
He was a recipient of several prestigious fellowships and awards, among them the 2013 Young Researcher
Award of the IFAC TC Mechatronics, the best paper award from the Asian Journal of Control (2004-2005), IFAC
Journal Mechatronics (2008-2011), and IEEE/ASME Transactions on Mechatronics (2017). He served as an
Associate Editor for the IFAC Journals Mechatronics and Control Engineering Practice, the IEEE/ASME
Transactions on Mechatronics, and for the IEEE CEB. His primary research interests are on high-performance
mechatronic systems and multidisciplinary system integration, particularly for precision engineering applications
in the high-tech industry, scientific instrumentation, and mechatronic imaging systems.
Speech Title---Integrated System Design and Control of Mechatronic Imaging Systems
Speech Abstract---Mechatronic imaging systems, used in scientific applications as well as in the high-tech
industry, demand a continuous improvement of system bandwidth and speed, range, and precision. These
challenging goals can be achieved only by a proper system integration, which requires an advanced mechatronic
system design and highly sophisticated motion control. Example applications for the discussed mechatronic
imaging systems are atomic force microscopes (AFM), wafer scanners, scanning laser microscopy and metrology,
as well as adaptive optics and satellite ranging.
To meet the demanding specifications, the final system, including all hard- and software components, has to be
tailored to and optimized for each specific application. In a scanning imaging system, for example, one can
consider the various ways of performing the scanning motion in the design of the mechanical structure and
selection of the actuation principle. Whether system resonances have to be avoided, damped sufficiently, or
even can be utilized for the scanning motion strongly depends on the mode of operation. At the same time this
influences the choice of the corresponding control system for the motion control. A proper system integration
that utilizes the interplay between process design and control design is key for achieving maximum performance
of mechatronic systems in the high-tech industry.
This presentation addresses these challenges by illustrating examples for precision motion control of telescope
systems for satellite ranging and adaptive optics for optical free-space communication, AFM imaging and
nano-metrology, as well as confocal laser scanning microscopy and scanning laser metrology. Taking advantage of
an appropriate system integration, the presented examples successfully demonstrate the potential to enhance
the performance of mechatronic imaging systems substantially by an integrated mechatronic design approach.
16INVITED SPEAKER
Asst. Prof. Dr. Rafiq Ahmad,
University of Alberta, Canada
Dr. Rafiq Ahmad is Assistant Professor in the Department of Mechanical Engineering,
University of Alberta. He is the founder and director of the Laboratory of Intelligent
Manufacturing, Design and Automation (LIMDA) focusing on “hybrid & Smart systems”. His
research interest includes smart systems design and development for Industry 4.0, hybrid-manufacturing
combining additive and subtractive technologies, repair and remanufacturing, and Industrial Automation. Dr.
Rafiq is a PhD in advanced manufacturing from Ecole Cenrale de Nantes, France and Master’s in design and
manufacturing from Ecole Nationale Superieure d'Arts et Metiers (ENSAM-Paris) France. He holds a BSc. degree
in Mechanical Engineering from University of Engineering and Technology Peshawar, Pakistan. After completing
his PhD, he worked at CECOS University of IT and Emerging Sciences, Pakistan for a year, after-which, he joined
University of Luxembourg as a Post-doctoral fellow for a two-year working in advanced manufacturing and
automation areas. Dr. Rafiq is running numerous research programs targeting the implementation of Industry
4.0 in smart manufacturing and green remanufacturing areas. Dr. Rafiq is a board member of International
Society of Automation (ISA-Edmonton section, Co-UofA Student Section Advisor) and a member of APEGA and
ASME. He is also an active reviewer, chair and organizer of numerous international conferences and journals.
Speech Title---Enable Industry 4.0 in manufacturing by supporting intelligent problem solving
Speech Abstract---“Sometimes you just have to jump out the window and grow wings on the way down” (Ray
Bradbury). Motivation and creativity are necessary elements for growing effective wings. During problem solving
in manufacturing and research to enable Industry 4.0, people often feel a lack of creativity and imagination,
blocking the way forward. Whenever such a situation occurs, “thinking out of the box” is required to stimulate
our imaginations and to help us come up with new and creative intuitions. Knowledge, Data and Analogies can
serve as answers to such emotional difficulties which need to be collected and analyzed intelligently. Building
upon personal experience with analogies and knowledge-based systems, this talk will highlight the benefits of
using 'analogies', and 'out of the box thinking' for general research and engineering problems. This presentation
will emphasize an analogy-application model as well as previous and on-going research problems in the context
of industry 4.0 related to machine intelligence, machine design, human-robot collaboration and robot path
planning.
17Session 1
November 6, 2019
[Author Presentation 1]
14:35-17:00
Mekelrooms 2
Chaired by Niranjan Saikumar
17 Presentations—
TF1-066,TF1-098,TF1-104,TF1-079,TF1-038,TF1-007,TF1-094,TF1-051,TF1-048,TF1-018,TF1-027,TF
1-091,TF1-093,TF1-003,TF1-012,TF1-042,TF1-059
TF1-066 Design of a Vibration Energy Harvester based on Coupled Oscillators
Paulus Schaap, T. W. A. Blad, Maarten P. Lustig, Farbod Alijani
Delft university of Technology, The Netherlands
Abstract—In this paper vibration energy harvesters based on coupled oscillators
were compared to single degree of freedom (SDoF) systems. The harvester concepts
were compared based on two cases: 1) a signal where a combination of two
harmonic motions is continuously present and 2) a signal where the harmonic
motions are alternating. Three configurations of the coupled oscillator harvester
concept were presented and optimized for maximum power output. It was found
that a coupled oscillator with two electromagnetic dampers performed equally well
as an array of two SDoF systems. Coupled oscillators with only a single
electromagnetic damper performed worse than the SDoF array. A prototype was
built to validate the simulations and good correspondence between simulations and
experiments was found.
TF1-098 Prediction of Bottleneck Points for Manipulation Planning in Cluttered Environment
using a 3D Convolutional Neural Network
Indraneel Patil, Dr. B.K. Rout, Dr. V. Kalaichelvi
BITS Pilani, Dubai campus, United Arab Emirates
18Session 1
Abstract— Latest research in industrial robotics is aimed at making human robot
collaboration possible seamlessly. For this purpose, industrial robots are expected to
work on the fly in unstructured and cluttered environments and hence the subject of
perception driven motion planning plays a vital role. Sampling based motion planners
are proven to be the most effective for such high dimensional planning problems
with real time constraints. Unluckily random stochastic samplers suffer from the
phenomenon of ‘narrow passages’ or bottleneck regions which need targeted
sampling to improve their convergence rate. Also identifying these bottleneck
regions in a diverse set of planning problems is a challenge. In this paper an attempt
has been made to address these two problems by designing an intelligent ‘bottleneck
guided’ heuristic for a Rapidly Exploring Random Tree Star (RRT*) planner which is
based on relevant context extracted from the planning scenario using a 3D
Convolutional Neural Network and it is also proven that the proposed technique
generalizes to unseen problem instances. This paper benchmarks the technique
(bottleneck guided RRT*) against a 10% Goal biased RRT* planner, shows significant
improvement in planning time and memory requirement and uses ABB 1410
industrial manipulator as a platform for implantation and validation of the results.
TF1-104 Implementation of PSO based Fictitious Reference Iterative Tuning to embedded
system
Piyanun Ruangurai and Chaiyaporn Silawatchananai
King Mongkut’s University of Technology North Bangkok
Abstract— This paper proposes the use of online fictitious reference iterative tuning
(FRIT) method which is implemented in embedded system. This tuning method has
been developed for finding the optimal gains by using one shot experiment.
Input-output data collection and offline tuning process lead to time consumption,
online FRIT for tuning controller gain are developed in STM32F4 Discovery board
which PSO searching algorithm is chosen. The velocity control of various DC motor is
one of application and its effectiveness is verified through experiments.
TF1-079 A Simulation based on the Multibody Dynamics for the Verification of Autonomous
Driving Control of Agricultural Robot
J.B. Han, K. M. Yang, D.H. Kim, and K.H. Seo
Korea Institute of Robotics and Technology Convergence, South Korea
Abstract— The purpose of this study is to develop an agricultural robot and its
autonomous driving algorithm that can be used in field farming. Actually, it is
difficult to develop and verify a control algorithm for autonomous agricultural robot
that is exposed to various disturbance conditions in an outdoor environment.
Recently, various analysis methods have been used to perform mechanical analysis
and verification of control algorithms of robots. Although analytical techniques
have the advantage of reducing development time and risk, they must be
accompanied by accurate dynamic modeling techniques. In this paper, an accurate
model using the closed dynamic of field agricultural robot was developed, and an
autonomous driving algorithm based on the dynamic model was developed. To
19Session 1
verify the algorithm, we dealt with co-simulation model that consist both ADAMS and
Matlab-simulink. Using the developed model, we carried out various dynamics
simulation in the several road conditions.
TF1-038 Adaptive Backstepping Control of a 2-DOF Helicopter
Siri Schlanbusch and Jing Zhou
University of Agder, Grimstad, Norway
Abstract— This paper proposes an adaptive nonlinear con-troller for a 2-Degree of
Freedom (DOF) helicopter. The proposed controller is designed using backstepping
control technique and is used to track the pitch and yaw position references
independently. A MIMO nonlinear mathematical model is derived for the 2DOF
helicopter based on Euler-Lagrange equations, where the system parameters and the
control coefficients are uncertain. Unlike some existing control schemes for the
helicopter control, the developed controller does not require the knowledge on the
system uncertain parameters. Updating laws are used to estimate the unknown
parameters. It is shown that not only the global stability is guaranteed by the
proposed controller, but also both asymptotic tracking and transient performances
are quantified as explicit functions of the design parameters so that designers can
tune the design parameters in an explicit way to obtain the required closed loop
behavior. Simulations and experiments are carried out on the Quanser helicopter
Aero. The robustness of the proposed controller is also evaluated by adding
disturbances to the system. The simulation and experimental results validate the
effectiveness, robustness and control capability of the proposed scheme.
TF1-007 Automated Smart Home Controller Based on Adaptive Linear Neural Network
Puji Catur Siswipraptini, Rosida Nur Aziza, Iriansyah BM Sangadji, Indrianto, Riki Ruli
A. Siregar
Sekolah Tinggi Teknik PLN, Jakarta Barat, DKI Jakarta, Indonesia
Abstract— The purpose of this research is to model a smart home appliances control
system using a neural network method. This control system consists of several
components i.e. rain sensor, temperature sensor, light sensor, stepper motor and
LCD on Arduino. Adaptive linear neural networks called Adaline algorithm is used for
the training process of artificial neural networks. The inputs and targets are trained
with a network that has been built to get the learning weights to be used as the basis
for calculations on the next incoming training data. Adaline algorithm is used for the
training process of Artificial Neural Networks. The results of the output of light
intensity are 0, 150, 300, 400 with lux units and the results of the intensity of rain are
0, 250, 400, 700 in mm units of each water humidity simulated in light and rain
sensors. The input obtained will be processed into an output that will move the
motor to the position that has been set. Contribution of the results of this study, a
proposed neural network-based multi-control system model based on criteria values
of Adaline.
TF1-094 Command-Filtered Backstepping Control of a Multitank System
Mohamed Omar, Ahmed Hatem, Ayman El-Badawy
20Session 1
Presenter: Mohamed Amr Sayed Ewis
German University in Cairo, Egypt
Abstract— This paper presents the control of a nonlinear coupled three tank system.
The objective is to develop and design a command-filtered backstepping control
method for liquid level tracking of the third tank of the INTECO three-tank system, as
well as comparing the pump control signal results with the standard backstepping
controller. The designed com-mand filter backstepping controller is verified on
mathematical model within MATLAB/Simulink environment and applied to the
real-time plant. The simulation results demonstrate that the main process variables
have a good performance and the process control quality is satisfied. The advantage
of this type of control lies in avoiding the high frequency noise introduced by the
command signal derivatives into the control signal. The main concept of command
filter backstepping is to use a low pass filter to remove high frequency noise.
TF1-051 Variational Bayesian Adaptive Embedded Cubature Kalman Filter Algorithm for Initial
Alignment of SINS with Uncertain Observations
Wang Guangcai, Xu Xiaosu, and Wang Jian
Southeast University, China
Abstract—In the paper, a new variational bayesian based adaptive embedded
cubature Kalman filter (VB-AECKF) for joint estimation of the dynamic state and
measurement noise is proposed under a swing base. By constructing fully symmetric
embedded integration rules for multidimensional integrals with a Gaussian weight
function, a fifth-degree AECKF based filter with the estimated free parameter of ECKF
based on maximum likelihood criterion is introduced in the initial alignment. The
results of turntable experiment show that the proposed filter has better robustness
to resist the uncertainties of measurement noise. What's more, the alignment
accuracy and convergence rate of the VB- AECKF is much better than that of CKF.
TF1-048 Electrical circuits to mimic respiratory diseases: an interdisciplinary bachelor project
Maria Ghita, Jasper Juchem, Mihaela Ghita, Isabela Birs, Riccardo Cajo, Dana Copot
and Clara Ionescu
Ghent University,Belgium
Abstract—This paper introduces a multidisciplinary project that is given in the last
year of bachelor studies in civil engi-neering at Ghent University, Belgium. In this
project, concepts learned during the first three years of study (bachelor program) are
applied on a real system. Electrical circuits are build to mimic changes occurring at
specific locations in the respiratory tree. The hypothesis tested using this
cross-disciplinary project was that if a link exist to a real functionality provide a better
understanding and leads to better outcomes in terms of learning process. In this
project the students need to build an analogy between the lung airways properties
and use equivalence to electrical circuits to evaluate and mimic changes from
disease. During this project the students learned to work in a team and to allocate
tasks among the team members. Another important competence that they have
21Session 1
gained is time management. They have also developed skills for poster design and
presentation, developed a critical thinking. All these have lead to a successful
implementation of the project and they were able to critically asses changes to mimic
diseases.
TF1-018 Electronic Differential Optimization for Electric Vehicle Full-Model for In-Wheel
Permanent Magnet Brushless DC Motors
Hossam Al-Feky, Mostafa Yacoub, Mostafa Asfoor and Al-Hussein Sharaf
Military Technical College, Egypt
Abstract— The intervention of in-wheel motors in Battery Electric Vehicles (BEVs),
for improved overall efficiency, has led to seek for a replacement of the mechanical
differential in conventional rear-wheel drive vehicles. Electronic differentials (ED) aim
to synchronize inner and outer wheel rotations during vehicle cornering. In the
present work, a mathematical model of the electronic differential is presented. The
controller gains were optimized to minimize the motors energy consumption so that
two constraints were considered; minimized wheel slippage and avoidance of motor
torque saturation. The study included a full-vehicle modeling, three-phase brushless
DC (BLDC) motor modeling and the controller design. The results and analysis
presented showed an improved electronic differential performance and reduced
energy consumption.
TF1-027 Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and
Grasp Selection
Irja Gravdahl, Katrine Seel and Esten Ingar Grøtli
Norwegian University of Science and Technology, Norway
Abstract— In this paper we demonstrate how path reacha-bility can be taken into
account when selecting among prede-termined grasps in a bin-picking application,
where grasps are supplied independently of the robot at hand. We do this by creating
a map of the workspace to optimally place the bin with regards to the existence of an
inverse kinematic solution and a collision-free path, a necessary condition for
systems with obstructions in the workspace. Furthermore, we densely re-map this
region and based on this map predict whether a grasp is reachable by the robot.
Moreover, an algorithm is implemented to weight the grasps in terms of path
existence, length and time consumption. The algorithm was tested with grasps
generated by the neural network in simulation and the results indicate that faster
picking can be achieved when taking path reachability into consideration.
TF1-091 Intelligent Fault Detection Scheme for Drilling Process
Satyam Paul and Magnus Löfstrand
School of Science and Technology, Örebro University
Abstract—Automatic fault detection system is an important aspect of an industrial
process. The technique of fault detection helps in minimizing equipment downtime
thus making it a cost effective process. In this paper, an innovative model-based fault
detection (FD) system is combined with interval type-2 (IT2) Takagi-Sugeno (T-S) fuzzy
22Session 1
system. This methodology is implemented for the detection of the faults in the drill
bit of the drilling system. The proposed methodology validates the stability of the
fault detection system in the presence of system uncertainties. Numerical analysis is
carried out to prove the effectiveness of the theoretical approach. The fuzzy based
fault detection technique can be implemented in real time for detecting faults during
downhole drilling operations with assured stability of the fault detector system.
TF1-093 A dynamic controller for PDE-based systems
Juan Pablo Flores-Flores and Rafael Martinez-Guerra
Automatic Control Department CINVESTAV-IPN Mexico City, Mexico
Abstract—Automatic fault detection system is an important aspect of an industrial
process. The technique of fault detection helps in minimizing equipment downtime
thus making it a cost effective process. In this paper, an innovative model-based fault
detection (FD) system is combined with interval type-2 (IT2) Takagi-Sugeno (T-S) fuzzy
system. This methodology is implemented for the detection of the faults in the drill
bit of the drilling system. The proposed methodology validates the stability of the
fault detection system in the presence of system uncertainties. Numerical analysis is
carried out to prove the effectiveness of the theoretical approach. The fuzzy based
fault detection technique can be implemented in real time for detecting faults during
downhole drilling operations with assured stability of the fault detector system.
TF1-003 Equilibrium Formulation of a 3-DOF Compliant Mechanism Using Sylvester’s Dialytic
Method of Elimination
Mustafa M. Mustafa, Carl Crane and Ibrahim Hamarash
Salahaddin University-Erbil, Iraq
Abstract—This paper studies the equilibrium formulation of a three degree of
freedom planar compliant platform mechanism, which is in contact with a solid body
in its environment. The mechanism includes two platforms, which are connected in
parallel by three linear springs. The capability of deforma-tion by manipulating both
platforms exceptionally complicates the problem. The analysis aims to determine all
equilibrium configurations for two different cases: FIRST CASE all three springs have
zero free lengths and SECOND CASE only two of the springs have zero free lengths.
The proposed procedure calculates the pose of the top platform when it is not in
contact with the surface, and then detects if the top platform is in contact to
determine the equilibrium configurations. To solve the geometric equations of the
mechanism, we use Sylvester’s method of elimination. The approach obtains 4th and
48th-degree polynomial equations for the first and second cases, respectively.
Numerical examples have been applied to verify the process of analysis. The results,
which are numerically calculated by software Maple, prove the validity of the
analysis.
TF1-012 Cascade Control of SATCOM on the Move (SOTM) Antennas with Jacobian Operator
Oğuz Kaan Hancıoğlu, Mustafa Çelik, Seta Bogosyan, Jan Najman, Michal
Bastl and Robert Grepl
PROFEN Communication Technologies & Services, Inc.Istanbul, Turkey
23Session 1
Abstract—Increasing demand in SATCOM systems has led to the development of
Satcom on the Move (SOTM) antennas. Performance, light weight, low cost, and high
data rate are the required parameters in the designing of SOTM antenna. The
designer has to make a suitable system with respect to these design parameters.
With this aim, this paper proposes a 4 axes antenna capable of 3 axes stabilization to
compensate for the disturbance. With adding the position controller, the antenna
can point and track the satellite on the mobile platforms. Due to the singularity
problem in this type of antenna, the 3 axes stabilized antenna system is used in this
paper. The kinematic equations and Jacobian operator are derived for calculation of
the necessary axis feedback and look angles. The Jacobian operator with MEMS
sensor which is a cost-effective solution. Furthermore, we propose PI-based
stabilization for the stabilization controller and PID based pointing for the position
controller. To verify the proposed algorithms, different disturbances are applied to
the system.
TF1-042 Mango sorting mechanical system combines image processing
Nguyen Duc Thong, Nguyen Truong Thinh, Huynh Thanh Cong
Dong Thap University, Viet Nam
Abstract—The work of sorting and packing commercial mangoes requires a lot of
labor and the methods used by farmers and distributors to classify commercial
mangoes are through traditional quality inspection using the eye. Time-consuming
and less efficient or some non-specialized machines and results in low productivity,
high costs, sorting out different types of mangoes is relatively costly. The use of a
smart mango classification system requires high response speed and equipment
stability to reduce production costs, reduce labor costs, and increase the automation
level of production lines. Mango with the advantage of high stability and unlimited
working time. Researching techniques of image processing, collecting and building a
database of images of a number of mango fruits in Vietnam; studying the approaches
and techniques for assessing the quality of mango fruit, checking the surface of
mango fruit with deep, wilted, spongy, deformed mangoes, ripening on mango fruit.
Mango classification system using image processing combined with artificial
intelligence including using CCD camera, C programming language, computer vision
and artificial neural network in the problem of classifying mango fruit or not
qualified.
And above all, the main goal is to design and manufacture the control system of
mango classification system based on image processing technology, computer vision
combined with artificial intelligence with high productivity, compact, easy to use,
easy to classify mangoes and can classify other agricultural products in Vietnam and
the world.
TF1-059 Electrical circuits to mimic respiratory diseases: an interdisciplinary bachelor project
Maria Ghita, Jasper Juchem, Mihaela Ghita, Isabela Birs, Riccardo Cajo, Dana Copot
and Clara Ionescu
Ghent University,Belgium
24Session 1
Abstract— One of the most popular tuning procedures for the development of
fractional order controllers is by imposing frequency domain constraints such as gain
crossover frequency, phase margin and iso-damping properties. The present study
extends the frequency domain tuning methodology to a gen-eralized range of
fractional order processes based on second order plus time delay (SOPDT) models. A
fractional order PI controller is tuned for a real process that exhibits poorly damped
dynamics characterized in terms of a fractional order transfer function with time
delay. The obtained controller is validated on the experimental platform by analyzing
staircase reference tracking, input disturbance rejection and robustness to process
uncertainties. The paper focuses around the tuning methodology as well as the
fractional order modeling of the process’ dynamics.
25Session 2
November 7, 2019
[Author Presentation 2]
10:05-12:30
Mekelrooms 2
Chaired by Andres Hunt
17 Presentations—
TF1-083,TF1-068,TF1-076,TF1-123,TF1-045,TF1-056,TF1-112,TF1-030,TF1-022,TF1-035,TF1-016,
TF1-116,TF1-040,TF1-084,TF1-095,TF1-010,TF1-102
TF1-083 Improving Ride-Comfort of a Quarter-Car Model using Modal Control
Can Ulas Dogruer
Hacettepe University, Beytepe Campus, Turkey
Abstract— In this paper, modal control was used to control the active suspension of
a quarter-car model. Modal control can be designed to alter the dynamics of any
mode of a system without disturbing the remaining modes. Therefore, in this study,
modal control was used to alter the complex eigenvalue of the body-bounce mode of
a quarter-car suspension model and thereby by optimizing a measure of the
frequency response functions from road disturbance to sprung and unsprung mass
displacements, the ride-comfort of a vehicle was improved. It has been shown that
modal control can be used in a direct manner to change the dynamics of a vehicle
suspension i.e. soft suspension, stiff suspension depending on the driver attitude that
affects the vehicle stability and road conditions i.e. urban driving, off-road driving.
TF1-068 An Experimental Networked Control System with Fractional Order Delay Dynamics
Jairo Viola1, Piotr Oziablo and YangQuan Chen
University of California Merced, Merced, CA, USA
Abstract— Networked control systems gain recently more attention because of the
possibility of providing remote control of industrial processes (with the usage of, e.g.,
26Session 2
TCP/IP protocol) efficiently and cost-effectively. One of the problems that control
engineers has to face while developing network control systems is the spiky nature of
the network random delays, which can be better characterized by so-called α-stable
processes which are described by fractional lower-order statistics (closely linked to
fractional order calculus). This paper presents an implementation example of a
networked control system for the temperature control of a Peltier module platform
developed by Mechatronics, Automation, and Embedded Systems Laboratory
(MESALab) of the University of California, Merced. The system provides a user the
possibility to remotely run a PID control algorithm executed by JavaScript code in the
user’s browser, performing the real-time control of the temperature of the Peltier
module. Additionally the analysis of the system communication delays is performed.
Obtained results show that the communication delays fits into a α-stable probability
distri-bution with a heavy tail, indicating a fractional order behavior which effect can
influence the control system performance.
TF1-076 An Origami-Inspired Spherical Transformable Metamaterial Based on Symmetry
Groups
Ivar R. Nuijts, Freek G.J. Broeren, Volkert van der Wijk and Just Herder
Delft University of Technology, the Netherlands
Abstract—Most currently existing mechanical metamaterial designs are based on
Bravais lattices. These consist of parallelogram or parallelepiped unit cells, which are
respectively translated along two or three independent vectors to fill the complete
space. This approach is inherently unable to match curved surfaces like spheres, since
these cannot be constructed only from parallel and perpendicular lines. In this paper,
we introduce a generalized unit cell, based on the symmetry groups of the sphere.
We use this approach to develop a spherical transformable origami-inspired
metamaterial. We describe the motions of this new metamaterial, as well as
experimental observations on a physical, 3D printed model.
TF1-123 Concept for an Improved Automation of Distributed Systems with a Declarative
Control based on OPC UA and REST
Erdal Tantik and Reiner Anderl
Technische Universität Darmstadt, Germany
Abstract— The main difference between conventional automation and current
approaches of digitized industrial processes is the use of the Internet. The Internet
enables the development of distributed systems consisting of loosely coupled and
interacting components such as robots, plants and control software. The components
are not permanently tied to each other, but rather dynamically combined according
to the specific requirements of the target system. This results in highly flexible
systems that are distributed globally and across company boundaries. The
development, maintenance and modification of various components is decentralized
and can therefore lead to incompatibilities that can impair their interoperability. This
paper describes an approach for the interaction of control software, which ensures
interoperability of components in distributed systems. The underlying principles of
27Session 2
REST are used to automatically identify properties in the structural models of OPC UA
and use them to determine the required processes for further invocation. This
enables extensive modifications of the individual components without creating
incompatibilities.
TF1-045 Detection of the force distribution close to the effective site in forming machines for
a force control
A. Schleinitz, A. Sewohl, H. Schlegel, M. Putz
Chemnitz University of Technology, Germany
Abstract— Ever higher demands are placed on the quality and complexity of formed
sheet metal parts, whereby the efficiency of the processes may not be affected. Thus
it becomes more difficult to ensure process stability. In order to reduce rejected parts
it is necessary to improve forming technologies and processes. Closed loop control of
process variables with an influence to the quality of a part is a promising approach.
Therefor the reliable metrological acquisition of such a parameter is a basic
requirement. Forming force respectively force distribution has an influence on
component quality and seems to be a suited value. In this paper, a measurement
setup and its implementation in a demonstrator is described. First metrological
examinations show occurring effects during eccentric load cases and the derivation of
spindle forces via additional load paths in the machine frame. This knowledge will be
used for the development of a force control.
TF1-056 Interactive Rehabilitation using a General-Purpose Industrial Robot
Jian-Sheng Wang and Liang-Kuang Chen
National Taiwan University of Science and Technology, Taiwan
Abstract—Rehabilitation is a medical process with high demand in current society. To
reduce the work-load of the rehabilitation physicians, robot assisted rehabilitation
has been investigated extensively in the literature, but usually a special purpose
machine is to be designed and constructed. In this work, it is proposed to use the
general-purpose industrial robot to achieve the functions of the rehabilitation robots.
The key to the success of this idea lies in the capability of the industrial robot to
receive real-time control interventions. Therefore, certain special function control
modules need to be available on the industrial robots. A preliminary design of this
concept using an ABB® robot is presented. Planner motions for the upper limb
rehabilitations were tested with several human subjects, and the experimental
results show that the designed system can provide the basic functions that are
expected from the rehabilitation robots.
TF1-112 Development of Wheel-Spider-Inspired Hexapod Robot Realizing Walking and Rolling
Locomotion
Takeshi Miura, Shoshiro Hatakeyama and Masami Iwase
Tokyo Denki University，Japan
Abstract— To realize a robot that can move at high speed according to the
environment while maintaining the traversability of a multi-legged robot, we propose
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