Table Of ContentIntelligent Systems, Control and Automation:
Science and Engineering
Kenzo Nonami
Muljowidodo Kartidjo
Kwang-Joon Yoon
Agus Budiyono Editors
Autonomous
Control Systems
and Vehicles
Intelligent Unmanned Systems
Autonomous Control Systems and Vehicles
International Series on
INTELLIGENT SYSTEMS, CONTROL AND AUTOMATION:
SCIENCE AND ENGINEERING
VOLUME 65
Editor
Professor S. G. Tzafestas, National Technical University of Athens, Greece
Editorial Advisory Board
Professor P. Antsaklis, University of Notre Dame, Notre Dame, IN, USA
Professor P. Borne, Ecole Centrale de Lille, Lille, France
Professor D.G. Caldwell, University of Salford, Salford, UK
Professor C.S. Chen, University of Akron, Akron, Ohio, USA
Professor T. Fukuda, Nagoya University, Nagoya, Japan
Professor S. Monaco, University La Sapienza, Rome, Italy
Professor G. Schmidt, Technical University of Munich, Munich, Germany
ProfessorS.G.Tzafestas,NationalTechnicalUniversityofAthens,Athens,Greece
Professor F. Harashima, University of Tokyo, Tokyo, Japan
Professor N.K. Sinha, McMaster University, Hamilton, Ontario, Canada
Professor D. Tabak, George Mason University, Fairfax, Virginia, USA
Professor K. Valavanis, University of Denver, Denver, USA
Forfurther volumes:
http://www.springer.com/series/6259
Kenzo Nonami (cid:129) Muljowidodo Kartidjo
Kwang-Joon Yoon (cid:129) Agus Budiyono
Editors
Autonomous Control
Systems and Vehicles
Intelligent Unmanned Systems
Editors
KenzoNonami MuljowidodoKartidjo
GraduateSchoolandFaculty CenterforUnmanned
ofEngineering SystemStudies
ChibaUniversity InstituteofTechnologyBandung
Chiba,Japan Bandung,Indonesia
Kwang-JoonYoon AgusBudiyono
KonkukUniversity DepartmentofAerospaceandInformation
Seoul,Korea,Republic Engineering,SmartRobotCenter
of(SouthKorea) KonkukUniversity
Seoul,Korea,Republicof(SouthKorea)
ISBN978-4-431-54275-9 ISBN978-4-431-54276-6(eBook)
DOI10.1007/978-4-431-54276-6
SpringerTokyoHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2013936546
#SpringerJapan2013
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Preface
TheInternationalConferenceonIntelligentUnmannedSystems(ICIUS)2011was
organized by the International Society of Intelligent Unmanned Systems (ISIUS)
and locally by the Center for Bio-Micro Robotics Research at Chiba University,
Japan.Theeventwasthe7thconferencecontinuingfrompreviousconferencesheld
inSeoul,Korea(2005,2006),Bali,Indonesia(2007),Nanjing,China(2008),Jeju,
Korea(2009),andBali,Indonesia(2010).ICIUS2011focusedonboththeoryand
application,primarilycoveringthetopicsofrobotics,autonomousvehicles,intelli-
gentunmannedtechnologies,andbiomimetics.Weinvitedsevenkeynotespeakers
who dealt with related state-of-the-art technologies including unmanned aerial
vehicles(UAVs)andmicroairvehicles(MAVs),flappingwings(FWs),unmanned
ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics,
advanced control, and intelligent systems, among others. Simultaneously, the
exhibition and demonstrations and the panel discussion were arranged to cover
advanced relevant technologies in this field. The aim of the conference was to
stimulateinteractionsamongresearchersactiveintheareaspertinenttointelligent
unmannedsystems.
This special-interest conference successfully attracted 113 papers internation-
ally,coveringthefollowingtopics:
(cid:129) Unmannedsystems:UAVs,MAVs,unmannedmarinevehicles(UMVs),under-
watervehicles(UVs),multi-agent systems,UGVs,blimps,swarmintelligence,
autonomousflyingrobots(AFRs),andflappingrobots(FRs)
(cid:129) Robotics and biomimetics: smart sensors, design and applications of MEMS/
NEMS,intelligentrobotsystems,evolutionaryalgorithms,controlofbiological
systems,biologicallearningcontrolsystems,neuralnetworks,andbioinformatics
(cid:129) Controlandcomputation:distributedandembeddedsystems,embeddedintelli-
gent control, complex systems, pervasive computing, discrete event systems,
hybrid systems, networked control systems, delay systems, identification
and estimation, nonlinear systems, precision motion control, control applic-
ations, computer architecture and VLSI, signal/image and multimedia
v
vi Preface
processing, software-enabled control, real-time operating systems, architecture
for autonomous systems, software engineering for real-time systems, and
real-timedatacommunications
(cid:129) Context-awarecomputingintelligentsystems:softcomputing,ubiquitouscom-
puting,distributedintelligence,anddistributed/decentralizedintelligentcontrol
ICIUS2011 was strongly supported by IEEE, the Japan Society of Mechanical
Engineers (JSME), the Society of Instrument and Control Engineers (SICE), the
InstituteofSystems,ControlandInformationEngineers(ISCIE),RoboticsSociety
of Japan (RSJ), the Japan Society for Aeronautical and Space Sciences (JSASS),
Japan UAV Association (JUAV), the Chiba Convention Bureau and International
Center, and the NSK Mechatronics Technology Advancement Foundation, Chiba
University.Onbehalfoftheorganizationcommittee,wewouldliketoexpressour
appreciationforthesupportprovidedbythoseorganizations.Wewouldalsoliketo
use this opportunity to thank all individuals and organizations who contributed to
makingICIUS2011successfulandmemorable.
Thisbookisacollectionofexcellentpapersthatwereupdatedafterpresentation
atICIUS2011.TheevaluationcommitteeofICIUS2011finallydecidedtoselecta
total of 21 of those papers including the keynote papers. All papers that form the
chaptersofthisbookwerereviewedandrevisedfromtheperspectiveofadvanced
relevant technologies in the field. The book is organized into four parts, which
reflecttheresearchtopicsoftheconferencethemes:
Part1:TrendsinIntelligentandAutonomousUnmannedSystems
Part2:TrendsinResearchActivitiesofUAVsandMAVs
Part3:TrendsinResearchActivitiesofUGVs
Part4:TrendsinResearchActivitiesofUnderwaterVehicles,MicroRobots,andOthers
One aim of this book is to stimulate interactions among researchers in the areas
pertinent to intelligent unmanned systems of UAV, MAV, UGV, USV, and UV,
namely, autonomous control systems and vehicles. Another aim is to share new
ideas,newchallenges,andtheauthors’expertiseoncriticalandemergingtechnologies.
Thebookcoversmultifacetedaspectsofintelligentunmannedsystems.
The editors hope that readers will find this book not only stimulating but also
usefulandusableinwhateveraspectofunmannedsystemdesigninwhichtheymay
beinvolvedorinterested.Theeditorswouldliketoexpresstheirsincereappreciation
toallthecontributorsfortheircooperationinproducingthisbook.Thecontribution
from the keynote speakers is gratefully acknowledged, and all authors are to be
congratulated for their efforts in preparing such excellent chapters. Finally, the
publisher, Springer, and most importantly Ms. Y. Sumino and Ms. T. Sato have
been extremely supportive in the publication of this book. We especially want to
thankMs.SuminoandMs.Satofortheircontribution.
Chiba,Japan KenzoNonami
Bandung,Indonesia MuljowidodoKartidjo
SeoulKorea,Republicof(SouthKorea) Kwang-JoonYoon
SeoulKorea,Republicof(SouthKorea) AgusBudiyono
Contents
PartI TrendsofIntelligentandAutonomousUnmannedSystems
1 FlightDemonstrationsofFaultTolerantFlight
ControlUsingSmallUAVs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
ShinjiSuzuki,YukaYoshimatsu,andKoichiMiyaji
2 UnmannedAerialandGroundVehicleTeams:
RecentWorkandOpenProblems. . . . . . .. . . . . . . . . . . . . . . .. . . 21
StevenL.Waslander
3 CognitiveDevelopmentalRobotics:fromPhysical
InteractiontoSocialOne. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
MinoruAsada
PartII TrendsonResearchActivitiesofUAVsandMAVs
4 TowardsaUnifiedFrameworkforUASAutonomy
andTechnologyReadinessAssessment(ATRA). . . . . . . . . . . . . . . 55
FaridKendoul
5 ControlSchemeforAutomaticTakeoff
andLandingofSmallElectricHelicopter. . . . . . . . . . . . . . . . . . . . 73
SatoshiSuzuki
6 EvaluationofanEasyOperationSystem
forUnmannedHelicopter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
MasafumiMiwa,ShoutaNakamatsu,andKentaroKinoshita
7 ControlofDuctedFanFlyingObjectUsing
ThrustVectoring. . . .. . . .. . . . .. . . .. . . .. . . .. . . . .. . . .. . . .. 97
MasafumiMiwa,YukiShigematsu,andTakashiYamashita
vii
viii Contents
8 CircularFormationControlofMultipleQuadrotor
AerialVehicles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
M.FadhilAbas,DwiPebrianti,SyarilAzrad,D.Iwakura,
YuzeSong,andK.Nonami
9 DecentralisedFormationControlofUnmanned
AerialVehiclesUsingVirtualLeaders. . . . . . . . . . . . . . . . . . . . . . 133
TakumaHinoandTakeshiTsuchiya
10 AerodynamicsandFlightStabilityofBio-inspired,
Flapping-WingMicroAirVehicles. . . . . . . . . . . . . . . . . . . . . . . . . 145
HaoLiu,XiaolanWang,ToshiyukiNakata,and
KazuyukiYoshida
11 DevelopmentandOperationalExperiencesof
UAVsforScientificResearchinAntarctica. . . . . . . . . . . . . . . . . . 159
S.Higashino,M.Funaki,N.Hirasawa,M.Hayashi
andS.Nagasaki
12 CircularlyPolarizedSyntheticApertureRadar
OnboardUnmannedAerialVehicle(CP-SARUAV). . . . . . . . . . . 175
JosaphatTetukoSriSumantyo
PartIII TrendsonResearchActivitiesofUGVs
13 ModelingandControlofWheeledMobileRobots:
FromKinematicstoDynamicswithSlippingandSkidding. . . . . . 195
MakotoYokoyama
14 ConsiderationofMountedPositionofGrousers
onFlexibleWheelsforLunarExplorationRovers
toTraverseLooseSoil. . .. . . . . .. . . . . .. . . . . .. . . . . . .. . . . . .. 211
KojiroIizuka
15 OptimalImpedanceControlwithTSK-TypeFLC
forHardShakingReductiononHydraulicallyDriven
HexapodRobot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
AddieIrawan,KenzoNonami,andMohdRazaliDaud
16 LRFAssistedAutonomousWalkinginRoughTerrain
forHexapodRobotCOMET-IV. . . . . . . . . . . . . . . . . . . . . . . . . . . 237
M.R.Daud,K.Nonami,andA.Irawan
17 WalkingDirectionalControlofSix-LeggedRobot
byTime-VaryingFeedbackSystem. . . . . . . . . . .. . . . . . . . . . . .. . 251
H.UchidaandN.Shiina
Contents ix
PartIV TrendsonResearchActivitiesofUnderwater
Vehicle,MicroRobotandOthers
18 DesignandOperationAnalysisofHybridAUV. . . . . . . . . . . . . . . 267
K.Muljowidodo,SaptoAdiNugroho,andNicoPrayogo
19 UltrasoundEnergyTransmissionforWaFLES-Support
Intra-abdominalMicroRobots. . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
TakuyaAkagi,DavidGomez,JoseGonzalez,
TatsuoIgarashi,andWenweiYu
20 SimulationofSupercavitatingFlowAcceleratedbyShock. . . . . . . 291
B.C.KhooandJ.G.Zheng
21 DynamicsofVorticesShedfromanElasticHeaving
ThinFilmbyFluid–StructureInteractionSimulation. . . . . . . . . . 299
TetsushiNagata,MasakiFuchiwaki,andKazuhiroTanaka
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
