Table Of ContentINFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS I
Informatics in Control, Automation
and Robotics I
Edited by
JOSÉ BRAZ
Escola Superior de Tecnologia de Setúbal, Portugal
HELDER ARAÚJO
University of Coimbra, Portugal
ALVES VIEIRA
Escola Superior de Tecnologia de Setúbal, Portugal
and
BRUNO ENCARNAÇÃO
INSTICC - Institute for Systems and Technologies of Information,
Control and Communication, Setúbal, Portugal
A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN-10 1-4020-4136-5 (HB)
ISBN-13 978-1-4020-4136-5 (HB)
ISBN-10 1-4020-4543-3 (e-books)
ISBN-13 978-1-4020-4543-1 (e-books)
Published by Springer,
P.O. Box 17, 3300 AADordrecht, The Netherlands.
www.springer.com
Printed on acid-free paper
All Rights Reserved
© 2006 Springer
No part of this work may be reproduced, stored in a retrieval system, or transmitted
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or otherwise, without written permission from the Publisher, with the exception
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Printed in the Netherlands.
TABLE OF CONTENTS
Preface .................................................................................................................................................ix
Conference Committee .......................................................................................................................xi
INVITED SPEAKERS
ROBOT-HUMAN INTERACTION: Practical experiments with a cyborg
Kevin Warwick...............................................................................................................................................................3
INDUSTRIAL AND REAL WORLD APPLICATIONS OF ARTIFICIAL NEURAL
NETWORKS - Illusion or reality?
Kurosh Madani............................................................................................................................................................11
THE DIGITAL FACTORY - Planning and simulation of production in automotive industry
F. Wolfgang Arndt.......................................................................................................................................................27
WHAT'S REAL IN "REAL-TIME CONTROL SYSTEMS"? Applying formal verification
methods and real-time rule-based systems to control systems and robotics
Albert M. K. Cheng.....................................................................................................................................................31
SUFFICIENT CONDITIONS FOR THE STABILIZABILITY OF MULTI-STATE
UNCERTAIN SYSTEMS, UNDER INFORMATION CONSTRAINTS
Nuno C. Martins, Munther A. Dahleh and Nicola Elia.............................................................................................37
PART 1 – INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION
DEVICE INTEGRATION INTO AUTOMATION SYSTEMS WITH CONFIGURABLE
DEVICE HANDLER
Anton Scheibelmasser, Udo Traussnigg, Georg Schindin and Ivo Derado......................................................................53
NON LINEAR SPECTRAL SDP METHOD FOR BMI-CONSTRAINED PROBLEMS:
APPLICATIONS TO CONTROL DESIGN
Jean-Baptiste Thevenet, Dominikus Noll and Pierre Apkarian....................................................................................61
A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR
ROBOTIC MANIPULATORS
Taha Chettibi, Moussa Haddad, Samir Rebai and Abd Elfath Hentout ....................................................................73
vi Table of Contents
FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING
Paulo Jorge Sequeira Gonçalves, Luís F. Mendonça, João M. Sousa and João R. Caldas Pinto......................................81
AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE - TIME OPTIMAL
CONTROL WITH TERMINAL CONSTRAINTS
Yechiel Crispin.............................................................................................................................................................89
A DISTURBANCE COMPENSATION CONTROL FOR AN ACTIVE MAGNETIC
BEARING SYSTEM BY A MULTIPLE FXLMS ALGORITHM
Min Sig Kang and Joon Lyou.......................................................................................................................................99
AN INTELLIGENT RECOMMENDATION SYSTEM BASED ON FUZZY LOGIC
Shi Xiaowei................................................................................................................................................................105
MODEL REFERENCE CONTROL IN INVENTORY AND SUPPLY CHAIN
MANAGEMENT - The implementation of a more suitable cost function
Heikki Rasku, Juuso Rantala and Hannu Koivisto...................................................................................................111
AN LMI OPTIMIZATION APPROACH FOR GUARANTEED COST CONTROL OF
SYSTEMS WITH STATE AND INPUT DELAYS
Olga I. Kosmidou, Y. S. Boutalis and Ch. Hatzis......................................................................................................117
USING A DISCRETE-EVENT SYSTEM FORMALISM FOR THE MULTI-AGENT
CONTROL OF MANUFACTURING SYSTEMS
Guido Maione and David Naso.................................................................................................................................125
PART 2 – ROBOTICS AND AUTOMATION
FORCE RIPPLE COMPENSATOR FOR A VECTOR CONTROLLED PM LINEAR
SYNCHRONOUS MOTOR
Markus Hirvonen, Heikki Handroos and Olli Pyrhönen...........................................................................................135
HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD
TUNNELING MACHINE
Jelmer Braaksma, Ben Klaassens, Robert Babuška and Cees de Keizer.......................................................................143
MOCONT LOCATION MODULE: A CONTAINER LOCATION SYSTEM BASED ON
DR/DGNSS INTEGRATION
Joseba Landaluze, Victoria del Río, Carlos F. Nicolás, José M. Ezkerra and Ana Martínez...................................151
PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL
COMPONENTS
Santiago Salamanca Miño, Carlos Cerrada Somolinos, Antonio Adán Oliver and Miguel Adán Oliver....................159
TOWARDS A CONCEPTUAL FRAMEWORK- BASED ARCHITECTURE FOR
UNMANNED SYSTEMS
Norbert Oswald..........................................................................................................................................................167
Table of Contents vii
A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR
HUMANOID ROBOTS
Koshiro Noritake, Shohei Kato and Hidenori Itoh......................................................................................................179
REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT
FRICTION
Ronald G.K.M. Aarts, Ben J.B. Jonker and Rob R. Waiboer...................................................................................187
A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC
HOVER-CAPABLE AUV
Robert Damus, Samuel Desset, James Morash, Victor Polidoro, Franz Hover, Chrys Chryssostomidis,
Jerome Vaganay and Scott Willcox.............................................................................................................................195
DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE
ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS
Jordi Artigas, Detlef Reintsema, Carsten Preusche and Gerhard Hirzinger.................................................................201
PART 3 – SIGNAL PROCESSING, SYSTEMS MODELING AND CONTROL
ON MODELING AND CONTROL OF DISCRETE TIMED EVENT GRAPHS WITH
MULTIPLIERS USING (MIN, +) ALGEBRA
Samir Hamaci, Jean-Louis Boimond and Sébastien Lahaye........................................................................................211
MODEL PREDICTIVE CONTROL FOR HYBRID SYSTEMS UNDER A STATE
PARTITION BASED MLD APPROACH (SPMLD)
Jean Thomas, Didier Dumur, Jean Buisson and Herve Guéguen.................................................................................217
EFFICIENT SYSTEM IDENTIFICATION FOR MODEL PREDICTIVE CONTROL
WITH THE ISIAC SOFTWARE
Paolino Tona and Jean-Marc Bader............................................................................................................................225
IMPROVING PERFORMANCE OF THE DECODER FOR TWO-DIMENSIONAL
BARCODE SYMBOLOGY PDF417
Hee Il Hahn and Jung Goo Jung................................................................................................................................233
CONTEXT IN ROBOTIC VISION: Control for real-time adaptation
Paolo Lombardi, Virginio Cantoni and Bertrand Zavidovique...................................................................................239
DYNAMIC STRUCTURE CELLULAR AUTOMATA IN A FIRE SPREADING
APPLICATION
Alexandre Muzy, Eric Innocenti, Antoine Aïello, Jean-François Santucci, Paul-Antoine Santoni
and David R.C. Hill.................................................................................................................................................247
SPEAKER VERIFICATION SYSTEM Based on the stochastic modeling
Valiantsin Rakush and Rauf Kh. Sadykhov..............................................................................................................255
MOMENT-LINEAR STOCHASTIC SYSTEMS
Sandip Roy, George C. Verghese and Bernard C. Lesieutre........................................................................................263
viii Table of Contents
ACTIVE ACOUSTIC NOISE CONTROL IN DUCTS
Filipe Morais and J. M. Sá da Costa.........................................................................................................................273
HYBRID UML COMPONENTS FOR THE DESIGN OF COMPLEX SELF-OPTIMIZING
MECHATRONIC SYSTEMS
Sven Burmester, Holger Giese and Oliver Oberschelp..................................................................................................281
AUTHOR INDEX................................................................................................................................................289
PREFACE
The present book includes a set of selected papers from the first “International Conference on
Informatics in Control Automation and Robotics” (ICINCO 2004), held in Setúbal, Portugal, from 25 to
28 August 2004.
The conference was organized in three simultaneous tracks: “Intelligent Control Systems and
Optimization”, “Robotics and Automation” and “Systems Modeling, Signal Processing and Control”. The book is
based on the same structure.
Although ICINCO 2004 received 311 paper submissions, from 51 different countries in all
continents, only 115 where accepted as full papers. From those, only 29 were selected for inclusion in
this book, based on the classifications provided by the Program Committee. The selected papers also
reflect the interdisciplinary nature of the conference. The diversity of topics is an importante feature of
this conference, enabling an overall perception of several important scientific and technological trends.
These high quality standards will be maintained and reinforced at ICINCO 2005, to be held in Barcelona,
Spain, and in future editions of this conference.
Furthermore, ICINCO 2004 included 6 plenary keynote lectures and 2 tutorials, given by
internationally recognized researchers. Their presentations represented an important contribution to
increasing the overall quality ofthe conference, and are partially included in the first section of the book.
We would like to express our appreciation to all the invited keynote speakers, namely, in alphabetical
order: Wolfgang Arndt (Steinbeis Foundation for Industrial Cooperation/Germany), Albert Cheng
(University of Houston/USA), Kurosh Madani (Senart Institute of Technology/France), Nuno Martins
(MIT/USA), Rosalind Picard (MIT/USA) and Kevin Warwick (University of Reading, UK).
On behalf of the conference organizing committee, we would like to thank all participants. First of all
to the authors, whose quality work is the essence of the conference and to the members of the program
committee, who helped us with their expertise and time.
As we all know, producing a conference requires the effort of many individuals. We wish to thank all
the members of our organizing committee, whose work and commitment were invaluable. Special thanks
to Joaquim Filipe, Paula Miranda, Marina Carvalho and Vitor Pedrosa.
José Braz
Helder Araújo
Alves Vieira
Bruno Encarnação
CONFERENCE COMMITTEE
Conference Chair
Joaquim Filipe, Escola Superior de Tecnologia de Setúbal, Portugal
Program Co-Chairs
Helder Araújo, I.S.R. Coimbra, Portugal
Alves Vieira, Escola Superior de Tecnologia de Setúbal, Portugal
Program Committee Chair
José Braz, Escola Superior de Tecnologia de Setúbal, Portugal
Secretariat
Marina Carvalho, INSTICC, Portugal
Bruno Encarnação, INSTICC, Portugal
Programme Committee
Aguirre, L. (BRAZIL) Choras, R. (POLAND)
Allgöwer, F. (GERMANY) Christensen, H. (SWEDEN)
Arató, P.(HUNGARY) Cichocki, A. (JAPAN)
Arsénio, A. (U.S.A.) Coello, C. (MEXICO)
Asama, H. (JAPAN) Cordeiro, J. (PORTUGAL)
Babuska, R. (THE NETHERLANDS) Correia, L. (PORTUGAL)
Balas, M. (U.S.A.) Costeira, J. (PORTUGAL)
Balestrino, A. (ITALY) Couto, C. (PORTUGAL)
Bandyopadhyay, B. (INDIA) Crispin, Y. (U.S.A.)
Bars, R. (HUNGARY) Custódio, L. (PORTUGAL)
Bemporad, A. (ITALY) Dillmann, R. (GERMANY)
Birk, A. (GERMANY) Dochain, D. (BELGIUM)
Bonyuet, D.(U.S.A.) Dourado, A. (PORTUGAL)
Boucher, P.(FRANCE) Duch, W. (POLAND)
Bulsari, A. (FINLAND) Erbe, H. (GERMANY)
Burke, E. (U.K.) Espinosa-Perez, G. (MEXICO)
Burn, K. (U.K.) Feliachi, A. (U.S.A.)
Burrows, C. (U.K.) Feng, D. (HONG KONG)
Buss, M. (GERMANY) Ferrier, J. (FRANCE)
Camarinha-Matos, L. (PORTUGAL) Ferrier, N. (U.S.A.)
Campi, M. (ITALY) Figueroa, G. (MEXICO)
Cañete, J. (SPAIN) Filip, F. (ROMANIA)
Carvalho, J. (PORTUGAL) Filipe, J. (PORTUGAL)
Cassandras, C. (U.S.A.) Fyfe, C. (U.K.)
Chatila, R. (FRANCE) Gamberger, D. (CROATIA)
Chen, T. (CANADA) Garção, A. (PORTUGAL)
Cheng, A. (U.S.A.) Gheorghe, L. (ROMANIA)
xii Conference Committee
Ghorbel, F. (U.S.A.) Ljungn, L. (SWEDEN)
Gini, M. (U.S.A.) Lückel, J. (GERMANY)
Goldenberg, A. (CANADA) Maione, B. (ITALY)
Gomes, L.(PORTUGAL) Maire, F. (AUSTRALIA)
Gonçalves, J. (U.S.A.) Malik, O. (CANADA)
Gray, J. (U.K.) Mañdziuk, J. (POLAND)
Gustafsson, T.(SWEDEN) Meirelles, M. (BRAZIL)
Halang, W. (GERMANY) Meng, M. (CANADA)
Hallam, J.(U.K.) Mertzios, B. (GREECE)
Hammoud, R. (U.S.A.) Molina, A. (SPAIN)
Hanebeck, U. (GERMANY) Monostori, L. (HUNGARY)
Henrich, D. (GERMANY) Morari, M. (SWITZERLAND)
Hespanha, J. (U.S.A.) Mostýn, V. (CZECH REPUBLIC)
Ho, W. (SINGAPORE) Murray-Smith, D. (U.K.)
Imiya, A. (JAPAN) Muske, K. (U.S.A.)
Jämsä-Jounela, S. (FINLAND) Nedevschi, S. (ROMANIA)
Jarvis, R. (AUSTRALIA) Nijmeijer, H. (THE NETHERLANDS)
Jezernik, K. (SLOVENIA) Ouelhadj, D. (U.K.)
Jonker, B. (THE NETHERLANDS) Papageorgiou, M. (GREECE)
Juhas, G. (GERMANY) Parisini, T. (ITALY)
Karcanias, N. (U.K.) Pasi, G. (ITALY)
Karray, F. (CANADA) Pereira, C. (BRAZIL)
Katayama, T. (JAPAN) Pérez, M. (MEXICO)
Katic, D. (YUGOSLAVIA) Pires, J. (PORTUGAL)
Kavraki, L. (U.S.A.) Polycarpou, M. (CYPRUS)
Kawano, H. (JAPAN) Pons, M. (FRANCE)
Kaynak, O. (TURKEY) Rana, O. (NEW ZEALAND)
Kiencke, U. (GERMANY) Reed, J. (U.K.)
Kihl, M. (SWEDEN) Ribeiro, M. (PORTUGAL)
King, R. (GERMANY) Richardson, R. (U.K.)
Kinnaert, M. (BELGIUM) Ringwood, J. (IRELAND)
Khessal, N. (SINGAPORE) Rist, T. (GERMANY)
Koivisto, H. (FINLAND) Roffel, B. (THE NETHERLANDS)
Korbicz, J. (POLAND) Rosa, A. (PORTUGAL)
Kosko, B. (U.S.A.) Rossi, D. (ITALY)
Kosuge, K. (JAPAN) Ruano, A. (PORTUGAL)
Kovacic, Z. (CROATIA) Sala, A. (SPAIN)
Kunt, M. (SWITZERLAND) Sanz, R. (SPAIN)
Latombe, J. (U.S.A.) Sarkar, N. (U.S.A.)
Leite, F. (PORTUGAL) Sasiadek, J. (CANADA)
Leitner, J. (U.S.A.) Scherer, C. (THE NETHERLANDS)
Leiviska, K. (U.S.A.) Schilling, K. (GERMANY)
Lightbody, G. (IRELAND) Sentieiro, J. (PORTUGAL)
Ligus, J. (SLOVAKIA) Sequeira, J. (PORTUGAL)
Lin, Z. (U.S.A.) Sessa, R. (ITALY)
