AMC 2022 Schedule

List of all sessions

Search using paper ID, author name, or title word:

Friday, 18 February 2022

  • 08:45
  • 09:15
  • 09:45
  • 10:15
  • 10:45
  • 11:15
  • 11:45
  • 12:15
  • 12:45
  • 13:15
  • 13:45
  • 14:15
  • 14:45
  • 15:15
  • 15:45
  • 16:15
  • 16:45
  • Room 1
    • TT - Actuators and sensors in motion control Chairs:
      Prof. Sehoon Oh
      Prof. Seiichiro Katsura
      Chairs:
      Prof. Sehoon Oh
      Prof. Seiichiro Katsura

      Add to calendar

      Papers

      10:00-10:20
      AMC22-000028 Zonotopic Kalman Observer-based Sensor Fault Estimation for Discrete-Time Takagi-Sugeno Fuzzy Systems
      Weijie Ren, Satoshi Komada, Yubai Kazuhiro, Daisuke Yashiro
      10:20-10:40
      AMC22-000029 Design and Characterization of a Fully Integrated Continuum Robot Actuated by Shape Memory Alloy Wires
      Michele Arcangelo Mandolino, Yannik Goergen, Paul Motzki, Gianluca Rizzello
      10:40-11:00
      AMC22-000038 Performance Evaluation of a Gain-scheduled Propeller Thrust Controller Using Wind Velocity and Rotor Angular Velocity Under Fluctuating Wind
      Yuki Kato
      11:00-11:20
      AMC22-000051 An Approach of Load-Side Disturbance Rejection Control for Series Elastic Actuators
      Atsushi Hiraoka, Toshiyuki Murakami
      11:20-11:40
      AMC22-000079 Preliminary Analysis for Two-Degree-of-Freedom Magnetic Geared Screw Motor with High Torque Density
      Yoshiyuki Hatta, Kazuaki Ito, Yasutaka Fujimoto
      11:40-12:00
      AMC22-000087 Experimental Verification of a Novel Continuously Variable Transmission with Electro-Hydrostatic Actuator
      Hiroshi Asai, Kei Sugihara, Tomoya Kitamura, Yuki Saito, Kouhei Ohnishi, Takahiro Nozaki
    • SS - Advanced control of underactuated and flexible robotic systems Chairs:
      Prof. Sehoon Oh
      Prof. Seiichiro Katsura
      Chairs:
      Prof. Sehoon Oh
      Prof. Seiichiro Katsura

      Add to calendar

      Papers

      12:00-12:20
      AMC22-000011 Input shaping for non-zero initial conditions and arbitrary input signals with an application to overhead crane control
      Arne Wahrburg, Janne Jurvanen, Matias Niemelä, Mikael Holmberg
    • Virtual Coffee Break

      Add to calendar

    • TT - Visual servo systems in motion control Chairs:
      Prof. Wen-Hua Chen
      Prof. Naoki Motoi
      Chairs:
      Prof. Wen-Hua Chen
      Prof. Naoki Motoi

      Add to calendar

      Papers

      14:30-14:50
      AMC22-000058 Object Detection in Motion Reproduction System with Segmentation Algorithm
      Xiaobai Sun, Takahiro Nozaki, Kouhei Ohnishi, Toshiyuki Murakami
      14:50-15:10
      AMC22-000055 Probabilistic Camera-to-Kinematic Model Calibration for Long-Reach Robotic Manipulators in Unknown Environments
      Petri Mäkinen, Pauli Mustalahti, Sirpa Launis, Jouni Mattila
    • TT - Intelligent and adaptive motion control systems Chairs:
      Prof. Wen-Hua Chen
      Prof. Naoki Motoi
      Chairs:
      Prof. Wen-Hua Chen
      Prof. Naoki Motoi

      Add to calendar

      Papers

      15:10-15:30
      AMC22-000081 Path optimization for autonomous sediment scooping operations
      Yutaka Uchimura, Naotoshi Higuchi
      15:30-15:50
      AMC22-000096 Motion Generation Based on Physical Property Estimation in Motion Copy System
      Tomoya Kitamura, Xiaobai Sun, Yuki Saito, Hiroshi Asai, Takahiro Nozaki, Kouhei Ohnishi
      15:50-16:10
      AMC22-000069 ECOset-ILC: an Iterative Learning Control Approach with Set-membership Uncertainty
      Daniele Ronzani, Joris Gillis, Goele Pipeleers, Jan Swevers
      16:10-16:30
      AMC22-000045 Optimized Exponential Square Root Unscented Kalman Filter for State Estimation of Hydraulic Systems
      Reza Mohammadi Asl, Jouni Mattila
  • Room 2
    • SS - Advanced Motion Control Techniques for Precision Mechatronic Systems - 1 Chairs:
      Prof. Hiroshi Fujimoto
      Prof. Mitsuo Hirata
      Chairs:
      Prof. Hiroshi Fujimoto
      Prof. Mitsuo Hirata

      Add to calendar

      Papers

      10:00-10:20
      AMC22-000003 Track-Following Control Using Resonant Filter for Dual-Stage-Actuator System in Hard Disk Drives
      Takenori Atsumi, Shota Yabui
      10:20-10:40
      AMC22-000004 Design Strategy of Head Positioning Control System of HDD based on Amplitude Spectrum
      Shota Yabui, Takenori Atsumi
      10:40-11:00
      AMC22-000030 Gaussian Process and Disturbance Observer Based Control for Disturbance Rejection
      Hanul Jung, Sehoon Oh
      11:00-11:20
      AMC22-000036 Frequency Response Data-based Multiple Peak Filter Design Applied to High-Precision Stage in Translation and Pitching
      Masahiro Mae, Wataru Ohnishi, Hiroshi Fujimoto, Koichi Sakata
      11:20-11:40
      AMC22-000048 A study on reducing effect of temporal quantization error in pulse drive systems
      Masayasu Suzuki, Mitsuo Hirata
      11:40-12:00
      AMC22-000088 Evaluation of Temperature Dependency for Displacement Estimation in Piezoelectric Stack Actuators
      Chihiro Mikuriya, Kenta Seki, Makoto Iwasaki
      12:00-12:20
      AMC22-000090 High Precision Machining Force Control of VCM-driven Deburring Equipment
      Kazuaki Ito, Yoshiyuki Hatta, Takayoshi Yamada, Junya Sato, Yoshitaka Shiroyama, Tatsuya Hamajima
    • Virtual Coffee Break

      Add to calendar

    • TT - Advanced motion control in mechatronics and robotics - 1 Chairs:
      Prof. Marina Indri
      Prof. Paolo Boscariol
      Chairs:
      Prof. Marina Indri
      Prof. Paolo Boscariol

      Add to calendar

      Papers

      14:30-14:50
      AMC22-000026 Imperfect Dynamic Modeling of Parallel Robots Eases the Crossing of Type-II Singularities
      Adrian Peidro, Andres Quijada-Fernandez, David Ubeda, Rafael Puerto, Luis Paya, Oscar Reinoso
      14:50-15:10
      AMC22-000056 A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning
      Dries Dirckx
      15:10-15:30
      AMC22-000073 Improving the robustness in motion planning of flexible systems through structural modification: a case study
      Paolo Boscariol, Dario Richiedei, Iacopo Tamellin, Alberto Trevisani
      15:30-15:50
      AMC22-000015 Model-Free Detection of Penetration and Automatic Stop Control in Dental Implant Surgery Based on Differential Value of Torque
      Yusuke Kido, Hiromasa Kawana, Seiji Asoda, Takahiro Nozaki, Toshiyuki Murakami
    • TT - Micro- and nano-mechatronic systems and control Chairs:
      Prof. Riccardo Antonello
      Prof. Kazuaki Ito
      Chairs:
      Prof. Riccardo Antonello
      Prof. Kazuaki Ito

      Add to calendar

      Papers

      15:50-16:10
      AMC22-000002 Modeling of a Clamping-based Piezo Actuator in Triangular Configuration
      Stefan Krebs
      16:10-16:30
      AMC22-000054 Dynamic Model of a Piezoelectric Walking Drive
      Andreas Zuercher, Timon Raiser, Sören Hohmann
  • Pleanary meetings
    • AMC 2022 Opening Session Chairs:
      Roberto Oboe
      Chairs:
      Roberto Oboe

      Add to calendar

    • Plenary 1 - Presenter: Prof. Xiaobo Tan - Talk title: Modeling and control of hysteresis in smart material actuators with minimal representations Chairs:
      Prof. Michael Ruderman
      Chairs:
      Prof. Michael Ruderman
      Abstract:

      Hysteresis remains a key nonlinearity in magnetic and smart material actuators that challenges their control performance. High-fidelity modeling and effective compensation of hysteresis, yet with low computational complexity, are of immense interest. In this talk I will share some advances in this direction via several examples. First, I will present the optimal reduction problem for a Prandtl-Ishlinskii (PI) operator, one of the most popular hysteresis models, where an optimal approximation of the original operator with fewer constituent elements (play operators) is obtained via efficient dynamic programming. Second, I will discuss adaptive estimation of play radii, instead of their weights, as an alternative means for accurate modeling of hysteresis with a PI operator of low complexity. Finally, I will report a dynamic inversion approach to hysteresis compensation that requires minimal, qualitative conditions on the hysteresis operator. Throughout the talk I will use experimental results from vanadium dioxide actuators and piezo actuators to illustrate the methods.



      Biography:

      Dr. Xiaobo Tan is an MSU Foundation Professor and the Richard M. Hong Endowed Chair in Electrical and Computer Engineering at Michigan State University (MSU). He received his Bachelor's and Master's degrees in automatic control from Tsinghua University, Beijing, China, in 1995, 1998, respectively, and his Ph.D. in electrical and computer engineering (ECE) from the University of Maryland in 2002. His research interests include smart materials, control systems, underwater robotics, and soft robotics. He has published over 300 papers and been awarded four US patents in these areas. Dr. Tan is a Fellow of IEEE and ASME. He is a recipient of the NSF CAREER Award (2006), MSU Teacher-Scholar Award (2010), MSU College of Engineering Withrow Distinguished Scholar Award (2018), Distinguished Alumni Award from the ECE Department at University of Maryland (2018), and multiple best paper awards. He is currently a Senior Editor for IEEE/ASME Transactions on Mechatronics (TMECH). He has been active in organizing international conferences, including serving as the General Chair for the 2018 ASME Dynamic Systems and Control Conference and for the 2023 American Control Conference. Dr. Tan is keen to integrate his research with educational and outreach activities, and has served as Director of an NSF-funded Research Experiences for Teachers (RET) Site program at MSU from 2009 - 2016 and Curator of a robotic fish exhibit at MSU Museum in 2016-2017.

      Add to calendar

    • Virtual Coffee Break

      Add to calendar

Saturday, 19 February 2022

  • 08:45
  • 09:15
  • 09:45
  • 10:15
  • 10:45
  • 11:15
  • 11:45
  • 12:15
  • 12:45
  • 13:15
  • 13:45
  • 14:15
  • 14:45
  • 15:15
  • 15:45
  • 16:15
  • 16:45
  • Room 1
    • SS - Data Robotics and Internet of Production Chairs:
      Prof. Daisuke Yashiro
      Prof. Yuki Yokokura
      Chairs:
      Prof. Daisuke Yashiro
      Prof. Yuki Yokokura

      Add to calendar

      Papers

      10:00-10:20
      AMC22-000039 Motion-Copying System with Compensation of Environmental Changes for Calligraphy Robot
      Seiichiro Katsura, Ryotaro Kobayashi
      10:20-10:40
      AMC22-000062 Analysis and Comparison of Back-Forward Drivability Control Using Load-side Sensors for Human-Robot Interaction
      Yusuke Kawai, Juan Padron, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki
      10:40-11:00
      AMC22-000076 Modeling of a Linear Variable Structured Elastic Actuator Considering Modal Transition of Electromagnetic Clutch
      Masaki Takeuchi, Seiichiro Katsura
      11:00-11:20
      AMC22-000095 Force-based Two-channel Bilateral Control for Position/Velocity Controlled Robots
      Yuki Nagatsu, Hideki Hashimoto
    • PRESENTATION JOURNAL PAPER Chairs:
      Prof. Daisuke Yashiro
      Prof. Yuki Yokokura
      Chairs:
      Prof. Daisuke Yashiro
      Prof. Yuki Yokokura
      Paper 1
      Title: Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter

      by: Hisayoshi Muramatsu, Hiroshima University, and Seiichiro Katsura, Keio University

      Abstract: Motion control is a fundamental technique used in automated mechanical systems. Classically, velocity, force, and impedance are controlled in motion control systems, but simultaneous control is difficult. This article proposes periodic/aperiodic (P/A) motion control based on periodicity and aperiodicity of motion. The P/A motion control separately applies different control methods to P/A motions using P/A velocity and P/A force, which are extracted using a periodic/aperiodic separation filter (PASF) from velocity and force. Accordingly, six types of P/A motion controls are constructed in this article, which correspond to different combinations of the P/A velocity, P/A force, and P/A impedance controls.

      Paper 2
      Title: Hierarchical Abstraction of Compensator for Reaction Torque Observer Based on Element Description Method

      by Issei Takeuchi, Tokyo Automatic Machinery Works, and
      Seiichiro Katsura, Keio University

      Abstract: The expansion of the applicable range of robots and machines requires the ability to cooperate with humans and adapt to external environments. It is necessary to use torque information in order to achieve these capabilities. A reaction torque observer is one of the effective methods to obtain torque information because it does not need a torque sensor and it can deal with torque information in the high-frequency domain. However, it needs a correct compensator to reject disturbances to estimate the precise torque. Generally, the disturbance compensator of the reaction torque observer is derived by manual model selection and manual/automatic parameter fitting. This method not only takes time and effort but also does not always obtain an optimal solution because it depends on a predetermined model. To overcome this issue, an automatic design method of a disturbance compensator is proposed in this article.

      Add to calendar

    • Virtual Coffee Break

      Add to calendar

    • TT - Advanced motion control in mechatronics and robotics - 2 Chairs:
      Prof. Jan Swevers
      Prof. Arne Wahrburg
      Chairs:
      Prof. Jan Swevers
      Prof. Arne Wahrburg

      Add to calendar

      Papers

      14:30-14:50
      AMC22-000020 Localization of pallets on shelves in a warehouse using a wide-angle camera
      NOBUYUKI KITA
      14:50-15:10
      AMC22-000071 Negative Quadrant Glitch Suppression of Ball-screw-driven Stage by Initial Value Compensation with Additional Input
      Takumi Hayashi, Hiroshi Fujimoto, Yoshihiro Isaoka, Yuki Terada
      15:10-15:30
      AMC22-000041 Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism
      Alejandro Astudillo Vigoya, Joris Gillis, Goele Pipeleers, Wilm Decré, Jan Swevers
      15:30-15:50
      AMC22-000023 Shooting methods for identification of nonlinear state-space grey-box models
      András Retzler, Jan Swevers, Joris Gillis, Zsolt Kollár
      15:50-16:10
      AMC22-000019 Motion Control for Aerial and Ground Vehicle Autonomous Platooning
      Emanuele Venzano, Hugo Pousseur, Alessandro Correa Victorino, Pedro Castillo Garcia
      16:10-16:30
      AMC22-000010 Motion Control Auto-Tuning in Elevator
      Janne Salomaki
      16:30-16:50
      AMC22-000074 Improvement and Analysis of Position and Speed Estimator in Low Speed Range for IPMSM Based on Disturbance Observer
      Ryosuke Nakatsuka, Takahiro Nozaki
  • Room 2
    • TT - Force control, haptics and HMI Chairs:
      Prof. Toshiaki Tsuji
      Prof. Toshiyuki Murakami
      Chairs:
      Prof. Toshiaki Tsuji
      Prof. Toshiyuki Murakami

      Add to calendar

      Papers

      10:00-10:20
      AMC22-000005 Performance Evaluation of Force Control and Reaction Force Estimation in Force Sensorless Hybrid Control for Workspace Based Controller
      Keita Shimamoto, Toshiyuki Murakami
      10:20-10:40
      AMC22-000032 Design of Feedforward Controller Using Airframe's Velocity for Contact Force Control of Propeller Driven System
      Masaya Inukai, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada
      10:40-11:00
      AMC22-000068 A Decoupling Scheme for Force Control in Cooperative Multi-Robot Manipulation Tasks
      Francesco Biral, Luca De Pascali, Luca Zaccarian, Sebastian Erhart, Sandra Hirche
      11:00-11:20
      AMC22-000075 Performance Improvement of Bilateral Teleoperation with Hydraulic Actuator by Friction Compensation
      Yuki Saito, Hiroshi Asai, Tomoya Kitamura, Wataru Iida, Takahiro Nozaki, Kouhei Ohnishi
    • PRESENTATION JOURNAL PAPER Chairs:
      Prof. Toshiaki Tsuji
      Prof. Toshiyuki Murakami
      Chairs:
      Prof. Toshiaki Tsuji
      Prof. Toshiyuki Murakami
      Paper 1
      Title: A Reduced-order Multi-sensor-based Force Observer

      by: Kangwagye Samuel - DGIST, Roberto Oboe - University of Padova, and Sehoon Oh - DGIST

      Abstract: This paper proposes a reduced-order multi-sensor based force observer (RMFOB) for accurately estimating the force exerted on a load. The RMFOB excels in high frequency noise attenuation and low frequency time-varying measurement offsets compensation by using the combination of force sensor measurements, motor encoder measurements, and motor input signals, properly fused in a Kalman Filter setting, in which the dynamics of the sensors and the system is taken into account. As part of the observer design, an estimator for the force measurement offsets is also derived, so that they can be visualized and quantified. Moreover, novel tools for analyzing the KF based observer are introduced. Simulations and experiment results show that the observer can produce accurate force estimate, by compensating for the time-varying measurement offsets and attenuating the high frequency noises.

      Add to calendar

    • SS - Advanced Motion Control Techniques for Precision Mechatronic Systems - 2 Chairs:
      Prof. Takenori Atsumi
      Prof. Shota Yabui
      Chairs:
      Prof. Takenori Atsumi
      Prof. Shota Yabui

      Add to calendar

      Papers

      11:40-12:00
      AMC22-000014 Peak Amplitude-Constrained Experiment Design for FRF Identification of MIMO Motion Systems
      Nic Dirkx, Marcel Bosselaar, Tom Oomen
      12:00-12:20
      AMC22-000018 A corner smoothing approach for CNC machines based on $\eta^{3D}$-splines
      Andrea Tagliavini, Corrado Guarino Lo BIanco
    • Virtual Coffee Break

      Add to calendar

    • SS - Advanced Motion Control Techniques for Precision Mechatronic Systems - 3 Chairs:
      Prof. Michael Ruderman
      Dr. Max van Haren
      Chairs:
      Prof. Michael Ruderman
      Dr. Max van Haren

      Add to calendar

      Papers

      14:30-14:50
      AMC22-000022 Gaussian Process Position-Dependent Feedforward: With Application to a Wire Bonder
      Max van Haren, Tom Oomen, Maurice Poot, Jim Portegies, Dragan Kostić, Robin van Es
      14:50-15:10
      AMC22-000031 A Gaussian Process Approach to Multiple Internal Models in Repetitive Control
      Noud Mooren, Tom Oomen, Gert Witvoet
      15:10-15:30
      AMC22-000033 Control of an Overactuated Nanopositioning System with Hysteresis by Means of Control Allocation
      Renzo Seminario, Christian Schmitt, Christoph Weise, Johann Reger
      15:30-15:50
      AMC22-000053 Analysis of Power Amplifier Contribution to the Precision of Motion Systems
      Marziyeh Hajiheidari, Duo Xu, Jeroen van Duivenbode, Bas Vermulst, Mircea Lazar
      15:50-16:10
      AMC22-000077 Generalization of ILC for fixed order reference trajectories using interpolation
      Max Bolderman, Mircea Lazar, Gerben Erens, Hans Butler
      16:10-16:30
      AMC22-000080 Systematic feedback control design for scattered light noise mitigation in Virgo's MultiSAS
      Mathyn van Dael, Tom Oomen, Gert Witvoet, Bas Swinkels
      16:30-16:50
      AMC22-000083 Robust Continuous Finite-Time Tracking Control with Finite-Time Observer for a Stewart Platform
      Nithin Xavier, Bijnan Bandyopadhyay, Johann Reger, Lars Watermann
  • Pleanary meetings
    • Meeting 1 - Virtual Breakfast Chairs:
      Prof. Francesco Biral
      Chairs:
      Prof. Francesco Biral

      Add to calendar

    • Plenary 2 - Presenter: Prof. Luca Zaccarian - Talk title: To stick or to slip: Lyapunov-based reset PID for positioning systems with Coulomb and Stribeck friction Chairs:
      Prof. Francesco Biral
      Chairs:
      Prof. Francesco Biral
      Abstract:



      Reset control systems for continuous-time plants were introduced in the 1950s by J.C. Clegg, then extended by Horowitz twenty years later and revisited using hybrid Lyapunov theory a few decades ago, to rigorously deal with the continuous-discrete interplay stemming from the reset laws. In this talk, we overview a recent research activity where suitable reset actions induce stability and performance of PID-controlled positioning systems suffering from nonlinear frictional effects.
      With the Coulomb-only effect, PID feedback produces a nontrivial set of equilibria whose asymptotic (but not exponential) stability can be certified by using a discontinuous Lyapunov-like function. With velocity weakening effects (the so-called Stribeck friction), the set of equilibria becomes unstable with PID feedback and the so-called ''hunting phenomenon'' (persistent oscillations) is experienced. Resetting laws can be used in both scenarios.
      With Coulomb friction only, the discontinuous Lyapunov-like function immediately suggests a reset action providing extreme performance improvement, preserving stability and increasing the convergence speed. With Stribeck, a more sophisticated set of logic-based reset rules recovers the global asymptotic stability of the set of equilibria, providing an effective solution to the hunting instability.
      We will discuss the Lyapunov-based proofs of these hybrid laws, requiring nontrivial derivations, such as building semi-global hybrid simulation models. The theoretical results will be illustrated by experiments carried out on an industrial nano-positioning system, showing the experimental advantages arising from our novel reset PID controllers.




      Biography:

      Luca Zaccarian received the Laurea and the Ph.D. degrees from the University of Roma Tor Vergata (Italy) in 1995 and 2000, respectively. He has been Assistant Professor in control engineering at the University of Roma, Tor Vergata (Italy), from 2000 to 2006 and then Associate Professor. Since 2011 he is Directeur de Recherche at the LAAS-CNRS, Toulouse (France) and since 2013 he holds a part-time position at the University of Trento, Italy. Luca Zaccarian's main research interests include analysis and design of nonlinear and hybrid control systems, modeling and control of mechatronic systems. He has served in the organizing committee and TPC of several IEEE and IFAC conferences. He has been a member of the IEEE-CSS Conference Editorial Board and an associate editor for Systems and Control Letters and IEEE Transactions on Automatic Control. He is currently a member of the EUCA-CEB and an associate editor for the IFAC journal Automatica and for the European Journal of Control. He was a nominated member of the Board of Governors of the IEEE-CSS in 2014, and an elected member in 2017-2019. He was Student Activities Chair for the IEEE-CSS in 2015--2017 and is currently Associate Editor of Electronic Publications (Conference Information) for the IEEE-CSS. He was a recipient of the 2001 O. Hugo Schuck Best Paper Award given by the American Automatic Control Council. He is a fellow of the IEEE, class of 2016.

      Add to calendar

    • Virtual Coffee Break

      Add to calendar

Sunday, 20 February 2022

  • 08:45
  • 09:15
  • 09:45
  • 10:15
  • 10:45
  • 11:15
  • 11:45
  • 12:15
  • 12:45
  • 13:15
  • 13:45
  • 14:15
  • 14:45
  • 15:15
  • 15:45
  • 16:15
  • 16:45
  • Room 1
    • SS - Intelligent Sensing Applications for Human Assistive Systems Chairs:
      Prof. Sota Shimizu
      Prof. Hiroshi Igarashi
      Chairs:
      Prof. Sota Shimizu
      Prof. Hiroshi Igarashi

      Add to calendar

      Papers

      10:00-10:20
      AMC22-000078 Haptic Feedback Rover Navigation Based on Positional Gain Adjusting Bilateral Control
      Sota Shimizu, Rikuta Mazaki, Tomonori Yamazaki, Hokuto Kurihara, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita
      10:20-10:40
      AMC22-000025 Sliding Mode Control with Disturbance Estimation for Underwater Robot
      Naoki Motoi, Daigo Hirayama, Fumito Yoshimura, Adham Sabra, Wai-keung Fung
      10:40-11:00
      AMC22-000050 Evaluation of Torque-Sensorless Control for a Knee Exoskeleton Using Back-Drivable Actuators
      Kenichiro Mori, Yasutaka Fujimoto
      11:00-11:20
      AMC22-000043 Estimation of Jacobian Matrix without accelerometer on Omni-directional Mobile Walker
      Kentaro Ominato, Toshiyuki Murakami
      11:20-11:40
      AMC22-000046 Evaluating the Equivalence between Nonlinear Friction and Backlash in Two-Inertia Systems
      Juan Padron, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki, Yusuke Kawai
      11:40-12:00
      AMC22-000034 Analysis of the Relationship Between Calcium Ion Concentration Ratio and Behavior in Neural Activity of the Brain
      Ryota Sunami, Yasue Mitsukura
      12:00-12:20
      AMC22-000035 Automatic Deceleration Detection System from Fetal Heart Rate obtained by CTG
      Hiroko Yamamoto, Yasue Mitsukura
    • SS - Intelligent Sensing Applications for Human Assistive Systems Chairs:
      Prof. Sota Shimizu
      Prof. Hiroshi Igarashi
      Chairs:
      Prof. Sota Shimizu
      Prof. Hiroshi Igarashi

      Add to calendar

      Papers

      14:30-14:50
      AMC22-000067 Development of Capacitive Coupled Electrocardiograph in the State of Wearing Clothes
      Naoki Ishiyama, Ryoto Fujita, Yuki Nagatsu, Hideki Hashimoto
    • TT - Advanced motion control in mechatronics and robotics - 3 Chairs:
      Prof. Angelo Cenedese
      Prof. Mikael Norrlof
      Chairs:
      Prof. Angelo Cenedese
      Prof. Mikael Norrlof

      Add to calendar

      Papers

      14:50-15:10
      AMC22-000006 Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives
      Patrick Mesmer, Patrick Nagel, Armin Lechler, Alexander Verl
      15:10-15:30
      AMC22-000013 A feedback control scheme for improving path accuracy of industrial manipulators based on gearbox output sensing
      Silke Klose, Arne Wahrburg
      15:30-15:50
      AMC22-000037 Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation
      Daniel Cunico, Luca Zaccarian, Angelo Cenedese, Mauro Borgo
      15:50-16:10
      AMC22-000021 Multi-stage Optimal Control Problem Formulation for Drone Racing Through Gates and Tunnels
      Mathias Bos, Wilm Decré, Jan Swevers, Goele Pipeleers
      16:10-16:30
      AMC22-000007 Development of a flexible link setup for an advanced linear control theory course
      Laurens Jacobs, Wilm Decré, Jan Swevers, Goele Pipeleers
  • Room 2
    • TT - Automotive and vehicular motion systems Chairs:
      Prof. Francesco Biral
      Prof. Wataru Ohnishi
      Chairs:
      Prof. Francesco Biral
      Prof. Wataru Ohnishi

      Add to calendar

      Papers

      10:00-10:20
      AMC22-000024 Simplified Wheel Slip Modeling and Estimation for Omnidirectional Vehicles
      Bastiaan Vandewal, Joris Gillis, Goele Pipeleers, Jan Swevers
      10:20-10:40
      AMC22-000093 An Optimal Torque Distribution Strategy Using Efficiency Maps of Front and Rear Drivetrain for Electric Vehicles
      Kiho Jeon, Jung Hyun Choi, Sehoon Oh
    • SS - Robot Environment Interaction - 1 Chairs:
      Prof. Emre Sariyildiz
      Prof. Takahiro Nozaki
      Chairs:
      Prof. Emre Sariyildiz
      Prof. Takahiro Nozaki

      Add to calendar

      Papers

      10:40-11:00
      AMC22-000016 A Unified Robust Motion Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators
      Emre Sariyildi
      11:00-11:20
      AMC22-000017 Design Constraints of Disturbance Observer-based Motion Control Systems are Stricter in the Discrete-Time Domain
      Emre Sariyildi
      11:20-11:40
      AMC22-000044 Velocity and Attitude Control of Quadcopter with Suspended-payload using Disturbance Observer with Payload Inclination Suppression
      Taketo Sugaya, Toshiyuki Murakami
      11:40-12:00
      AMC22-000089 Force Control at Arbitrary Position of Manipulator Based on Estimated Contact State by Force/Torque Sensor Installed at Base Frame
      Hinako Handa, Takahiro Nozaki
      12:00-12:20
      AMC22-000092 Recognition of Environmental Impedance Configuration by Neural Network Using Time-Series Contact State Response
      Kazuki Yane, Takahiro Nozaki
    • SS - Robot Environment Interaction - 2 Chairs:
      Prof. Giulia Michieletto
      Prof. Takahiro Nozaki
      Chairs:
      Prof. Giulia Michieletto
      Prof. Takahiro Nozaki

      Add to calendar

      Papers

      14:30-14:50
      AMC22-000066 Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties
      Dilay Yesildag Oral, Duygun Erol Barkana, Barkan Ugurlu
      14:50-15:10
      AMC22-000085 Estimating Environment Parameters for Teleoperation System with Time Delay
      Eray Baran, Fatimah Jabbar Majeed, Hafiz Huzaifa Azeem
      15:10-15:30
      AMC22-000084 A New Artificial Potential Field Based Global Path Planning Algorithm for Mobile Robot Navigation
      Eray Baran, Hamzah Al Jabari, Abdulrahman Alobahji
      15:30-15:50
      AMC22-000008 Operability Improvement of Human-Robot Collaboration by Human-Adaptive Impedance Control Based on Human Arm Stiffness Estimation
      Miho Shimizu, Misaki Hanafusa, Jun Ishikawa
      15:50-16:10
      AMC22-000064 Towards a Low-Cost Robot Navigation Approach based on a RGB-D Sensor Network
      Giulia Michieletto, Stefano Michieletto, Massimiliano Bertoni
  • Pleanary meetings
    • Meeting 2 - Virtual Breakfast

      Add to calendar

    • Plenary 3 - Presenter: Prof. Makoto Iwasaki - Talk title: Practical Motion Control Approaches for Industrial Positioning Devices with Strain Wave Gearing Chairs:
      Prof. Seiichiro Katsura
      Chairs:
      Prof. Seiichiro Katsura
      Abstract:

      The keynote speech presents practical motion controller design approaches for precision positioning devices including strain wave gearing, e.g. industrial multi-axis robots, precision rotation stages, etc. Since HarmonicDrive® gears (HDGs), a typical strain wave gearing, inherently possess nonlinear properties known as Angular Transmission Errors (ATEs) due to structural errors and flexibility in the mechanisms, the ideal positioning accuracy corresponding to the apparent resolution cannot be essentially attained at the output of gearing in the devices. In addition, mechanisms with HDGs generally excite resonant vibrations due to the periodical disturbance by ATEs, especially in the condition that the frequency of synchronous components of ATE corresponds to the critical mechanical resonant frequency. The speech, therefore, focuses on the motion controller design techniques to improve the performance deteriorations in positioning accuracy and vibration suppression. In the compensator design, under the assumption that the accurate mathematical models for ATE can be obtained, model-based feedforward as well as robust feedback control approaches have been introduced to improve the positioning performance, considering together with sensor allocations in the mechanisms. The proposed approaches have been applied to precision motion control of actual devices as servo actuators, and verified through numerical simulations and experiments.



      Biography:

      Makoto Iwasaki received Dr. Eng. degrees in electrical and computer engineering from Nagoya Institute of Technology, Nagoya, Japan, in 1991. Since 1991, he has been with the Department of Computer Science and Engineering, Nagoya Institute of Technology, where he is currently a Professor.

      As professional contributions of the IEEE/IES, he has been an AdCom member in term of 2010 to 2019, a Technical Editor for IEEE/ASME TMech from 2010 to 2014, an Associate Editor for IEEE TIE since 2014, a Co-Editors-in-Chief for IEEE TIE since 2016, a Vice President for Planning and Development in term of 2018 to 2021, respectively. He is IEEE fellow class 2015 for "contributions to fast and precise positioning in motion controller design".

      He has received academic and technological awards, such as the Best Paper Award of Trans of IEE Japan in 2013, the Technical Development Award of IEE Japan in 2017, the Technology Award of the Japan Society for Precision Engineering in 2018, and the Commendation for Science and Technology by the Japanese Minister of Education in 2019, respectively.

      His current research interests are the applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries.

      Add to calendar

    • ICM 2023 Announcement

      Add to calendar

    • AMC 2022 Closing Ceremony

      Add to calendar