AMC 2022 Schedule

Chairs:
Prof. Sehoon Oh
Prof. Seiichiro Katsura

AMC22-000028 Zonotopic Kalman Observer-based Sensor Fault Estimation for Discrete-Time Takagi-Sugeno Fuzzy Systems

AMC22-000029 Design and Characterization of a Fully Integrated Continuum Robot Actuated by Shape Memory Alloy Wires

AMC22-000038 Performance Evaluation of a Gain-scheduled Propeller Thrust Controller Using Wind Velocity and Rotor Angular Velocity Under Fluctuating Wind

AMC22-000051 An Approach of Load-Side Disturbance Rejection Control for Series Elastic Actuators

AMC22-000079 Preliminary Analysis for Two-Degree-of-Freedom Magnetic Geared Screw Motor with High Torque Density

AMC22-000087 Experimental Verification of a Novel Continuously Variable Transmission with Electro-Hydrostatic Actuator

Chairs:
Prof. Sehoon Oh
Prof. Seiichiro Katsura

AMC22-000011 Input shaping for non-zero initial conditions and arbitrary input signals with an application to overhead crane control

Chairs:
Prof. Wen-Hua Chen
Prof. Naoki Motoi

AMC22-000058 Object Detection in Motion Reproduction System with Segmentation Algorithm

AMC22-000055 Probabilistic Camera-to-Kinematic Model Calibration for Long-Reach Robotic Manipulators in Unknown Environments

Chairs:
Prof. Wen-Hua Chen
Prof. Naoki Motoi

AMC22-000081 Path optimization for autonomous sediment scooping operations

AMC22-000096 Motion Generation Based on Physical Property Estimation in Motion Copy System

AMC22-000069 ECOset-ILC: an Iterative Learning Control Approach with Set-membership Uncertainty

AMC22-000045 Optimized Exponential Square Root Unscented Kalman Filter for State Estimation of Hydraulic Systems

Chairs:
Prof. Hiroshi Fujimoto
Prof. Mitsuo Hirata

AMC22-000003 Track-Following Control Using Resonant Filter for Dual-Stage-Actuator System in Hard Disk Drives

AMC22-000004 Design Strategy of Head Positioning Control System of HDD based on Amplitude Spectrum

AMC22-000030 Gaussian Process and Disturbance Observer Based Control for Disturbance Rejection

AMC22-000036 Frequency Response Data-based Multiple Peak Filter Design Applied to High-Precision Stage in Translation and Pitching

AMC22-000048 A study on reducing effect of temporal quantization error in pulse drive systems

AMC22-000088 Evaluation of Temperature Dependency for Displacement Estimation in Piezoelectric Stack Actuators

AMC22-000090 High Precision Machining Force Control of VCM-driven Deburring Equipment

Chairs:
Prof. Marina Indri
Prof. Paolo Boscariol

AMC22-000026 Imperfect Dynamic Modeling of Parallel Robots Eases the Crossing of Type-II Singularities

AMC22-000056 A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning

AMC22-000073 Improving the robustness in motion planning of flexible systems through structural modification: a case study

AMC22-000015 Model-Free Detection of Penetration and Automatic Stop Control in Dental Implant Surgery Based on Differential Value of Torque

Chairs:
Prof. Riccardo Antonello
Prof. Kazuaki Ito

AMC22-000002 Modeling of a Clamping-based Piezo Actuator in Triangular Configuration

AMC22-000054 Dynamic Model of a Piezoelectric Walking Drive

Chairs:
Roberto Oboe

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.

Chairs:
Prof. Daisuke Yashiro
Prof. Yuki Yokokura

AMC22-000039 Motion-Copying System with Compensation of Environmental Changes for Calligraphy Robot

AMC22-000062 Analysis and Comparison of Back-Forward Drivability Control Using Load-side Sensors for Human-Robot Interaction

AMC22-000076 Modeling of a Linear Variable Structured Elastic Actuator Considering Modal Transition of Electromagnetic Clutch

AMC22-000095 Force-based Two-channel Bilateral Control for Position/Velocity Controlled Robots

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.

Chairs:
Prof. Jan Swevers
Prof. Arne Wahrburg

AMC22-000020 Localization of pallets on shelves in a warehouse using a wide-angle camera

AMC22-000071 Negative Quadrant Glitch Suppression of Ball-screw-driven Stage by Initial Value Compensation with Additional Input

AMC22-000041 Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism

AMC22-000023 Shooting methods for identification of nonlinear state-space grey-box models

AMC22-000019 Motion Control for Aerial and Ground Vehicle Autonomous Platooning

AMC22-000010 Motion Control Auto-Tuning in Elevator

AMC22-000074 Improvement and Analysis of Position and Speed Estimator in Low Speed Range for IPMSM Based on Disturbance Observer

Chairs:
Prof. Toshiaki Tsuji
Prof. Toshiyuki Murakami

AMC22-000005 Performance Evaluation of Force Control and Reaction Force Estimation in Force Sensorless Hybrid Control for Workspace Based Controller

AMC22-000032 Design of Feedforward Controller Using Airframe's Velocity for Contact Force Control of Propeller Driven System

AMC22-000068 A Decoupling Scheme for Force Control in Cooperative Multi-Robot Manipulation Tasks

AMC22-000075 Performance Improvement of Bilateral Teleoperation with Hydraulic Actuator by Friction Compensation

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.

Chairs:
Prof. Takenori Atsumi
Prof. Shota Yabui

AMC22-000014 Peak Amplitude-Constrained Experiment Design for FRF Identification of MIMO Motion Systems

AMC22-000018 A corner smoothing approach for CNC machines based on $\eta^{3D}$-splines

Chairs:
Prof. Michael Ruderman
Dr. Max van Haren

AMC22-000022 Gaussian Process Position-Dependent Feedforward: With Application to a Wire Bonder

AMC22-000031 A Gaussian Process Approach to Multiple Internal Models in Repetitive Control

AMC22-000033 Control of an Overactuated Nanopositioning System with Hysteresis by Means of Control Allocation

AMC22-000053 Analysis of Power Amplifier Contribution to the Precision of Motion Systems

AMC22-000077 Generalization of ILC for fixed order reference trajectories using interpolation

AMC22-000080 Systematic feedback control design for scattered light noise mitigation in Virgo's MultiSAS

AMC22-000083 Robust Continuous Finite-Time Tracking Control with Finite-Time Observer for a Stewart Platform

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.

Chairs:
Prof. Sota Shimizu
Prof. Hiroshi Igarashi

AMC22-000078 Haptic Feedback Rover Navigation Based on Positional Gain Adjusting Bilateral Control

AMC22-000025 Sliding Mode Control with Disturbance Estimation for Underwater Robot

AMC22-000050 Evaluation of Torque-Sensorless Control for a Knee Exoskeleton Using Back-Drivable Actuators

AMC22-000043 Estimation of Jacobian Matrix without accelerometer on Omni-directional Mobile Walker

AMC22-000046 Evaluating the Equivalence between Nonlinear Friction and Backlash in Two-Inertia Systems

AMC22-000034 Analysis of the Relationship Between Calcium Ion Concentration Ratio and Behavior in Neural Activity of the Brain

AMC22-000035 Automatic Deceleration Detection System from Fetal Heart Rate obtained by CTG

Chairs:
Prof. Sota Shimizu
Prof. Hiroshi Igarashi

AMC22-000067 Development of Capacitive Coupled Electrocardiograph in the State of Wearing Clothes

Chairs:
Prof. Angelo Cenedese
Prof. Mikael Norrlof

AMC22-000006 Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives

AMC22-000013 A feedback control scheme for improving path accuracy of industrial manipulators based on gearbox output sensing

AMC22-000037 Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation

AMC22-000021 Multi-stage Optimal Control Problem Formulation for Drone Racing Through Gates and Tunnels

AMC22-000007 Development of a flexible link setup for an advanced linear control theory course

Chairs:
Prof. Francesco Biral
Prof. Wataru Ohnishi

AMC22-000024 Simplified Wheel Slip Modeling and Estimation for Omnidirectional Vehicles

AMC22-000093 An Optimal Torque Distribution Strategy Using Efficiency Maps of Front and Rear Drivetrain for Electric Vehicles

Chairs:
Prof. Emre Sariyildiz
Prof. Takahiro Nozaki

AMC22-000016 A Unified Robust Motion Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators

AMC22-000017 Design Constraints of Disturbance Observer-based Motion Control Systems are Stricter in the Discrete-Time Domain

AMC22-000044 Velocity and Attitude Control of Quadcopter with Suspended-payload using Disturbance Observer with Payload Inclination Suppression

AMC22-000089 Force Control at Arbitrary Position of Manipulator Based on Estimated Contact State by Force/Torque Sensor Installed at Base Frame

AMC22-000092 Recognition of Environmental Impedance Configuration by Neural Network Using Time-Series Contact State Response

Chairs:
Prof. Giulia Michieletto
Prof. Takahiro Nozaki

AMC22-000066 Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties

AMC22-000085 Estimating Environment Parameters for Teleoperation System with Time Delay

AMC22-000084 A New Artificial Potential Field Based Global Path Planning Algorithm for Mobile Robot Navigation

AMC22-000008 Operability Improvement of Human-Robot Collaboration by Human-Adaptive Impedance Control Based on Human Arm Stiffness Estimation

AMC22-000064 Towards a Low-Cost Robot Navigation Approach based on a RGB-D Sensor Network

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.