IEEE Catalog Number: ISBN:

CFP08532-PRT 978-1-4244-2286-9

2008 10th International Conference on Control Automation Robotics & Vision (ICARCV 2008)

Hanoi, Vietnam 17 – 20 December 2008

Pages 1-587

TABLE OF CONTENTS

Stability Margin of Control Systems with Fuzzy Parameters .........................................................................1Le Hung Lan

Closed Loop Power Control for DS-CDMA System by Using Linear Quadratic Regulator Algorithm .............................................................................................................................................................6

C. Wongsathan

Iterative Learning Control for a Class of Systems with Hysteresis ..............................................................10Tianjiang Hu, Danwei Wang, Lincheng Shen, Yalei Sun, Han Wang

Active Shimmy Damping Using Fuzzy Adaptive Output Feedback Control ...............................................16Gaétan Pouly, Thai-Hoang Huynh, Jean-Philippe Lauffenburger, Michel Basset

Adaptive Competitive Multiple Controllers for Systems with Unknown General Quadratic Objectives...........................................................................................................................................................23

Xiaohuan Tan, Jose B. Cruz

A Clsss of Adaptive Robust State Observers of Uncertain Nonlinear Time–Delay Systems ......................29Hansheng Wu

Simultaneous Stability of a Collection of Networked Control Systems with Uncertain Delays .................................................................................................................................................................35

Shi-Lu Dai, Hai Lin, Shuzhi Sam Ge, Xiaoyang Li

Kalman Filtering Over A Packet Dropping Network: A Probabilistic Approach ......................................41Ling Shi, Michael Epstein, Richard M. Murray

Synchronization of Dynamical Systems with Unreliable Communication Links ........................................47Zhongyang Fei, Huijun Gao

Improved Delay-Dependent Robust H? Filtering of Continuous-Time Polytopic Linear Systems with Time-Varying Delay...................................................................................................................53

Jianbin Qiu, Gang Feng, Jie Yang

Stabilization of Networked Multi-Input Systems with Channel Resource Allocation ................................59Guoxiang Gu, Li Qiu

A Survey on Pinning Control of Complex Dynamical Networks ..................................................................64Yan-Wu Wang, Changyun Wen

Torque Control of Dual Induction Motors Independent Drive for Tracked Vehicle..................................68Zhai Li, Sun Fengchun

Concurrent Design for Ultra-Precision Vibration Isolation Platform..........................................................73Yi Zhang, GuoFu Lian

A Suboptimal Control Strategy for the Start-up of the Open Plate Reactor ...............................................78Sener A. Kaya, S. A. Attia, J. Raisch

Brushless DC Motor Control Using Bit-Streams............................................................................................85Nitish Patel, Udaya Madawala

A Real-Time Model-Free Reconfiguration Mechanism for Fault-Tolerance: Application to a Hydraulic Process...........................................................................................................................................91

Joseph J. Yame, Dominique sauter

A Novel Algorithm for Unknown Periodic Disturbance Cancellation in HDDs ..........................................97Hui Li, Chunling Du, Youyi Wang

Converting 2D Soccer Video to 3D Cartoon .................................................................................................103VietAnh Ngo, Jianfei Cai

An Image-based Visual Servoing Scheme for Following Paths with Nonholonomic Mobile Robots...............................................................................................................................................................108

Andrea Cherubini, Francois Chaumette, Giuseppe Oriolo

Curvature Diffusion Evolution in Image Filtering .......................................................................................114Hong-nan Wang, Chun-xia Zhao, Hao-feng Zhang,Yong Hu, Ming-ming Sun

Using Spherical Moments for Visual Servoing from a Special Target with Unique Projection Center Cameras ............................................................................................................................119

Romeo Tatsambon Fomena, Francois Chaumette

Advanced Algorithms for Real-Time Video Tracking with Multiple Targets ...........................................125Artur Loza, Miguel A. Patricio, Jesus Garcia, Jose M. Molina

Combining Linear Vestibulo-Ocular and Opto-Kinetic Reflex in a Humanoid Robot.............................132Igor Labutov, Ravi Kaushik, Marek Marcinkiewicz, Jizhong Xiao, Simon Parsons, Theodore Raphan

Study of a Double Two-phase Induction Motor Drive System....................................................................138Bulai Wang, T. A. Lipo, Gu Wei, Jianxin Chu

Research on Output Force of Flexible Pneumatic Bending Joint ...............................................................144Shaoming Qian, Libin Zhang, Qinghua Yang, Guanjun Bao, Zhiheng Wang, Liyong Qi

Towards Fully-automated Micrograsping for Microassembly ...................................................................149Mohd Nashrul Mohd Zubir, Bijan Shirinzadeh, Yanling Tian

Safe Grasping in Presence of Multi Phase Friction......................................................................................155Habib Ahmadi, Mohamad Jafar Sadigh

Force/Moment Sensing During Sliding Motion Using a Micro Sensor Embedded in a Soft Fingertip...........................................................................................................................................................161

Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai

On Realistic Human Motion Simulation for Virtual Manipulation Tasks.................................................167V. Hue, J-Y. Fourquet, P. Chiron

Comprehensive Evaluation Method of Traditional Chinese Medicine Fingerprint Similarity Based on Fuzzy RBF Neural Network.........................................................................................173

Yun Yang, Yanjun Li, Xuefeng Zhu

Effect of Step Change of Water Supply Temperature on Heating Measurement System ........................179Fang Lide, Li Jinhai, Cao Suosheng, Kong Xiangjie

Error Analysis in Strapdown INS for Aircraft Assembly Lines .................................................................184Fabio Gomez-Estern, Francisco Gordillo

EMG-Moment Model of Human Arm for Rehabilitation Robot System ...................................................190Duong Minh Duc, Terashima Kazuhiko, Miyoshi Takanori

Detecting Load Failures using the Induction Motor as a Transducer........................................................196E. L. Bonaldi, L. E. L. Oliveira, J. G. Borges da Silva, G. Lambert-Torres, L. E. Borges da Silva

Development of Non Conventional System for HMF Detection in Indian Honey .....................................200Rohini P. Mudhalwadkar, A. A. Ghatol

Formation Tracking Control of Mobile Robots with Limited Sensing and without Velocity Measurements..................................................................................................................................................204

K. D. Do

Localization of Mobile Transmitters by Means of Linear State Estimation Using RSS Measurements..................................................................................................................................................210

Pubudu N. Pathirana, Adrian N. Bishop, Andrey V. Savkin

An Electromagnetic Energy Harvesting Circuits for Self-powered Wireless Sensor Network............................................................................................................................................................214

Ping Li, Yumei Wen, Pangang Liu, Xinshen Li, Chaobo Jia

Networked Biological System by Wireless Sensors ......................................................................................218P. Mariño, F.P. Fontán, M.A. Domínguez, S. Otero

Action/Perception-Oriented Robot Software Design: An Application in Off-road Terrain.....................223H. Schafer, M. Proetzsch, K. Berns

A Simple Method for Positioning and Tracking in Wireless Sensor Networks .........................................229Hai L. Vu, Tu T. Tran, Matthew De Luca

Output-Feedback Control for Uncertain Nonlinear Systems with Unmeasured States Dependent Growth ..........................................................................................................................................234

Fang Shang, Yungang Liu, Chenghui Zhang

A Generalized Asymmetric Play Hysteresis Operator for Modeling Hysteresis Nonlinearities of Smart Actuators .................................................................................................................240

Mohammad Al Janaideh, Chun-Yi Su, Subhash Rakheja

Robust Control for Axial-Flow Compressor – An Algorithm .....................................................................245Tiebao Yang, Chun-Yi Su, Xiang Chen, Henry Hu

A Survey on Topology Control in Wireless Sensor Networks .....................................................................251Xiaofang Li, Yingchi Mao, Yi Liang

An Embedded Structure of Model Reference Adaptive System .................................................................256Qiwen Yang, Yuncan Xue, Simon X. Yang, Qiuye Li, Rong Li, Max Q.-H Meng

New Results in Decentralized Adaptive Backstepping Stabilization of Nonlinear Interconnected Systems ..................................................................................................................................262

Wei Wang, Changyun Wen, Jing Zhou

Efficient Visual Memory Based Navigation of Indoor Robot with a Wide-field of view Camera .............................................................................................................................................................268

Jonathan Courbon, Youcef Mezouar, Laurent Eck, Philippe Martinet

Feedback Control of a Self-balancing Materials Handling Robot ..............................................................274Louwrens J. Butler, Glen Bright

A Robust Slip Estimation Method for Skid-Steered Mobile Robots...........................................................279Xiaojing Song, Lakmal D. Seneviratne, Kaspar Althoefer, Zibin Song

From Operational to Tactical Driving: A Hybrid Learning Approach for Autonomous Vehicles ............................................................................................................................................................285

Tran Xuan Phuoc Diem, Michel Pasquier

A Global Decentralized Control Strategy for Urban Vehicle Platooning using Monocular Vision and a Laser Rangefinder.....................................................................................................................291

P. Avanzini, E. Royer, B. Thuilot, P. Martinet

Teaching a Robot to Operate a Lift ...............................................................................................................297H Wang, Y. Ying, V. P. Dinh, B. Y. Xie, D. W. Wang, W. Wijiesoma, M. Adams

Property Compare of Two Active Power Controller in Wind Power Generation System .......................302Lan Li, Guang-yu Xiong

Reducing Transverse Motion of Marine Risers with Actuator Dynamics by Boundary Control .............................................................................................................................................................307

K. D. Do, J. Pan

Digital Wide Range Electronic Speed Governor on FPGA .........................................................................313Ning Xiao, Kai Shuang, Deguo Wang, Guanmin Liu

Study of Zenith Pass Problem of the Inter-satellite Linkage Antenna .......................................................317Zhai Kun, Baoyin Hexi

Some Conclusions on the Controllability of Linear Systems over F(z) in Frequency Domain.................323Guan-Min Liu, Kai-Sheng Lu, Ning Xiao

The Condition of Hopf Bifurcation Occurrence for Congestion Control System in Computer Networks with Communication Delay ........................................................................................329

Mohammad-Reza Jahed Motlagh, Behrooz Rezaie, Morteza Analoui, Siavash Khorsandi

Experimental Assessment of Wireless Sensor Network Localization Techniques.....................................335Jyh-Ching Juang, Ta-Keng Weng, Pham Viet Cuong, Chang-Yi Hsu, Yi-Hsueh Lee, Sin-Hua Su

Visual Topological Mapping and Localisation using Colour Histograms..................................................341Felix Werner, Joaquin Sitte, Frederic Maire

Template Generation for Self-Position Estimation by Genetic Algorithm with Indirect Fitness Inference..............................................................................................................................................347

Kae Doki, Kenji Ohkuma, Akihiro Torii, Akiteru Ueda

Detecting Spurious Features using Parity Space ..........................................................................................353David Tornqvist, Thomas B. Schon, Fredrik Gustafsson

Collaborative Robots for Indoor Environment Exploration .......................................................................359Jose Alberto Mendez-Polanco, Angelica Munoz-Melendez

SLAM Process using Polynomial Extended Kalman Filter: Experimental Assessment ...........................365François Chanier, Paul Checchin, Christophe Blanc, Laurent Trassoudaine

Odor Source Localization in Complicated Indoor Environments ..............................................................371Zhenzhang Liu, Tien-Fu Lu

A Vision-based Intelligent Path Following Control of a Four-wheel Differentially Driven Skid Steer Mobile Robot.................................................................................................................................378

V. Nazari, M. Naraghi

Improving Path Planning and Mapping Based on Stereo Vision and Lidar..............................................384Peyman Moghadam, Wijerupage Sardha Wijesoma, Dong Jun Feng

Route Scheduling Approach for Airport Snow Shoveling using Formations of Autonomous Ploughs .............................................................................................................................................................390

Martin Saska, Martin Hess, Klaus Schilling

Complexity Study of Guaranteed State Estimation Applied to Robot Localization .................................398Emmanuel Seignez, Alain Lambert

A Fast Monte Carlo Algorithm for Collision Probability Estimation ........................................................406Alain Lambert, Dominique Gruyer, Guillaume Saint Pierre

Location of Iris Based on Circular and Linear Filters.................................................................................412Nguyen van Huan, Nguyen Thi Hai Binh, Hakil Kim

Score-level Fusion in Multiple Biometrics using Non-linear Classification ...............................................417Jihyeon Jang, Hakil Kim

Illuminated Face Normalization Technique by Using Wavelet Fusion and Local Binary Patterns ............................................................................................................................................................422

Andrew B. J. Teoh, Y. Z. Goh, Michael Goh

Face Recognition Based on Neighbourhood Discriminant Preserving Embedding ..................................428Andrew Beng Jin Teoh, Pang Ying Han

Robust Fusion Using Boosting and Transduction for Component-Based Face Recognition....................434Fayin Li, Harry Wechsler, Massimo Tistarelli

A Method to Combine Visual and Infrared Face Image Verification Systems..........................................440Byung-Gue Choi, Youngsung Kim, Kar-Ann Toh

Modeling Piezoelectrically Driven Micro/Nanopositioning Systems with High Operating Frequency ........................................................................................................................................................446

Dong Zhang, Chengjin Zhang, Qiang Wei, Li Cheng

3D Estimation of road Cartography using Vehicle Localization and Observers.......................................451Y. Sebsadji, N. Benmansour, S. Glaser, S. Mammar, D. Aubert, D. Gruyer

Descriptor System Approach for Designing Sliding Mode Functional Observers with Unknown Inputs ..............................................................................................................................................458

N.Nikraz, T. Fernando, S. Alahakoon

Battery State-of-charge Estimation based on H? Filter for Hybrid Electric Vehicle................................464Jingyu Yan, Guoqing Xu, Yangsheng Xu, Benliang Xie

Low-Complexity Max-Product Algorithms for Problems of Multiple Fault Diagnosis ............................470Tung Le, Christoforos N. Hadjicostis

Identification of Initial Rotor Position of a Micro-PMSM ..........................................................................476Jing Zhang, Ningning Wu

Applications of a Web Direct-Access Model Integrated for Underwater Ultrasonic Measurements in a Tank ................................................................................................................................482

Ken Ishii, Kouichi Sawada, Yoshimi Takao

Model-Based Networked Control System Stability Based on Packet Drop Distributions ........................488Lanzhi Teng, Peng Wen, Wei Xiang

Modeling and Analysis of Networked Control Systems with Network-Induced Delay and Multiple-Packet Transmission .......................................................................................................................494

Yuqing Li, Huajing Fang

Research and Improvement of Pre-Decode Pattern Matching Circuit ......................................................499Li Tian, SuYing Yao

Coordination Strategies for Networked Control Systems: A Power System Application ........................503Alessandro Casavola, Giuseppe Franze

The Back-End of the ATLAS Detector Control System ..............................................................................509S. Schlenker, H. J. Burckhart, J. Cook, V. Filimonov, S. Franz, O. Gutzwiller, V. Khomutnikov

Achievable Safety of Driverless Ground Vehicles ........................................................................................515Rodrigo Benenson, Thierry Fraichard, Michel Parent

Efficient Architecture for Collision Detection between Heterogeneous Data Structures .........................522Jesse Himmelstein, Guillaume Ginioux, Etienne Ferré, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond

High Level Sensor Data Fusion for Automotive Applications using Occupancy Grids ............................530Ruben Garcia, Olivier Aycard, Trung-Dung Vu, Malte Ahrholdt

Dynamics Analysis of A Redundant Parallel Manipulator Driven By Elastic Cables ..............................536Y. Babazadeh Bedoustani, H. D. Taghirad, M. M. Aref

Robust Tracking Control of 4-SPS(PS) Type Parallel Manipulator Via Adaptive Fuzzy Logic Approach ...............................................................................................................................................543

Dachang Zhu, Jinbao Cai, Yuefa Fang

Sliding Mode Fuzzy Control of a Skid Steer Mobile Robot for Path Following........................................549V. Nazari, M. Naraghi

Optimization of PID Controllers for a Flexible Robot Manipulator Using Metamodeling Approach..........................................................................................................................................................555

M. S. Mohamed Ali, S. S. Abdullah, Z. Mohamed, M. A. Ahmad

Multi-period Decision for HRP of an Employee Leasing Center with One Type of Employees ........................................................................................................................................................560

Mei Han, Junqing Sun

Application of Eitelberg’s Method for PI Controllers via Particle Swarm Optimization ........................566Deacha Puangdownreong, Supaporn Suwannarongsri

Stability Evaluation of an Electromagnetic Contactor during Voltage Sag...............................................571Chieh-Tsung Chi, Shih-An Yin

Fuzzy Supervisory PI Control of a Binary Distillation Column via Distributed Control Systems .............................................................................................................................................................577

Poramade Cheingjong, Suvalai Pratishthananda

Computing the Cost of Multiplexed MPC.....................................................................................................582K. V. Ling, J. M. Maciejowski, B. F. Wu

Design and Simulation of Wireless, Walking Scratch-Drive Micro-Robot ................................................588Eakkasit Dumsong, Nitin Afzulpurkar, Adisorn Tuantranont, Chumnarn Punyasai

Optimizing Maximum Velocity of Fish Robot Using Hill Climbing Algorithm and Genetic Algorithm .........................................................................................................................................................593

Tuong Quan Vo, Byung Ryong Lee, Hyoung Seok Kim, Hyo Seung Cho

Stiffness Estimation of the Flexure-based Five-bar Micro-manipulator....................................................599Yanling Tian, Bijan Shirinzadeh, Dawei Zhang

Initial Experiments of a Needle-Holding Robot for Microwave Ablation Therapy ..................................605Shuangcheng Deng, Lipei Jiang, Yingyu Cao, Ping Liang, He Ren, Yang Wang, Tong Lu

Polynomial Based Approach in Analysis and Detection of Surgeon’s Motions .........................................611J. Jakubiak, S. Nomm, J. Vain, F. Miyawaki

Robotic Motion Compensation for Beating Intracardiac Surgery .............................................................617Shelten G. Yuen, Daniel T. Kettler, Robert D. Howe

Automatic Building Detection in Aerial and Satellite Images .....................................................................623Parvaneh Saeedi, Harold Zwick

A Clustering Method by Code Vectors Considering Attractive and Repulsive Force Based on Maximum Distance of k Neighbors ..........................................................................................................630

Hiroki Imamura, Makoto Fujimura, Hideo Kuroda

Looking at the Surprise: Bottom-Up Attentional Control of an Active Camera System..........................637Tingting Xu, Quirin Muhlbauer, Stefan Sosnowski, Kolja Kuhnlenz, Martin Buss

Learning Informative Point Classes for the Acquisition of Object Model Maps ......................................643Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz

A Coupled Implicit Shape-Based Deformable Model for Segmentation of MR Images ...........................651Mahshid Farzinfar, Eam Khwang Teoh, Zhong Xue

Image Clustering By Incorporating Adaptive Spatial Connectivity...........................................................657Zhimin Wang, Qing Song, Yeng Chai Soh, Kang Sim

Archaeology via Underwater Robots: Mapping and Localization within Maltese Cistern Systems .............................................................................................................................................................662

Christopher M. Clark, Christopher S. Olstad, Keith Buhagiar, Timmy Gambin

Nonlinear Optimal Control of an AUV and its Actuator Failure Compensation......................................668Mehmet Selcuk Arslan, Naoto Fukushima, Ichiro Hagiwara

Fast Algorithm for UGV Wheel-Terrain Interaction Analysis ...................................................................674T. H. Tran, Q. P. Ha

Proposition of New Control Method of Eel-like Swimming Robot for Swimming in Narrow Water Ways .....................................................................................................................................................681

Shunsuke Imai, Hiroshi Mizoguchi, Eiichi Inagakii

An Automated Platform for Minirobots Experiments.................................................................................685U. Witkowski, Emad Monier, U. Rückert, Sally El Ghoul, M. S. El-Ghoniemy, M. S. Abdel Wahab, A. Fouad, A. Hussein, A. Kamal, M. Abdel-Meniem, W. Abo El Khair

Tether Tracking and Control of ROSA Robotic Rover ...............................................................................689Jamshed Iqbal, Seppo Heikkilä, Aarne Halme

A Novel Fragments-based Tracking Algorithm using Mean Shift .............................................................694Fanglin Wang, Shengyang Yu, Jie Yang

Multiple Target Tracking with an Efficient Compact Colour Correlogram .............................................699Pankaj Kumar, Anthony Dick, Michael J. Brooks

Performance Evaluation of Re-Acquisition Methods for Public Transport Surveillance ........................705Valerie Leung, James Orwell, Sergio A. Velastin

On Intelligent Surveillance Systems and Face Recognition for Mass Transport Security .......................713Brian C. Lovell, Shaokang Chen, Abbas Bigdeli, Erik Berglund, Conrad Sanderson

Passenger Monitoring in Moving Bus Video.................................................................................................719Wilson S. Leoputra, Svetha Venkatesh, Tele Tan

Pedestrian Detection for Mobile Bus Surveillance .......................................................................................726Wilson S. Leoputra, Svetha Venkatesh, Tele Tan

Reinforcement Fuzzy-Neural Adaptive Iterative Learning Control for Nonlinear Systems....................733Ying-Chung Wang, Chiang-Ju Chien, Der-Tsai Lee

Iterative Learning Control with Reference Batch for Linear Time-Variant Systems ..............................739Hui Geng, Zhihua Xiong, Yongmao Xu, Jie Zhang

Batch to Batch Iterative Learning Control of A Fed-batch Fermentation Process Using Linearised Models ...........................................................................................................................................745

Jie Zhang, Jerome Nguyan, Julian Morris, Zhihua Xiong

Error Propagation Suppression in Self-servo Track Writer by Time-domain Control Design ...............................................................................................................................................................751

Sehoon Oh, Yoichi Hori

Stability of Discrete-time Iterative Learning Control with Random Data Dropouts and Delayed Controlled Signals in Networked Control Systems........................................................................757

Hyo-Sung Ahn, Kevin L. Moore, YangQuan Chen

Design of Dynamic Periodic Adaptive Learning Controller for Long-term Cogging Effect Compensation ..................................................................................................................................................763

Ying Luo, YangQuan Chen, Hyo-Sung Ahn, Youguo Pi

Multirate Iterative Learning Control Schemes ............................................................................................769Bin Zhang, Danwei Wang, Yongqiang Ye, Yigang Wang, Keliang Zhou

Automatic Defects Classification with p-median Clustering Technique ....................................................775Denis Sidorov, Wong Soon Wei, Igor Vasilyev, Saverio Salerno

A Unified Architecture for the Detection and Classification of License Plates..........................................781Martin Johnson

Development of Glass Bottle Inspector Based on Machine Vision..............................................................785Huanjun Liu, Yaonan Wang

Recognition Technique for Character Cube Stacking Robot......................................................................791Chyi-Yeu Lin, Chia-Lun Hsueh

Simple Linear Vision Module for Micro Mobile Robot Applications.........................................................797Gesuri Ramirez-Garcia, Angelica Munoz-Melendez, Hector S. Vargas-Martinez

On the Problem of Classifying Vietnamese Online Handwritten Characters............................................803Duy Khuong Nguyen, The Duy Bui

Log-Polar Transform in 3D Environment ....................................................................................................809Takayuki Nakata, Yue Bao

Non-Commutative Determinants in Nonlinear Control Theory: Preliminary Ideas ................................815U. Kotta, A. Leibak, M. Halas

A Novel Fast Noise Robust Vietnamese Speech Recognition Applied for Robot Control ........................821Phung Trung Nghia, Thai Quang Vinh

Electrostatic Suspension System Using Bang-Bang Time Optimal Control and Stability Analysis ............................................................................................................................................................827

Truyen Le The, Jong Up Jeon

Evolutionary Trained Radial Basis Function Networks for Robot Control ..............................................833Petra Vidnerova, Stanislav Slusny, Roman Neruda

Synchronization and More Intelligent Control in Teleoperation Process on Skid Steered Mobile Machine ...............................................................................................................................................839

Javier Moya, Kalevi Huhtala

Robust Predictive Control of Satellite Formations ......................................................................................844Ajay Gautam, Yeng Chai Soh, Yun-Chung Chu

An Approach to The Functions Approximation Problems by Mamdani Fuzzy System...........................850Bui Cong Cuong, Hoang Viet Long

Multi-Scale Image Contrast Enhancement ...................................................................................................856V. Vonikakis, I. Andreadis

Image Processing Techniques for Quality Inspection of Gelatin Capsules in Pharmaceutical Applications .........................................................................................................................862

M. J. Islam, M. Ahmadi, M. A. Sid-Ahmed

Image Processing of Particle Detection for Asbestos Qualitative Analysis Support Method ...................868Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, Hiroshi Mizoguchi

An Efficient Method for Content based Image Retrieval using Histogram Graph...................................874Nguyen Huu Quynh, Ngo Quoc Tao, Ngo Truong Giang

An Approach of Canny Edge Detection with Virtual Hexagonal Image Structure ..................................879Xiangjian He, Wenjing Jia, Qiang Wu

A New Pixel-Chaotic-Shuffle Method for Image Encryption......................................................................883H. H. Nien, S. K. Changchien, S. Y. Wu, C. K. Huang

Goal Event Detection in Broadcast Soccer Videos by Combining Heuristic Rules with Unsupervised Fuzzy C-Means Algorithm .....................................................................................................888

Yina Han, Guizhong Liu, Gerard Chollet

Mode Tracking and FDI of Hybrid Systems.................................................................................................892Shai A. Arogeti, Danwei Wang, Chang Boon Low

Ant Colony Optimization and Mutual Information Hybrid Algorithms for Feature Subset Selection in Equipment Fault Diagnosis........................................................................................................898

Junhong Zhou, Ruisheng Ng, Xiang Li

Self-organized Manufacturing Resource Management: An Ant-colony Inspired Approach ...................904R. Zhou, G. Chen, Z. H. Yang, M. Luo, J. B. Zhang, C. H. Tan

Semantic Enhanced Rule Driven Workflow Execution in Collaborative Virtual Enterprise ..................910Wei Ren, Gang Chen, Zhonghua Yang, Junhong Zhou, Jing Bing Zhang, Chor Ping Low, David Chen, Chengzheng Sun

Finite-time Consensus Algorithm of Multi-agent Networks........................................................................916Suiyang Khoo, Lihua Xie, Zhong Yu, Zhihong Man

Agent-based Service-Oriented Dynamic Resource Allocation ....................................................................921Chak-Huah Tan, Yi-Zhi Zhao, Ming Luo, Somchaya Liemhetcharat, Jing-Bing Zhang, Ming-Mao Wong, Junhong Zhou

Detecting Tool Breakage Using Accelerometer in Ball-nose End Milling ..................................................927Sheng Huang, Dan Hong Zhang, Wai Yie Leong, Hian Leng Chan, Kiah Mok Goh, Jing Bing Zhang

Production Scheduling based on Tabu and Scatter Search Techniques with an Heuristic Approach..........................................................................................................................................................934

Matteo Mario Savino

An Efficient Illumination Compensation based on Plane-fit for Face Recognition...................................939Chao Wang, Yongping Li, Chengbo Wang

Efficient Face Recognition with a Large Database.......................................................................................944Siu-Hong Tse, Kin-Man Lam

On Biometric Encryption using Fingerprint and its Security Evaluation .................................................950Seira Hidano, Tetsushi Ohki, Naohisa Komatsu, Masao Kasahara

Text-Indicated Speaker Recognition Using Kernel Mutual Subspace Method .........................................957Masatsugu Ichino, Hitoshi Sakano, Naohisa Komatsu

Fake Finger Detection Using An Electrotactile Display System .................................................................962Wei-Yun Yau, Hai-Linh Tran, Eam-Khwang Teoh

A Systematic Topological Method for Fingerprint Singular Point Detection............................................967H. K. Lam, Z. Hou, W. Y. Yau, T. P. Chen, J. Li

Delay-dependent Stability Analysis for Two- dimensional Discrete Systems with Shift Delays by the General Models ........................................................................................................................973

Shuxia Ye, Yun Zou, Weiqun Wang, Juan Yao

New Smith Predictor Control Using Disturbance Observer for Steam Superheater and Steam Pressure of the Boiler ..........................................................................................................................979

Soonyoung Lee, Yonghwan Shin, Eunsung Jang, Hwi-Beom Shin

Design of Sliding Mode Functional Observers for Time-Delay Systems of Neutral Type ........................982S. Alahakoon, Tyrone Fernando, N. Nikraz

Optimal Vibration Control for Active Suspension Sampled-Data Systems with Actuator and Sensor Delays ...........................................................................................................................................988

Jing Lei, Gong-You Tang

Stability Analysis of 2-d Discrete Delayed Systems Decoupled by Means of Feedback Control .............................................................................................................................................................994

Guido Izuta

Relaxed Delay-Dependent Stabilization Conditions for Discrete-Time Fuzzy Systems with Time Delays .....................................................................................................................................................999

Sung Hyun Kim, Chang Hee Lee, PooGyeon Park

Mixed State Estimation for a Linear Gaussian Markov Model ................................................................1005Argyrios Zymnis, Stephen Boyd, Dimitry Gorinevsky

Sliding Mode Functional Observers ............................................................................................................1012T. Fernando, V. Sreeram, B. Bandyopadhyay

Estimation of a Nacelle Dynamic Motion of a Wind Turbine ...................................................................1017Yoonsu Nam, Taejun Yoon, Kyoseon Kim, Pham Hung Cuong

Anomaly Detection with Bounded Nuisance Parameters and Safe Train Navigation ............................1021Fouzi Harrou, Lionel Fillatre, Igor Nikiforov

A New Hybrid Filter for Power Quality Improvement in Unbalanced Load Conditions.......................1027H. Dalvand, M. T. Nguyen, N. M. Kwok, Q. P. Ha

Aircraft Local Wind Estimation From Radar Tracker Data ....................................................................1033Daniel Delahaye, Stephane Puechmorel

Irreducibility and Reduction of Nonlinear Control Systems: Unification and Extension via Pseudo-Linear Algebra .................................................................................................................................1039

U. Kotta, P. Kotta, M. Halas

Modular Design of Adaptive Tracking for a Class of Stochastic Nonlinear Systems .............................1044Jun Wang, Tao Cai, Yu Kang

Modular Design of Adaptive Controller for Strict-feedback Stochastic Nonlinear Systems with Uncertain Wiener Noise .......................................................................................................................1049

Jun Wang, Tao Cai, Yu Kang

Analysis of Discrete and Hybrid Stochastic Systems by Nonlinear Contraction Theory .......................1054Quang-Cuong Pham

Fault Diagnosis For A Class Of Linear Discrete-Time Systems Based On Adaptive Algorithm .......................................................................................................................................................1060

Rui Kan, Jian-liang Wang

A New Sliding-Mode Based Control Design for Induction Motors Propelling Electric Vehicle Drives ................................................................................................................................................1066

Afef Fekih

A Collaborative Filtering Algorithm Based on Users’ Partial Similarity ................................................1072Faqing Wu, Liang He, Weiwei Xia, Lei Ren

A Dynamic Trust Evaluation Algorithm based on Subjective Logic in Pervasive Computing Environment ..............................................................................................................................1078

Yan Yang, Liang He, Xueming Cai

Adaptive Video Watermarking Algorithm Based on MPEG-4 streams ..................................................1084Yong Ma, Yu-min Tian, Yun-hui Qu

Super Resolution Based on Simultaneous Registration and Reconstruction ...........................................1089Yuan Zhi, Yan Peimin, Li Sheng, Shen Juxia, Huang Yuhui

Scene Segmentation based on Video Structure and Spectral Methods ....................................................1093Zhenyuan Zhang, Bin Li, Hong Lu, Xiangyang Xue

Road-surface Abstraction using Ladar Sensing .........................................................................................1097Xia Yuan, Chun-xia Zhao, Yun-fei Cai, Haofeng Zhang, De-bao Chen

Study of Neural Network Motion Control of Piezoelectric Actuation Systems for Micro/Nano Manipulation ............................................................................................................................1103

Hwee Choo Liaw, Bijan Shirinzadeh

A Fuzzy Neural Network Feedback Active Noise Controller ....................................................................1109Huynh Van Tuan, Duong Hoai Nghia

Modelling Air-Pollution Problem by Cellular Neural Network................................................................1115Vu Duc Thai, Pham Thuong Cat

Model Reference Control of Nonlinear Systems by Dynamic Output Feedback Linearization of Neural Network based ANARX Models .........................................................................1119

Eduard Petlenkov

Assessing the Health of Patients from their Trend Variability of Vital Signs with an Artificial Neuromolecular System ...............................................................................................................1124

Shou-Wei Chien, Wei-Chang Lee, Jong-Chen Chen, Jin-Chyr Hsu

Real-time Reconstruction of Symmetrical Image using Cellular Neural Network .................................1128Pham Duc Long, Pham Thuong Cat

Incorporating User Quality for Performance Improvement in Hand Identification ..............................1133Ajay Kumar, David Zhang

Automatic Remote Evaluation System for Biometric Testing...................................................................1137Raul Sanchez-Reillo, Raul Alonso-Moreno, Adam Czajka, Young-Bin Kwon

An Adaptive Multi-biometric Incremental Fusion Strategy in the Context of BMEC 2007 ..................1144Lorene Allano, Sonia Garcia-Salicetti, Bernadette Dorizzi

Graph Application on Face for Personal Authentication and Recognition..............................................1150Dakshina Ranjan Kisku, Ajita Rattani, Massimo Tistarelli, Phalguni Gupta

Effects of Watermarking on Iris Recognition Performance......................................................................1156Jing Dong, Tieniu Tan

A Family of Methods for Quality-based Multimodal Biometric Fusion using Generative Classifiers .......................................................................................................................................................1162

Norman Poh, Josef Kittler

Study on the Application of a Rule-based Fuzzy Evaluation in Predicting the Rock Burst ...................1168Weidong Liu, Enjie Ding, Xiaojing Meng, Yun Yang

Simulation of Workflow Scheduling Strategies Using the MAST Test Management System ................1172Munir Merdan, Thomas Moser, Dindin Wahyudin, Stefan Biffl, Pavel Vrba

A New Failure Detection Method and its Application in Leak Monitor of Pipeline ...............................1178Junhua LI, Wenbai LIU, Zhaochen SUN, Li CUI

Privacy-Preserving Self-Localization Techniques in Next Generation Manufacturing..........................1183M. Eissele, T. Ertl, D. Lucke, E. Westkämper, O. Siemoneit

Adaptive Inferential Feed-Forward Control Algorithm and Application with Reduced Model..............................................................................................................................................................1189

Junjie Gu, Luanying Zhang, Zhiming Qin

Decentralized Fault Diagnosis System Using ICA in a Complex Chemical Process ...............................1194Peyman Akhlaghi, Amir Reza Kashanipour, Karim Salahshoor

Improving Rao-Blackwellised Genetic Algorithmic Filter SLAM Through Genetic Learning .........................................................................................................................................................1200

Dong Jun Feng, Wijerupage Sardha Wijesoma

Genetic Trajectories Control Planning for Teams of Quasi-robot Ships .................................................1206Jose M. Giron-Sierra, Santiago Cifuentes, Juan F. Jimenez

An Experiment on Squad Navigation of Human and Robots....................................................................1212L. Nomdedeu, J. Sales, E. Cervera, J. Alemany, R. Sebastia, J. Penders, V. Gazi

An Integrated Software-based Solution for Modular and Self-independent Networked Robot ..............................................................................................................................................................1219

I. Firmansyah, Z. Akbar, B. Hermanto, L. T. Handoko

Analysis on Nonlinear Feedback Controls for Differential Mobile Robots and its Application to Multi-robot Formation Control – Part One.......................................................................1224

Jie Wan, Peter Chen

3D Map Construction Using Heterogeneous Robots..................................................................................1230Ravi Kaushik, Yi Feng, William Morris, Jizhong Xiao, Zhigang Zhu

An Improved Markov-Based Localization Approach by Using Image Quality Evaluation ...................1236Jose A. Gamez, Ismael Garcia-Varea, Jesus Martinez-Gomez

Observability Analysis of SLAM Using Fisher Information Matrix ........................................................1242Zhan Wang, Gamini Dissanayake

SLAM with Conceptualisation .....................................................................................................................1248Mee-Loong Yang, Wai Kiang Yeap

Robot Path Planning in Dynamic Environments Using a Simulated Annealing Based Approach........................................................................................................................................................1253

Hui Miao, Yu-Chu Tian

TDOA Based Transmitter Localization with Minimum Number of Receivers and Power Measurements................................................................................................................................................1259

Somaieh Beladi, Pubudu N. Pathirana

Performance Testing of a 2 Loop RLC WM Inverter-Fed Induction Motor Drive ................................1265S. A. Saleh, M. A. Rahman

Clutter-aware Dynamic Projection System Using a Handheld Projector ................................................1271Thitirat Siriborvornratanakul, Masanori Sugimoto

A Model Driven 3D Lane Detection System using Stereovision................................................................1277Nabil Benmansour, Raphael Labayrade, Didier Aubert, Sebastien Glaser, Dominique Gruyer

An Effective Dissolve Detection Approach with Temporal and Spatial Considerations ........................1283Wang Yao, Guangtao Zhai, Jianfei Cai

Video Object Error Coding Method Based on Compressive Sensing.......................................................1287Honglin Huang, Anamitra Makur, Divya Venkatraman

Motion Level Control in Reconstruction of 3D Human Translation ........................................................1292Li Zhang, Ling Li

Gaining Colour Stability in Live Image Capturing....................................................................................1298Guy K. Kloss, Napoleon H. Reyes, Martin J. Johnson, Ken A. Hawick

Road Region Segmentation Based on Sequential Monte-Carlo Estimation.............................................1305Zdenek Prochazka

A Hardware System for Extracting Canonical Faces from Exemplar Images ........................................1311Tele Tan, Yaser Abou Elenein, Roberto Mariani

Shadow-less Segmentation of Moving Humans from Surveillance Video Sequences .............................1317Divya Venkatraman, Anamitra Makur

Detecting Local Features in Complex Images: A Combination of Hough Transform and Moment-based Approximations...................................................................................................................1323

Andrzej Sluzek

Active Estimation of Friction Properties with Haptic Vision ....................................................................1329Dai Yamashiro, Shiro Tanaka, Hiromi T. Tanaka

Multi Features Models for Robust Lip Tracking .......................................................................................1333Quoc Dinh Nguyen, Maurice Milgram, Thi-Hoang-Lan Nguyen

Palmprint Identification Using Sobel Operator .........................................................................................1338Kie Yih Edward Wong, Ali Chekima, Jamal Ahmad Dargham, G. Sainarayanan

Evaluation Methodology for Analyzing Environment Influence in Biometrics.......................................1342Belen Fernandez-Saavedra, Raul Sanchez-Reillo, Raul Alonso-Moreno, Robert Mueller

Performances of the Likelihood-ratio Classifier based on Different Data Modelings ............................1347C. Chen, R. N. J. Veldhuis

A Codeword-based Indexing Scheme for Fingerprint Identification .......................................................1352Thi Hoi Le, The Duy Bui

Empowering the End-user in Biometrics ....................................................................................................1357Ben Schouten, Albert Ali Salah

A Large Scale Footstep Database for Biometric Studies Created using Cross Biometrics for Labelling ........................................................................................................................................................1361

Ruben Vera-Rodriguez, Richard P. Lewis, John S. D. Mason, Nicholas W. D. Evans

Controlling Diurnal Rhythms by Light.......................................................................................................1367Bijoy K. Ghosh, Himadri B. Pakrasi, Thanura R. Elvitigala

Nonlinear Predictive Control for Continuous Microalgae Cultivation Process in a Photobioreactor .............................................................................................................................................1373

G. Becerra-Celis, G. Hafidi, S. Tebbani, D. Dumur, A. Isambert

Adaptive Control of Infusion Pump for Type-I Diabetes Control Using A Self-Tuning Regulator........................................................................................................................................................1379

William Goh, Michel Pasquier, Chai Quek

Characterization of Neuro-Musculoskeletal Model with Spinal Reflex Regulation................................1385L. Lan, C. Y. Wen, K. Y. Zhu, L. H. Jin

Modeling Diurnal Rhythms With an Array of Phase Dynamic Oscillators .............................................1391Wenxue Wang, Himadri B. Pakrasi, Bijoy K. Ghosh

Model Predictive Control of a Nonlinear Fed-Batch Fermentation Process............................................1397Ahmad Ashoori, Amir Hosein Ghods, Ali Khaki-Sedigh, Mohammad Reza Bakhtiari

Harmonic Control Based on Hadamard Product LMI Approach............................................................1401Xinjin Liu, Yun Zou

Robust Controller Design for Networked Control Systems with Uncertain Time Delays ......................1407Saba Salehi, Lihua Xie, Wenjian Cai

Connections between Quantized Feedback Control and Quantized Estimation .....................................1413Minyue Fu, Lihua Xie, Weizhou Su

Robust Fault Estimation for Networked Systems ......................................................................................1418Xiaofang Zha, Jingxin Zhang, Ran Yang

Tracking Performance Limitation of a Linear MISO Unstable System with Quantized Control Signals ..............................................................................................................................................1424

Tian Qi, Weizhou Su

Optimization of Intelligent Control for Hydraulic Servo System using Novel Evolutionary Algorithm .......................................................................................................................................................1430

Muhammad Babar Nazir, Shaoping Wang

Trinocular Matching Realized by A Monocular Stereovision Sensor for Parallel Manipulator ...................................................................................................................................................1436

Kuang-rong Hao, Yong-sheng Ding

A New Modeling Method for Nonlinear Rate-Dependent Hysteresis System Based on LS-SVM................................................................................................................................................................1442

Wei Lei, Jianqin Mao, Yanhua Ma

Dynamic Modeling of the Active Vibration Isolation Module with Magnetostrictive Actuators........................................................................................................................................................1447

Yanlei Gao, Chao Li, Lin Li

Fully Adaptive Feedforward Decentralized Control for 6-Degree-of-Freedom Parallel Robot ..............................................................................................................................................................1453

Dongya Zhao, Shaoyuan Li, Feng Gao

An Online Intelligent Modeling Method for Rate-dependent Hysteresis Nonlinearity...........................1458Zhenkai Guo, Jianqin Mao

Cooperative Avoidance Control for UAVs..................................................................................................1462Christopher G. Valicka, Dušan M. Stipanovic, Stefan R. Bieniawski, John Vian

Robust Minimum Entropy Tracking Control with Guaranteed Stability for Nonlinear Stochastic Systems under Modeling Errors ................................................................................................1469

Liping Yin, Lei Guo, Hong Wang

A Frequency Response Parametrization of All Stabilizing Controllers for Discrete Time Systems ...........................................................................................................................................................1475

L. H. Keel, S. P. Bhattacharyya

Advances in Stochastic Distribution Control..............................................................................................1479Aiping Wang, Lei Guo, Hong Wang

Robust Stability of Delay Systems with Rank-One Uncertainty ...............................................................1484Xin Yu, Yongyong Li

Observer-based Robust Reliable H? Control for Uncertain Time-delay Discrete-time Systems in the Presence of Sensor Failure ..................................................................................................1489

Wu Wang, Fenghuang Cai, Fujun Cui, Fuwen Yang

Multiobjective Fixed-Order Controllers for MIMO Systems ...................................................................1494Qiongbin Lin, Fuwen Yang

Using Dynamic Programming to Match Human Behavior Sequences .....................................................1498Yan Chen, Qiang Wu, Xiangjian He

Robotic Companion Lead the Way! ............................................................................................................1504Carlos Antonio Acosta Calderon, Rajesh Elara Mohan, Changjiu Zhou

Particle Swarm Based Stereo Algorithm and Disparity Map Evaluation ................................................1511Haofeng Zhang, Chunxia Zhao, Zhenmin Tang, Jingyu Yang

Development of User Interface with Single Switch Scanning for Robot Arm to Help Disabled People Using RT-Middleware ......................................................................................................1515

Yujin Wakita, Natsuki Yamanobe, Kazuyuki Nagata, Noriaki Ando, Mathias Clerc

Stereo Vision based Intuitive Posture Input System using a Portable Color Marked Puppet ...............1521Jae Byung Park

Trophallaxis in Robotic Swarms - Beyond Energy Autonomy .................................................................1526Henrik Schioler, Trung Dung Ngo

Aircraft Fuel Management Reconfigurable System with Smart Components for Distributed Decision......................................................................................................................................1534

Jose M. Giron-Sierra, Santiago Cifuentes, Juan F. Jimenez, M. Seminario, C. Insaurralde

A Switch Controller Design for the Acrobot Using Neural Network and Genetic Algorithm................1540Sam Chau Duong, Hiroshi Kinjo, Eiho Uezato, Tetsuhiko Yamamoto

Development of Fuzzy-Logic-Based Self Tuning PI Controller for Servomotor .....................................1545Oyas Wahyunggoro, Nordin B. Saad

Neuro-Fuzzy Controller for Reverse Link Power Control of DS-CDMA System Over Multi-path Fading .........................................................................................................................................1551

C. Wongsathan

Fuzzy Sliding Mode Controller with Neural Network for Robot Manipulators .....................................1556Ayca Gokhan Ak, Galip Cansever

Designing PID and BELBIC Controllers in Path Tracking and Collision Problem in Automated Highway Systems.......................................................................................................................1562

S. Jafarzadeh, R. Mirheidari, M. R. Jahed Motlagh, M. Barkhordari

Home Environment Fall Detection System Based on a Cascaded Multi-SVM Classifier .......................1567Huimin Qian, Yaobin Mao, Wenbo Xiang, Zhiquan Wang

PID-Neural Controller based on AVR Atmega128 ....................................................................................1573Xuan Khanh Pham, Doan Que Anh Vo, Ngoc Hai Nguyen, The Phong Cao

Four-axis High-frequcncy Structural Strength Fatigue Test System .......................................................1577Wenang Jia, Jian Ruan

Simulation of Fuzzy-Modified Expert PID Algorithms for Blood Glucose Control................................1583Rob Susanto-Lee, Tyrone Fernando, Victor Sreeram

Reversible Watermarking with Localization for Biometric Images .........................................................1590Hyobin Lee, Seongwan Kim, Jaeho Lee, Sooyeon Kim, Sangyoun Lee

An Approach to Protect Private Key using Fingerprint Biometric Encryption Key in BioPKI based Security System .....................................................................................................................1595

Thi Hoang Lan Nguyen, Thi Thu Hang Nguyen

Sensorless Speed Control of a Permanent Magnet Type Axial Gap Self-Bearing Motor using Sliding Mode Observer .......................................................................................................................1600

Dich Quang Nguyen, Satoshi Ueno

Synthesis and Comparison of Fine Actuator Controllers for a 3-DOF Micro Parallel Positioning Platform .....................................................................................................................................1606

Tae Won Seo, Deuk Soo Kang, Jongwon Kim

Optimal Control For A Distributed Parameter System With Time Delay Based On The Numerical Method ........................................................................................................................................1612

Cong Nguyen Huu, Nam Nguyen Hoai

Knowledge-Based Role Allocation in Robot Soccer ...................................................................................1616Daniel Playne

Fault Diagnosis and Modeling of the Liquids Packaging Process. A Research Based on Petri Nets........................................................................................................................................................1620

Miguel Angel Trigos Martínez, Emilio Garcia Moreno

Controller Design and Analysis for Automation of Chemical Water Treatment System.......................1625Anirudha Upadhyay, Abhishek Agarwal

A Novel Modeling for A Dual Three-Phase Permanent Magnet Synchronous Machine ........................1630Bulai Wang, Gu Wei, Jianxin Chu, Guo Yi

A New PCNN-Based Method for Segmentation of SAR Images ...............................................................1635Haiyan Li, Zhengyao Bai

Three-Phase Fuzzy Feeder Models for Fast Distribution System Calculations.......................................1640Shyi-Wen Wang, Wei-Tzer Huang

Design a Fuzzy Controller based on AVR® MCU and its Implementation in Controlling DC Motor .......................................................................................................................................................1645

Pham Xuan Khanh, Nguyen Viet Hung, Pham Tuan Anh

A Virtual Laboratory Platform and Simulation Software Based on Web ...............................................1650Weicheng Xie, Xia Yang, Fugan Li

System Identification for Block-Ice Process: Comparison Between Linear and Neural Network Models ............................................................................................................................................1655

Minh Le Hai, David Banjerdpongchai

Research on Water Quality Assessment Method based on Multi-class Support Vector Machines ........................................................................................................................................................1661

Cao Jian, Hu Hongsheng, Qian Suxiang, Gu Xiaojun

Fault Diagnosis of Circuit Board Based on Fault Tree ..............................................................................1666Hongxia Pan, Jinying Huang, Guangmin Liu

Blind Source Extraction................................................................................................................................1672Wai Yie Leong

Identification of Ground Vehicle Aerodynamic Derivatives .....................................................................1678Nabilah Ramli, Waleed Fekry Faris, Hishamuddin bin Jamaluddin, Shuhaimi Mansor

Design and Development of Flexible Robotic Gripper for Handling Food Products ..............................1684Rosidah Sam, Samia Nefti

Observability and Controllability Analysis of Nonlinear Systems by Linear Methods ..........................1690Alexey N. Zhirabok

A TSSA Algorithm based Approach to Enhance the Performance of Warehouse System ....................1696F. T. S. Chan, V. Kumar

An Optimal Scheduling Algorithm for the Motion Control of Step and Scan Lithography ..................1702Fuyuan Luo, Juan Yin

Using Blending Control to Suppress Multi-Frequency Disturbances.......................................................1708Chunling Du, Lihua Xie, F. L. Lewis

Voice Coil Motor Nano Stage with an Eddy Current Damper .................................................................1714Yongdae Kim, Byounguk Sohn, Woosub Youm, Jongkyu Jung, Jonghyun Lee, Kyihwan Park

Nature and Operation Schemes of Normally Closed-Loop Distribution Systems ...................................1718Wei-Tzer Huang, Shyi-Wen Wang, Ling-Yi Hong, Deng-Chung Lin

Real Time Controller Design to Solve the “Pull-in” Instability of MEMS Actuator ..............................1724M. H. Nikpanah, F. L. Lewis, Y. Wang, A. Q. Liu

Minimum-Energy Translational Trajectory Planning for Battery-Powered Three-Wheeled Omni-Directional Mobile Robots.................................................................................................................1730

Hongjun Kim, Byung-Kook Kim

Cooperative Navigation using the Optical Flow and Time-to-Contact Techniques ................................1736Patricio Nebot, Enric Cervera

A Robot Behavior-learning Experiment using Particle Swarm Optimization for Training a Neural-based Animat ....................................................................................................................................1742

Fabien Moutarde

Point Stabilization of a Tactor-Trailer Mobile Robot................................................................................1747Yong Zhang, Jin Cheng, Xiaohua Zhang

Region Reaching Control of Robots with Motion Constraints..................................................................1752C. C. Cheah

3-D Transfered Control using Spilling Avoidance Control for Meal Assist Robot by using CFD Simulator ..............................................................................................................................................1758

Ken’ichi Yano, Yoshifumi Kuriyama

Application of Blind System Identification in Acoustic Source Location.................................................1764Jin Yang, Yumei Wen, Ping Li

MRI Image Segmentation Based on Fast Global Minimization of Snake Model ....................................1769Thi-Thao Tran, Po-Lei Lee, Van-Truong Pham, Kuo-Kai Shyu

Instrumentation and Experiment Design for In-Vitro Interface Temperature Measurement During the Insertion of an Orthopaedic Implant ...............................................................1773

W. Xu

System for Estimating Sclerosis of in vivo Arteries Based on Ultrasound B-mode Image Analysis ..........................................................................................................................................................1779

Fumio Nogata, Yasunari Yokota, Yoko Kawamura, W. R. Walsh

A Basic Method for Classifying Humans Based on an EEG Analysis ......................................................1783Shin-ichi Ito, Yasue Mitsukura, Minoru Fukumi

Adaptive Filter for Speckle Reduction with Feature Preservation in Medical Ultrasound Images ............................................................................................................................................................1787

Rui Li, Zhuoxin Sun, Cishen Zhang

Optimal Robust Prediction for General Discrete Time Singular Systems ...............................................1793Aline F. Bianco, Joao Y. Ishihara, Marco H. Terra

Optimal Control of First Order Linear Systems with Fixed Proportional-Integral Structure Controller .....................................................................................................................................1799

Hoang Bao Le, Eduardo Mendes

An LMI Approach for Robust Iterative Learning Control with Quadratic Performance Criterion.........................................................................................................................................................1805

Dinh Hoa Nguyen, David Banjerdpongchai

H2 Gain Scheduled Observer Based Controllers for Rational LPV Systems ..........................................1811A. Bouali, M. Yagoubi, P. Chevrel

IQC-based Robust Stability Analysis for LPV Control of Doubly-fed Induction Generators ...............1817H. Nguyen Tien, C. W. Scherer, J. M. A. Scherpen

On Observer-based Structures of Descriptor Compensators....................................................................1824Mohamed Yagoubi, Philippe Chevrel, Anis Bouali

Opto-tactile Sensor for Surface Texture Pattern Identification using Support Vector Machine..........................................................................................................................................................1830

Abdul Md. Mazid, A. B. M. Shawkat Ali

Camera Motion Estimation via Optimization-on-a-Manifold...................................................................1836Shankar Krishnan, Pei Yean Lee, John B. Moore

Fusing Laser and Vision Data with a Genetic ICP Algorithm ..................................................................1844Quirin Muhlbauer, Kolja Kuhnlenz, Martin Buss

A Stream Field Based Partially Observable Moving Object Tracking Algorithm..................................1850Kuo-Shih Tseng

A New Algorithm for Calibrating a Combined Camera and IMU Sensor Unit ......................................1857Jeroen D. Hol, Thomas B. Schon, Fredrik Gustafsson

Online Decentralized Fault Diagnosis for Robotic System Using ANFIS ................................................1863Amir Reza Kashanipour, Peyman Akhlaghi, Mohammad Hossein Kazemi

The Random Weighting Estimation and its Convergence of Population Parameter for Two Poisson Distribution ......................................................................................................................................1869

Yu-Ren Li, She-Sheng Gao, Pan Hu

Parametrical Optimization of Parallel Mechanisms While Taking into Account Singularities ...................................................................................................................................................1872

Nguyen Minh Thanh, Victor Glazunov, Nguyen Cong Mau, Lu Nhat Vinh

A Color Management System for Textile Based on HSV Model and Bayesian Classifier ......................1878Qiaoling Ji, Weimin Qi

A Multiclass Classifier Using Genetic Programming.................................................................................1884Narendra S. Chaudhari, Anuradha Purohit, Aruna Tiwari

A Formal Approach in Robot Development Process using a UML Model ..............................................1888Olarn Wongwirat, Tanachai Hanidthikul, Natee Vuthikulvanich

Redundant Design of A CAN BUS Testing and Communication System for Space Robot Arm.................................................................................................................................................................1894

Jun Yang, Tao Zhang, Jingyan Song, Hanxu Sun, Guozhen Shi, Yao Chen

Implementation of TFT Inspection System using the Common Unified Device Architecture (CUDA) on Modern Graphics Hardware....................................................................................................1899

Chang Hee Lee, Changki Jeong, Moonsoo Chang, PooGyeon Park

A Vision-based Approach for Surface Roughness Assessment at Micro and Nano scales .....................1903Ghassan A. Al-Kindi, Bijan Shirinzadeh, Yongmin Zhong

A New Denoising Method of SAR Images in Curvelet Domain ................................................................1909Yuan Guo, Zhengyao Bai

Auto-focusing Technique in a Projector-Camera System .........................................................................1914Lam Bui Quang, Daesik Kim, Sukhan Lee

Design of a New Wind Speed Measuring Installation ................................................................................1920Yixiang Wang, Yubiao Wang, Yong Zhou

Analysis of Dynamic Model of Heating System after Step Change of Water Supply Temperature ..................................................................................................................................................1924

Jinhai Li, Lide Fang, Suosheng Cao, Xiangjie Kong

Instrumentation System for Industrial Transformers ...............................................................................1929Francisco Poza, Perfecto Mariño, Santiago Otero, Vicente Pastoriza

Development of an On-line Monitoring System for Mental Corrosion ....................................................1934Lingfang Sun, Jing Li, Shujuan Zhang

A Study on Artificial Immune Network Based on Multilevel Flow Model ..............................................1938Yun Zhao, Yunhui Yin, Bin Wang, Suxiang Qian

Performance Evaluation of SVM Based Semi-supervised Classification Algorithm ..............................1942Narendra S. Chaudhari, Aruna Tiwari, Jaya Thomas

A SFLA-Based Fuzzy Controller for Balancing a Ball and Beam System ...............................................1948Duc-Hoang Nguyen, Thai-Hoang Huynh

A Geometrical Inverse Kinematics Method for Hyper-Redundant Manipulators .................................1954Samer Yahya, Haider A. F. Mohamed, M. Moghavvemi, S. S. Yang

A Framework for Planning Motions in Stochastic Maps ..........................................................................1959Alireza Nakhaei, Florent Lamiraux

A Study of Acoustic Emission Technique on Incipient Detection of Rotating Machine Faults ..............................................................................................................................................................1965

Mohammed Abdalla Adam Elmaleeh, Nordin Bin Saad

Analysis on Influence of Manufacturing Error for Output Accuracy of Hybrid Five-Bar Mechanism .....................................................................................................................................................1971

Ke Zhang, Hui Zhang, Baoan Zhang, Jianbin Qiu

Comparison Of Recent Architectures Of Emotions ...................................................................................1976Sabine Letellier-Zarshenas, Dominique Duhaut, Thi-Hai-Ha Dang

An Ultrasonic Imaging Guided Medical Robot System for Microwave Ablation Therapy....................1982Lipei Jiang, Shuangcheng Deng, Long Xue, Yingyu Cao, Junfang Cao, Xiaoyun Cai, Xiangchen Liu

Analysis on Nonlinear Feedback Controls for Differential Mobile Robots and its Application to Multi-robot Formation Control – Part Two ......................................................................1987

Jie Wan, Peter Chen

Design and Implementation of a Hierarchical Hybrid Controller for Holonomic Robot Formations .....................................................................................................................................................1993

Hakan Karaoguz, Mehmet Usta, Mehmet Akar

Virtual Pilot Algorithm for Vehicle Control...............................................................................................1999Sebastien Glaser, Dominique Gruyer, Andry Rakotonirainy, Lydie Nouveliere, Said Mammar

Practical Multi-Robot Applications with Player and JADE......................................................................2004Enric Cervera

A Mobile Robot with a Inter–Integrated Circuit System ..........................................................................2010Surachai Panich

Relay-Based Force Ripple and Friction Modeling for the Permanent Magnet Linear Motor ...............2015Si-Lu Chen, Sunan Huang, Kok Kiong Tan

Simple Solution for Visual Servoing of Camera-in-hand Robots in the 3d Cartesian Space .................2020Luis Hernandez, Rene Gonzalez, Hichem Sahli, Javier Gonzalez, Yoani Guerra

Research of Hybrid Intelligent Control for Incubation .............................................................................2026Shu-ci Wu, Guo-xiong Zhou, Mi-ying Yan, Kai Zhou, Rui-ling Zheng

Tension Control of a Winding Machine for Rectangular Coils ................................................................2031Peng Wen, Cary Stapleton, Yan Li

Modified Feedback Configuration for Sensor Fault Tolerant Control ....................................................2038S. S. Yang, Ernie Che Mid, Haider A. F. Mohamed, M. Moghavvemi, J. Chen

A Structure of Two-Degree-of-Freedom Internal Model Control from Feedback/Feedforward Scheme ...................................................................................................................2044

Juwari, S. Y. Chin, N. A. F. Abdul Samad, B. B. Abdul Aziz

Investigation of Nonlinear Orthogonal Signal Correction Algorithm and Its Effects on Multivariate Calibration...............................................................................................................................2049

Chunhui Zhao, Fuli Wang, Zhizhong Mao, Jianchang Liu

Neural-Adaptive Sliding Mode Control of 4-SPS(PS) Type Parallel Manipulator .................................2055Dachang Zhu, Guoxin Zhang, Yuefa Fang

An Active Ball Handling Mechanism for RoboCup ...................................................................................2060Jeroen de Best, Rene van de Molengraft

Automatic Grasping Task with a Catadioptric Sensor for Disabled People............................................2066Anthony Remazeilles, Christophe Leroux, Gerard Chalubert, Laurent Delahoche, Bruno Marhic, Isabelle Laffont, Nicolas Biard

Enabling Nonholonomic Smoothness Generically Allowing For Unpredictable Drift............................2072Michael K. Weir, Jon P. Lewis, Matthew Bott

A Simple Trajectory Generation Method for Biped Walking...................................................................2078Shuai Feng, Zengqi Sun

Stabilizing Passive Dynamic Walk by Constraining Leg Angles by Foot Shape .....................................2083Kazuyuki HYODO, Sadayoshi MIKAMI, Sho’ji SUZUKI

On the Equivalence of Orientation Error and Positive Definiteness of Matrices....................................2089Pal Johan From, Jan Tommy Gravdahl

Grey-box Modeling of a Small-scale Helicopter Using Physical Knowledge and Bayesian Techniques .....................................................................................................................................................2095

Fang Zhou, Li Ping

A Dynamic Discharge Structure for Ultracapacitor Application in the Fuel Cell UPS ..........................2102J. Jia, S. Li, Y. Wang, G. Wang

Matlab / Simulink Based-study on PEM Fuel Cell and Battery Hybrid System .....................................2108J. Jia, D. Lian, Y. Wang

Rendezvous Trajectory Generation for Energy Trophallaxis...................................................................2114Trung Dung Ngo, Henrik Schiøler

Application of the Radiation Induced Grafting Technology in Preparing the Proton Exchange Membranes for Fuel Cells...........................................................................................................2120

Yuling Ji, Bo Deng, Jingye Li

Weighted Reflection Vector Polytopes in Robust Control.........................................................................2124U. Nurges, E. Rustern

A Generalized Controller Reduction Technique using LFT Framework ................................................2130Pantazis Houlis, Victor Sreeram

Towards Tractable Off-line Robustified Controllers for Uncertain Systems ..........................................2136C. Stoica, P. Rodríguez-Ayerbe, D. Dumur, S. Tebbani

Spatial Control of a Large Pressurized Heavy Water Reactor using Sliding Mode Observer and Control ....................................................................................................................................................2142

G. Datatreya Reddy, B. Bandyopadhyay, A. P. Tiwari, Tyrone Fernando

An Improved Frequency Weighted Balancing Related Technique with Error Bounds .........................2148Victor SREERAM, Shafishuhaza SAHLAN

Integral Controller Design for Nonlinear Systems Using Inverse Optimal Control ...............................2154Steven W. Su, Hung Nguyen, Q. P. Ha

Multi-sensor Image Fusion with ICA Bases and Region Rule ..................................................................2159Meng Wang, Jian Yang

DEM Simulation of Densification in Concrete Block Vibration Forming ...............................................2165Pingxi Yao, Shichun Yang, Lianhui Zhao, Huilong Lu

A Multi-Processed Salient Point Detection System for Autonomous Navigation ....................................2170Vu Anh Nguyen, Alex Tay Leng Phuan

Composite Feature Modeling and Retrieval ...............................................................................................2176Jin Hou, Dengsheng Zhang, Zeng Chen, Xuerong Xu, Takahiro Nakamura

A study on Face Tracking in Real-Time for Robot ....................................................................................2182Jong Il Yoon, Kyoung Kwan Ahn, Yong Rae Cho, Tran Hai Nam, Dinh Quang Truong, Woo Keun Jo

Hand Movement Detection using Monocular Camera for Robot Cooperation .......................................2188Toyomi Fujita

DMOC Approach of Real-Time Trajectory Generation for Mechanical Systems ..................................2192Weizhong Zhang, Tamer Inanc, Jerrold E. Marsden

Calculation of the control signal in MIMO NN-based ANARX models: Analytical approach ........................................................................................................................................................2196

Juri Belikov, Eduard Petlenkov

An Optimal Designed RCD Snubber for DC-DC Converters ...................................................................2202C. K. Huang, H. H. Nien, S. K. Changchien, C. H. Chan, C. K. Chen

Feature Reduction using Mixture Model of Directional Distributions.....................................................2208Nguyen Duc Thang, Lihui Chen, Chee Keong Chan

Implementing Nonquadratic Control on the Nonlinear Modal Manifold................................................2213Ta-Ming Shih, Ho-Chung Chang

An Intelligent Tutoring System Using Interest Based Negotiation ...........................................................2219Yuan Miao

A New Network Storage Architecture Based on NAS and SAN ...............................................................2224XIAO-GAO YU, WEI-XING LI

Mobile Load Management System ..............................................................................................................2228Chih-Hung Wu, Yu-Wei Huang, Deng-Chung Lin

Wentzel-Freidlin Estimates in Semi-Group Theory...................................................................................2233Remi Leandre

Application of Exact Linearization Method to Robot Control..................................................................2237Phan Xuan Minh, Thai Huu Nguyen

Enlarging Region of Attraction in Input Output Linearization Method .................................................2244Mojtaba Barkhordari, Mohammad Reza Jahed Motlagh, Marziyeh Keshavarz

Acquiring Human Skeleton Proportions from Monocular Images without Posture Estimation ......................................................................................................................................................2250

En Peng, Ling Li

A Framework for Integrated Design of Structural and Controller Parameters......................................2256Toshio Eisaka

Transducer Positioning System with Sights of Multiple Optical Beams for Target Strength Measurements of Marine Organisms ..........................................................................................................2261

Ken Ishii, Kouichi Sawada

Automation of Compressor Test Procedure using Advantech Data Acquisition Module ......................2266Abdul Md. Mazid, Ryan Martin

Autonomous Contour Tracking Using Staircase Method for Industrial Robot ......................................2272Anton Satria Prabuwono, M. A. Burhanuddin, Samsi Md. Said

Dynamically Reconfigurable FPGA for Robotics Control ........................................................................2277S. S. Erdogan, Ted Shaneyfelt, Geok See Ng, Abdul Wahab

Force and Motion Control for Cylindrical Curved Surface Wall Using a Three-Link Arm .................2283Yasuo Yoshida, Daisuke Hayashi

Mixed H2/H∞ Filtering for Polytopic Discrete-time Systems with Parameter Dependent Lyapunov Functions......................................................................................................................................2289

Hui Li, Tianshu Wang, Tao Zhang, Jingyan Song

H2/H∞ Control for Fast Sample Singularly Perturbed Systems ..............................................................2295Chenxiao Cai, Yun Zou

Existence of Real Roots for the Family of Interval Polynomials ...............................................................2299Xin Yu, Ya Li

Hydraulic Simulation and Remote Control System of Field Robot ..........................................................2303Soon-Young Yang, Soon-Kwang Kwon, Sung-Min Jin

Coupled, Non-linear Control System Design for Autonomous Underwater Vehicle (AUV) ..................2309M. Santhakumar, T. Asokan

Face Obscuration in a Video Sequence by Integrating Kernel-Based Mean-Shift and Active Contour ..........................................................................................................................................................2314

Jian-Gang Wang, Andy Suwandy, Wei-Yun Yau

Lane Boundaries Detection Algorithm Using Vector Lane Concept ........................................................2319Quoc Bao Truong, Byung Ryong Lee, Nam Geon Heo, Young Jim Yum, Jong Gook Kim

Moving Object Tracking via One-Dimensional Optical Flow Using Queue ............................................2326Koji Kinoshita, Kenji Murakami

Design Analysis of Phase Lead Compensation for Typical Laser Guided Missile Control System Using MATLAB Bode Plots ............................................................................................................2332

Hla Myo Tun, Myat Su Nwe, Zaw Min Naing

Integration Framework for Interoperability of Distributed and Heterogeneous Robot Middlewares ..................................................................................................................................................2337

Janarbek Matai, Young-Ho Suh, Hyuongsun Kim, Kang-Woo Lee, Hyun Kim

Author Index