ADVANCED ROBOTICS, CONTROL and ADVANCED MANUFACTURING

SYSTEMS

Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology (ROCOM'09)

Hangzhou, China May 20-22, 2009

Sponsored, Organized and Hosted by the China Jiliang University & Zhejiang University of Technology

Electrical and Computer Engineering Series A Series of Reference Books and Textbooks

Published by WSEAS Press www.wseas.org

ISSN: 1790-5117 ISBN: 978-960-474-078-9

ADVANCED ROBOTICS, CONTROL and ADVANCED MANUFACTURING SYSTEMS Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology (ROCOM'09) Hangzhou, China May 20-22, 2009 Electrical and Computer Engineering Series A Series of Reference Books and Textbooks Published by WSEAS Press www.wseas.org Copyright © 2009, by WSEAS Press All the copyright of the present book belongs to the World Scientific and Engineering Academy and Society Press. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the Editor of World Scientific and Engineering Academy and Society Press. All papers of the present volume were peer reviewed by two independent reviewers. Acceptance was granted when both reviewers' recommendations were positive. See also: http://www.worldses.org/review/index.html

ISSN: 1790-5117 ISBN: 978-960-474-078-9

World Scientific and Engineering Academy and Society

ADVANCED ROBOTICS, CONTROL and ADVANCED MANUFACTURING

SYSTEMS

Proceedings of the 9th WSEAS International Conference on Robotics,

Control and Manufacturing Technology (ROCOM'09)

Hangzhou, China May 20-22, 2009

Editors:

Prof. Shengyong Chen, Zhejiang University of Technology, China Prof. Qing Li, China Jiliang University, China International Program Committee Members: Gerardo Acosta, SPAIN Ping An, CHINA Yuejun An, CHINA Kiyoshi Akama, JAPAN Ali Al-dahoud, JORDAN Yasar Amin, PAKISTAN Mehrdad Ardebilipour, IRAN Carlos Aviles-Cruz, MEXICO Yun Bai AUSTRALIA Shahid Ikramullah Butt, PAKISTAN Ana Madureira, PORTUGAL Alexander Zemliak, MEXICO Petr Ekel, BRAZIL Moh'd belal Al-Zoubi, JORDAN Poorna Balakrishnan, INDIA Sorin Borza, ROMANIA Yue-shan Chang, TAIWAN Alexander Grebennikov, MEXICO Huay Chang, TAIWAN Olga Martin, ROMANIA, Chin-chen Chang, TAIWAN Chip Hong Chang, SINGAPORE Sheng-Gwo Chen, TAIWAN Min-Xiou Chen, TAIWAN George Antoniou, USA Tanglong Chen, CHINA Lotfi Zadeh, USA Whai-En Chen, TAIWAN Yuehui Chen, CHINA Toly Chen, TAIWAN Michael Wasfy, USA Ta-Cheng Chen, TAIWAN C. Manikopoulos, USA Chin-Mou Cheng, TAIWAN Yaoyu Cheng, CHINA Chin-Mou Cheng, TAIWAN Myeonggil Choi, KOREA Yuk Ying Chung, AUSTRALIA Valeri Mladenov, BULGARIA, Ahmed Dalalah, JORDAN Andris Buikis, LATVIA Saeed Daneshmand, IRAN Metin Demiralp, TURKEY Chie Dou, TAIWAN Guolin Duan, CHINA Manuel Duarte-Mermoud ,CHILE Odysseas Efremides, GREECE Jose Carlos Quadrado, PORTUGAL Toshio Eisaka, JAPAN Odysseas Pyrovolakis, GREECE

Frank Ekpar, JAPAN Eyas El-Qawasmeh, JORDAN Alberto Escobar, MEXICO Kwo-Jean Farn, TAIWAN Alessandra Flammini, ITALY Athina Lazakidou, GREECE Jose-Job Flore-Godoy, MEXICO Joseph Fong, HONG KONG S.A.R. Kostas Siasiakos, GREECE Donata Francescato, ITALY Tapio Frantti, FINLAND Georges Fried, FRANCE Rocco Furferi, ITALY James Gao, UNITED KINGDOM Zong Geem, USA Ahmad Ghanbari, IRAN Gilson Giraldi, BRAZIL Panos Pardalos, USA Wanwu Guo, AUSTRALIA Sungho Ha, KOREA Amauri Caballero, USA Aamir Hanif, PAKISTAN Iraj Hassanzadeh, IRAN Nualsawat Hiransakolwong, THAILAND Rong-Lain Ho, TAIWAN Seyed Ebrahim Hosseini, IRAN Wen Hou, CHINA Shih-Wen Hsiao, TAIWAN Mingsheng Hu, CHINA Shyh-Fang Huang, TAIWAN A. Manikas, UK Chenn-Jung Huang, TAIWAN Yu-Jung Huang, TAIWAN Guo-shing Huang, TAIWAN Chenn-Jung Huang, TAIWAN Dil Hussain, DENMARK Philippe Dondon, FRANCE, Muhammad Ibrahimy, MALAYSIA Apostolos Ifantis, GREECE Shiming Ji, CHINA Zhang Ju, CHINA Liu Jun, CHINA Michael Katchabaw, CANADA Seong Baeg Kim, KOREA Jin-tae Kim, KOREA Young Jun Kim, KOREA Mallikarjun Kodabagi, INDIA Vicenzo Niola, ITALY M. I. Garcia-Planas, SPAIN Insoo Koo, KOREA

Young-doo Kwon, KOREA Vincent Lee, AUSTRALIA Hsien-da Lee, TAIWAN Weimin Li, CHINA Qin Li, CHINA Daoliang Li, CHINA Bo Li, CHINA Vitaliy Kluev, JAPAN Daoliang Li, CHINA Xiaoyu Li, CHINA Daoliang Li, CHINA Aydina Akan, TURKEY Congqing Li, CHINA Jie Li, CHINA Zhu Liehuang, CHINA S. S. Lin, TAIWAN Pei-huang Lin, TAIWAN Chu-Hsing Lin, TAIWAN S.S.Dlay, UK Chia-Chen Lin, TAIWAN Chih-Min Lin, TAIWAN whei-min Lin, TAIWAN Shengyou Lin, CHINA YI Liu, UNITED KINGDOM Jiang Liu, UNITED STATES Shi-jer Lou, TAIWAN Shyue-Kung Lu, TAIWAN Mingfeng Lu, TAIWAN Addouche Mahmoud, FRANCE Sunilkumar Manvi, INDIA Drakoulis Martakos, GREECE Aurelio Medina, MEXICO Ravinda Meegama, SRI LANKA Afif Mghawish, JORDAN Tetsushi Miki, JAPAN Zhong Ming, CHINA Wang Mingquan, CHINA Hu Mingsheng, CHINA Guoliang Mo, CHINA Bartolomeo Montrucchio, ITALY K. Ioannou, GREECE Francesco Muzi, ITALY Mariko Nakano-Miyatake, MEXICO Sang-Won Nam, KOREA Hamidullah Khan Niazi, CHINA Miguel Angel Gomez-Nieto, SPAIN Yukio Ohsawa, JAPAN Hasnaoui Othman, TUNISIA Zeljko Panian, CROATIA (HRVATSKA) PooGyeon Park, KOREA Vidyasagar Potdar, AUSTRALIA Carlos G. Puntonet, SPAIN Maria Rizzi, ITALY M. Bisiacco, ITALY Chen Rong-chang, TAIWAN Poornachandra Sanjeeva, INDIA Mostafa Sedighizadeh, IRAN

J.N. Sheen, TAIWAN Sangmun Shin, KOREA Li Shuhong, CHINA Yu Shunkun, CHINA Andrzej Sluzek, SINGAPORE Hokeun Song, KOREA Paulo Sousa, PORTUGAL Sarawut Sujitjorn, THAILAND Yi Sun, CHINA Guangzhong Sun, CHINA Yoshihiro Tanada, JAPAN Lixin Tao, USA Nam Tran, AUSTRALIA Argyrios Varonides, USA Peter Trkman, SLOVENIA Lamberto Tronchin, ITALY Amritasu Sinha, INDIA Ming-Jer Tsai, TAIWAN Woei-Jiunn Tsaur, TAIWAN Kuo-Hung Tseng, TAIWAN Hiroshi Umeo, JAPAN Ronald Yager, USA Pragya Varshney, INDIA Lusheng Wang, HONG KONG S.A.R. Lei Wang, CHINA Zhongfei Wang, CHINA Hironori Washizaki, JAPAN Wang Wen, CHINA Kin Yeung Wong, MACAU S.A.R. Jyh-Yang Wu, TAIWAN Hsiaokuang Wu, TAIWAN Yinshui Xia, CHINA Yi Xie, CHINA Xinli Xu, CHINA Yong Xu, CHINA Yinlong Xu, CHINA Xinli Xu, CHINA Bin Xu, CHINA Hongwen Yan, CHINA Hung-Jen Yang, TAIWAN Thomas Yang, USA Hung-Jen Yang, TAIWAN Houjun Yang, CHINA Hsieh-Hua Yang, CHINA Wenrong Yang, CHINA Hung-Jen Yang, TAIWAN Sumanth Yenduri, USA Alimujiang Yiming, JAPAN Jianfei Yin, CHINA Liuguo Yin, CHINA Ren Yong Feng, CHINA Tetsuya Yoshida, JAPAN Hsiang-fu Yu, TAIWAN S.Y.Chen, GERMANY Longjiang Yu, CHINA Kiyun Yu, KOREA Costin Cepisca, ROMANIA

Enzhe Yu, KOREA Chang Nian Zhang, CANADA Jianwei Zhang, GERMANY Wendong Zhang, CHINA Jianjun Zhang, CHINA Camelia Ioana Ucenic, ROMANIA Zhijin Zhao, CHINA Ina Taralova, FRANCE Zhige Zhou, CHINA Yuanguo Zhu, CHINA

Preface This year the 8th WSEAS International Conference on Instrumentation, Measurement, Circuits and Systems (IMCAS'09) was held in Hangzhou, China. The Conference remains faithful to its original idea of providing a platform to discuss modelling, analysis and simulation, kinematics, dynamics and control of robots, robotics materials, robotics languages, human-robot interfaces, motion and path planning etc. with participants from all over the world, both from academia and from industry.

Its success is reflected in the papers received, with participants coming from several countries, allowing a real multinational multicultural exchange of experiences and ideas.

The accepted papers of this conference are published in this Book that will be indexed by ISI. Please, check it: www.worldses.org/indexes as well as in the CD-ROM Proceedings. They will be also available in the E-Library of the WSEAS. The best papers will be also promoted in many Journals for further evaluation.

A Conference such as this can only succeed as a team effort, so the Editors want to thank the International Scientific Committee and the Reviewers for their excellent work in reviewing the papers as well as their invaluable input and advice.

The Editors

Table of Contents

Plenary lecture 1: Neuro-dynamic Optimization and Its Applications in Robotics 11 Jun Wang Plenary Lecture 2: On the Control Theory of the Sylvester Differential and Difference Systems 12 Yan Wu Motion Control of Snake Robot by Lead-Lag Compensator Designed with Frequency Domain Approach

13

Anubhuti Saha, R. P. Chatterjee, Uma Dutta Power Optimized Digitally Programmable Delay Element 21 Sekedi Bomeh Kobenge, Huazhong Yang A Frequency-Tracking FPGA Chip for High-Power Ultrasound Resonator Ultrasound Resonator

25

Kai-Hsing Ma, Wen-Chung Chang, Yung-Chun Lee Tool Path Generation for Free form Surfaces Defined by Dual Kriging 28 Abbas Vafaeesefat An Optimal Controller for Measuring Power Spectrum 37 Ming Li Feedback Linearization Based Control of a Horizontal Radiative Furnace 40 Peyman Nazarian Fault Tolerant Control: An Imprecise Computation Setting 44 Addison Rios-Bolivar, Luis Parraguez, Francisco Hidrobo, Argarita Heraoui, Julima Anato, Francklin Rivas

H- Control by Extended Static Output Feedback 50 Addison Rios-Bolivar, Francklin Rivas-Echeverria, Gloria Mousalli-Kayat Manufacturing Technology Machine for Blind People 56 Kuang-Yao Lin, Tseng-Lin Hsieh, Jia-Hau Chen, Hen-Chia Hsu, Feng-Jih Wu, Shieh-Shing Lin An Investigation on Development of Precision Actuator for Small Robot 62 Joo Han Kim, Se Hyun Rhyu, In Soung Jung, Jung Moo Seo Seth System Spatio-Temporal Object Tracking using Combined Color and Motion Features 67 Aleksander Nawrat, Karol Jedrasiak Applying Autonomous Control in Apparel Manufacturing 73 Scholz-Reiter Bernd, Teucke Michael, Sowade Steffen, Rippel Daniel, Ozsahin, Mehmet-Emin, Hildebrandt Torsten

Investment In Advanced Manufacturing Technology Difficulties from the Management Point of View

79

Josef Hynek, Vaclav Janecek, Libuse Svobodova Improving the Performance of Adaptive Optics System using Robust Compensator 85 Reziwan Maimaiti, Noriaki Miura, Toshio Eisaka

Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology

ISSN: 1790-5117 9 ISBN: 978-960-474-078-9

Research on Fault Diagnosis for CNC Machine of Flexible Manufacturing System 91 Li Hui, Mao Jun, Li Xinhong, Xin Zhongwei An Intelligent LED Affective Lighting System: A Platform Design for the Realization of a User-Centric Affective Life Based on ISO/IEC 11179 in Ubiquitous Environments

97

Byounghee Son,Youngchoong Park Braking/Traction Control Systems of a Scaled Railway Vehicle for the Active Steering Testbed 102 Min-Soo Kim, Hyun-Moo Hur Design of the Active Steering Fuzzy Controller with the Degree of Non-uniformity for a Scaled Railway Vehicle

107

Min-Soo Kim Neural Network Control of an Inverted Pendulum on a Cart 112 Valeri Mladenov, Georgi Tsenov, Lambros Ekonomou Modeling and Control of Die-sinking EDM 121 Chingyei Chung, Shou-Yen Chao M. F. Lu, J. S. Deng Towards Implementation of Photogrammetry Based Product Re-Realization 130 Jiacai Wang, Lirong Wang, Ichiro Hagiwara Adaptive Fuzzy Control For Under-Actuated Ball and Beam System With Virtual State Following

136

Yeong-Hwa Chang, Wei-Shou Chan, Chia-Wen Chang, Chang-Hung Hsu, C.W. Tao Design of Fractional-Order PID Controller for Vector-Controlled Induction Motors 142 Yeong-Hwa Chang, Chun-I Wu, Hung-Wei Lin, Chang-Hung Hsu, Guan-Wei Liao Intelligent Controllers in HVDC System based on PSO Algorithm 148 Zhengqiang Song, Ping Zhang, Xiaofa Zhou Authors Index 153

Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology

ISSN: 1790-5117 10 ISBN: 978-960-474-078-9

Plenary Lecture 1

Neuro-dynamic Optimization and Its Applications in Robotics

Professor Jun Wang Department of Mechanical & Automation Engineering

The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong

Email: jwang@mae.cuhk.edu.hk

Abstract: Optimization problems arise in a wide variety of scientific and engineering applications. It is computationally challenging when optimization procedures have to be performed in real time to optimize the performance of dynamical systems. For such applications, classical optimization techniques may not be competent due to the problem dimensionality and stringent requirement on computational time. One very promising approach to dynamic optimization is to apply artificial neural networks. Because of the inherent nature of parallel and distributed information processing in neural networks, the convergence rate of the solution process is not decreasing as the size of the problem increases. Neural networks can be implemented physically in designated hardware such as ASICs where optimization is carried out in a truly parallel and distributed manner. This feature is particularly desirable for dynamic optimization in decentralized decision-making situations arising frequently in robotics. In this talk, I will present the historic review and the state of the art of neurodynamic optimization models and selected applications in robotics. Specifically, starting from the motivation of neurodynamic optimization, I will review various recurrent neural network models for optimization. Theoretical results about the stability and optimality of the neurodynamic optimization models will be given along with illustrative examples and simulation results. It will be shown that many problems in intelligent robotic systems, such as robot motion planning grasping force optimization, can be readily solved by using the neurodynamic optimization models.

Brief Biography of the Speaker: Jun Wang is a Professor and the Director of Computational Intelligence Laboratory in the Department of Mechanical and Automation Engineering at the Chinese University of Hong Kong. Prior to this position, he held various academic positions at Dalian University of Technology, Case Western Reserve University, and University of North Dakota. Besides, he also holds a Cheung Kong Chair Professorship in computer science and engineering at Shanghai Jiao Tong University since 2008. He received a B.S. degree in electrical engineering and an M.S. degree in systems engineering from Dalian University of Technology, Dalian, China. He received his Ph.D. degree in systems engineering from Case Western Reserve University, Cleveland, Ohio, USA. His current research interests include neural networks and their applications. He published over 140 journal papers, 11 book chapters, 8 edited books, and numerous conference papers in the areas. He is an Associate Editor of the IEEE Transactions on Neural Networks since 1999 and IEEE Transactions on Systems, Man, and Cybernetics – Part B since 2003, a member of the Editorial Advisory Board of the International Journal of Neural System since 2006. He also served as an Associate Editor of the IEEE Transactions on Systems, Man, and Cybernetics – Part C (2002-2005), a guest editor of the special issue of European Journal of Operational Research (1996), International Journal of Neural Systems (2007), and Neurocomputing (2008), He was an organizer of several international conferences such as the General Chair of the 13th International Conference on Neural Information Processing (2006) and the 2008 IEEE World Congress on Computational Intelligence. He served as the President of Asia Pacific Neural Network Assembly in 2006 and as a member of several IEEE technical committees over the years. He is an IEEE Fellow.

Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology

ISSN: 1790-5117 11 ISBN: 978-960-474-078-9

Plenary Lecture 2

On the Control Theory of the Sylvester Differential and Difference Systems

Associate Professor Yan Wu

Department of Mathematical Sciences Georgia Southern University

USA E-mail: yan@georgiasouthern.edu

Abstract: Sylvester equations play an important role in many areas of applied mathematics and specifically in control systems theory. In this talk, we focus on the controllability and absorbability studies on the Sylvester differential system in the following general form T'(t)=A(t)T(t)B(t) + C(t)T(t)D(t) + E(t)U(t) and its discrete analogue. The closed form solutions of the matrix differential and difference systems and their implications to the control systems are discussed over the cases when the systems are time-variant and time-invariant. Some open problems are discussed at the conclusion of the talk. Brief Biography of the Speaker: Yan Wu received the B.S. degree in Mathematics from Beijing University of Technology in 1992, and the Ph.D. degree in Applied Mathematics and Electrical Engineering both from University of Akron in 1996 and 2000, respectively. Currently he is an Associate Professor in the Department of Mathematical Sciences at Georgia Southern University. His research interests include numerical linear algebra, nonlinear control, and generalized sampling theory. He has two patents granted by the United States Patent and Trademark Office. One of his papers was ranked 4th place among the top 25 publications in the Journal of Digital Signal Processing in 2006. Dr. Wu serves as an Associate Editor for Instrumentation, Systems, and Automation (ISA) and American Automatic Control Council (AACC).

Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology

ISSN: 1790-5117 12 ISBN: 978-960-474-078-9

Authors Index

Anato, J. 44 Hur, H. M. 102 Nazarian, P. 40 Bernd, S. R. 73 Hynek, J. 79 Park, Y. 97 Byounghee 97 Janecek, V. 79 Parraguez, L. 44 Chan, W. S. 136 Jedrasiak, K. 67 Rhyu, S. H. 62 Chang, Y. H. 136, 142 Jun, M. 91 Rios-Bolivar, A. 44, 50 Chang, C. W. 136 Jung, I. S. 62 Rivas, F. 44, 50 Chang, W. C. 25 Kim, J. H. 62 Saha, A. 13 Chatterjee, R. 13 Kim, M. 102, 107 Seo, J. M. 62 Chen, J. H. 56 Kobenge, S. B. 21 Song, Z. 148 Chung, C. 121 Lee, Y. C. 25 Steffen, S. 73 Daniel, R. 73 Li, M. 37 Svobodova, L. 79 Deng, J. S. 121 Liao, G. W. 142 Tao, C. W. 136 Dutta, U. 13 Lin, H. W. 142 Torsten, H. 73 Eisaka, T. 85 Lin, K. Y. 56 Tsenov, G. 112 Ekonomou, L. 112 Lin, S. 56 Vafaeesefat, A. 28 Emin, M. 73 Lu, S. Y . 121 Wang, J. 130 Hagiwara, I. 130 Ma, K. H. 25 Wang, L. 130 Heraoui, A. 44 Maimaiti, R. 85 Wu, C. 142 Hidrobo, F. 44 Michael, T. 73 Wu, F. J. 56 Hsieh, T. L. 56 Miura, N. 85 Xinhong, L. 91 Hsu, C. H. 136, 142 Mladenov, V. 112 Yang, H. 21 Hsu, H. C. 56 Mousalli-Kayat, G. 50 Zhang, P. 148 Hui, L. 91 Nawrat, A. 67 Zhongwei, X. 91 Zhou, X. 148 Zsahin, O. 73

Proceedings of the 9th WSEAS International Conference on Robotics, Control and Manufacturing Technology

ISSN: 1790-5117 153 ISBN: 978-960-474-078-9