IEEE Catalog Number: ISBN:

CFP09839-PRT 978-1-4244-2692-8

2009 International Conference on Mechatronics and Automation (ICMA 2009)

Changchun, China 9 – 12 August 2009

Pages 1-615

TABLE OF CONTENTS

MA1-1: ORGANIZED SESSION – HUMAN FACTORS IN AUTOMOTIVE SAFETY A Warning Method for Rear-Side Obstacles based on Driver’s Perceptual Risk Model .......................................................................... 1

Akihiro Nishiyama, Takahiro Wada, Shigeyoshi Tsutsumi, Shun’ichi Doi

Individual Differences in Effects of Secondary Cognitive Activity during Driving on Temperature at the Nose Tip............................ 7Makoto Itoh

The Differences of Eye Movement According to Turn Conditions in Driving Situation : Comparison of Older and Young Drivers ................................................................................................................................................................................................... 12

Bo-seong Kim, Hyun-Woo Kim, Dong- Hoon Lim, Byung-Chan Min, Yoon-Ki Min

Difference of Driving Performance According to Turn Types at the Intersection and Age .................................................................... 16Seung-Hee Hong, Su-Young Min, Bo-seong Kim, Yoon-Ki Min, Jin-Kyu Kang, Byung-Chan Min

Long Term Study of Simulator Sickness: Differences in Psychophysiological Responses due to Individual Sensitivity .......................................................................................................................................................................................................... 20

Mi Hyun Choi, Soo Jeong Lee, Hyo Seong Kim, Soo Young Min, Byung Chan Min, Jae Woong Yang, Jin Seung Choi, Gye Rae Tack, Bongsoo Lee, Soon Cheol Chung

MA1-2: INDUSTRIAL ROBOT SYSTEM Solution of Inverse Kinematic Problem for Serial Robot Using Quaterninons......................................................................................... 26

Emre Sariyilidiz, Hakan Temeltas

Robotic Hand with a New Bending Mechanism............................................................................................................................................ 32Chiharu Ishii, Yosuke Nishitani, Hiroshi Hashimoto

A Generic Framework for Workpiece-based Programming of Cooperating Industrial Robots............................................................. 37Gunther Reinhart, Sherif Zaidan

Development of an Automatic Dishwashing Robot System ......................................................................................................................... 43Kazuhiro Kosuge, Yasuhisa Hirata, Jina Lee, Akira Kawamura, Koichi Hashimoto, Shingo Kagami, Yu Hayashi, Norio Yokoshima, Hiroshi Miyazawa, Ryosuke Teranaka, Yosuke Teranaka, Yasutoshi Natsuizaka, Kazuhisa Sakai, Mizuo Koizumi, Junji Koyama, Naoki Kanayama, Shunichi Tezuka, Hiroshi Torimitsu

Flexible Handling Robot System for Cloth .................................................................................................................................................... 49Seiji Hata, Takehisa Hiroyasu, Junichro Hayashi, Hirotaka Hojoh, Toshihiro Hamada

A Patrol Robot for Electric Power Substation .............................................................................................................................................. 55Rui Guo, Bingqiang Li, Yutian Sun, Lei Han

MA1-3: HAPTICS AND HAPTIC INTERFACE Design of a Minimally Invasive Surgical Teleoperated Master-Slave System with Haptic Feedback.................................................... 60

Linda van den Bedem, Ron Hendrix, Nick Rosielle, Maarten Steinbuch, Henk Nijmeijer

Comparison of Power- and Wave-based Control of Remote Dynamic Proxies for Networked Haptic Cooperation ........................... 66Zhi Li, Daniela Constantinescu

An Evaluation of Multimodal Feedback in Tracking State for Pen-based Interfaces.............................................................................. 72Minghui Sun, Xiangshi Ren

Haptic Interaction in Tele-operation Control System of Construction Robot Based on Virtual Reality............................................... 78Xinxing Tang, Hironao Yamada, Dingxuan Zhao, Tao Ni

An Adaptive Haptic Interaction Architecture for Knee Rehabilitation Robot ......................................................................................... 84Dangxiao Wang, Jiting Li, Chao Li

Modeling of Deformable Objects in Haptic Rendering System for Virtual Reality ................................................................................. 90Huiying Wang, Yu Wang, Hasan Esen

MA1-4: IMAGE PROCESSING - I Image Segmentation Algorithms Based on Information Compression and Graph Structures ............................................................... 95

Gancho Vachkov, Hidenori Ishihara

An Interactive Image Inpainting Algorithm Based on Markov Random Field ......................................................................................101Junxi Sun, Defang Hao, Dongbing Gu, Guangwen Liu, Hua Cai

A Kind of Global Motion Estimation Algorithm Based on Feature Matching........................................................................................107Shuxiang Guo, Chenguang Qiu, Xiufen Ye

A Multipurpose Digital Watermarking Algorithm Of Color Image ........................................................................................................112Yu Wei, Yanling Hao, Yushen Li

Technique of Foot Three-dimensional Shape Measurement Based on Digital Still Camera and Rear-view Mirror .........................118Chengchun Han, Xiaogen Shao, Liqing Xiao, Takakazu Ishimatsu

A New Adaptive Bayesian Super-resolution Reconstruction Algorithm for Digital Image Sequence with Different Noise Levels .....................................................................................................................................................................................................123

Yueqian Hou, Qingchang,Tian, Qiucheng Sun, Qinghua Li

MA1-5: ORGANIZED SESSION – NEUROMEDICAL ENGINEERING Development of a New Experimental Device and Investigate Human Characteristics on Visual Feedback Control and Pointing Movement .................................................................................................................................................................................129

Jiajia Yang, Jinglong Wu, Taichi Honda

Central Versus Peripheral Retinotopic and Temporal Frequency Sensitivities of Human Visual Areas Measured Using fMRI ......................................................................................................................................................................................................135

Tianyi Yan, Fengzhe Jin, Jinglong Wu

Processing of Chinese Characters and Pure Tones in Literate and Illiterate Subjects: An Auditory fMRI Study ............................141Xiujun Li, Jinglong Wu, Hongzan Sun, Qiyong Guo

Multisensory Interactions of Audiovisual Stimuli Presented at Different Location in Auditory-Attention Tasks: A Event-related Potential (ERP) Study ...........................................................................................................................................................146

Qi Li, Jinglong Wu

Investigation of Neuronal Substrates for Language Processing Using Word Priming ..........................................................................152Chunlin Li

MA1-6: ACTUATORS - I 3D Finite Element Analysis and Experiment on the Piezoelectric Ultrasonic Transducer Motion ......................................................158

Fu-Sheng Hsiao, Jen-Ai Chao, Yi-Cheng Huang

Space Charge Distribution and Mechanical Properties in Plasticized PVC Actuators..........................................................................164Hong Xia, Toshihiro Hirai

Characteristic of Torque on Spherical Stepping Motor based on Hexahedron-Octahedron Structure...............................................170Yongsu Um, Tomoaki Yano

A Moving Coil Electromagnetic Valve Actuator for Camless Engines ....................................................................................................176Liang Liu, Siqin Chang

Design and Analysis of a Double Rings Type Ultrasonic Motor Using longitudinal Transducers........................................................181Yingxiang Liu, Junkao Liu, Weishan Chen, Shengjun Shi

Research on Push Type Piezoelectric Insulin Pump...................................................................................................................................186Jingshi Dong, Wei Zheng, Zhigang Yang, Boda Wu, Bin Jiang, Xuefeng Yao

MA1-7: MOBILE ROBOTS - I Magnetic Patterns based Global Localization for a Mobile Robot using Hall Sensors ..........................................................................192

Byung June Choi, Bumsoo Kim, Joo Young Chun, Hyungpil Moon, Ja Choon Koo, Wankyun Chung, Hyouk Ryeol Choi

Nonlinear Parity Space Applied to an Electric Autonomous Vehicle.......................................................................................................198Kamel Bouibed, Abdelouhab Aitouche, Mireille Bayart

Reader Placement Design for Two Wheeled Robots on Floor-Installed RFID System - Extracting Backward Sensing Problem - ...........................................................................................................................................................................................204

Kenri Kodaka, Haruhiko Niwa, Shigeki Sugano

A Reconfigurable Mobile Robot with 5th Wheel ........................................................................................................................................211He Xu, Dawei Tan, Zhenyu Zhang, Bao Jin, Kai Xue

Scene Specified Control for Internet-based Mobile Robot Operation .....................................................................................................217Xudong Ma, Xianzhong Dai, Fang Fang, Ningting Cheng

Real Time Obstacle Avoidance for Redundant Robot ............................................................................................................................... 223Guoxiang Ping, Bing Wei, Xianglong Li, Xiang Luo

MA1-8: LASER PROCESSING Fabrication of a Micro Elliptical Collimator Lens for a Beam Shape Form of a Laser Diode..............................................................229

Kazushi Okada, Kenji Oosuka, Fumikazu Oohira, Yutaka Mihara, Kazuhumi Ogawa, Yuji Imazato, Takaaki Suzuki

Experimental Studies on Gear-honing-tool With Laser Brazing Film CBN ...........................................................................................235Liang Guoxing, Li Wenbin, Ya Gang, Lv Ming

Diode-Side-Pumped Dynamic Fundamental Mode Nd:YAG Laser Generation by Thermal Stable Resonator.................................241Jianli Ma, Qingduo Duanmu, Jiahe Wu, Guozheng Wang, Gang Zhong

Study for Pumping Intensity Distribution in Double-Arched LDA Side-Pumped Nd:YAG Laser Based on Gauss Model ...............................................................................................................................................................................................................246

Guangyong Jin, Chao Wang, Xinyu Chen, Yongji Yu, Jiaxi Guo, Yibo Wang

Design of Embedded Laser Beam Measurement System ...........................................................................................................................252Caixia Wang, Shuchang Liu

A Method of Determining The Pose of Spatial Plane Based on Ellipse Features ....................................................................................257Xinglong Zhu, Xiaojun Yang, Xiaobin Wei, Jiping Zhou

MA1-9: CONTROL THEORY - I Techniques of Anti-sway and Input Tracking Control of a Gantry Crane System ................................................................................262

Mohd Ashraf Ahmad, Ahmad Nor Kasruddin Nasir, Haszuraidah Ishak

Base on All-pole Approximation a New Internal Model PID Control Method for the System with Time Delays ..............................268Qibing Jin, Ling Quan, Xuewei Wang, Fei Qi

A New Method of Generating Command Pulses for Numerical Controller(with Velocity and Acceleration Bounds Adapting to Servomotor System)..................................................................................................................................................................274

Juanjuan Tian, Hiroaki Seki, Masatoshi Hikizu, Yoshitsugu Kamiya, Qin Zhang

A Chaotic Synchronization Approach based on Exponent Stability ........................................................................................................280Mingjie Chen

On Control and Performance Evaluation of Active Suspension System..................................................................................................286Qingmei Yang, Jianmin Sun

Fault Tolerant Control Method for Steer-by-Wire System .......................................................................................................................291Chengwei Tian, Changfu Zong, Lei He, Xiang Wang, Yiliang Dong

MA1-10: VIBRATION CONTROL Design of a Low-Vibration Micro-Stepping Controller for Dom-Camera ..............................................................................................296

Jong-won You, Jung-han Kim

Error Compensation for FOG SINS under Vibration Based on Elman Neural Network .....................................................................302Feng Sun, Qiaoying Sun, Lei Wu, Wei Sun

Vibration Analysis and Structural Optimization of Multifunctional Structures on Airborne Electronic Equipment.......................308Feng Qiao, Dagui Huang, Wenjian Feng

Research on Vibration Control of Weak Coupling Structure with Small Disorder ...............................................................................313Xiangqiu Liu, Cong Wang, Zhenzhu Zou

Research on Normal Vibration Modes and Lateral Standing Wave in MEMS Ultrasonic Separator.................................................318Chenhui Hua, Jiexiong Ding, Yuxiang Wang

Theoretical Analysis and Experimental Study of Ultrasonic Vibration Microdissection Technology .................................................323Liguo Chen, Yaxin Liu, Tao Chen, Lining Sun

MA1-11: H_INF CONTROL Subspace Identification of Hammerstein Systems with Frequency Domain Data ..................................................................................329

Zhenqiang Li, Shunshoku Kanae, Kiyoshi Wada

Robust Nonlinear Speed Control for a Brushless DC Motor Using Model Reference Adaptive Backstepping Approach .........................................................................................................................................................................................................335

Hai Lin, Weisheng Yan, Jinhua Wang, Yao Yao, Bo Gao

Nonlinear Predictive Control of Input Constrained System Based on Generalized Pointwise Min-Norm Scheme ...........................341Yuqing He, Jianda Han

Observer-based H∞ Control for Nonlinear Perturbations in State and Input........................................................................................347Xingjian Fu, Xiaohe Liu, Hong Li, Yingchun Li

Actuator Fault Estimation Based on Adaptive H∞ Observer Technique ................................................................................................352Fei Zhang, Guangjun Liu, Lijin Fang

Nonlinear H∞ Control of Large Angle Attitude Maneuvers for Satellite Using Sum of Squares .........................................................358Jia Wang, Ming Zeng, Wen Guang Xu

MA1-12: CONTROL OF MECHATRONIC SYSTEMS Gold Wire Stress Analysis of Wire Feed System in Automatic Wire Bonder .........................................................................................364

Yuetao Liu, Yanjie Liu, Lining Sun, Ji Li

Evaluation of Effectiveness of a Power-Assisted Wire Suspension System Compared to Conventional Machine .............................369Ayumu Niinuma, Yuuki Miyashita, Takanori Miyoshi, Kazuhiko Terashima

Accurate Tracking Control of a Linear Fast Tool Servo Unit for Noncircular Cutting ........................................................................375Xuefeng Chang, Wu Ai, Youping Chen, Zude Zhou

Research on Controller Design and Simulation of Electro-hydraulic Servo System..............................................................................380Zhongwen Wang, Junpeng Shao, Jianying Li, Guihua Han

Fuzzy Logic Applied to Yaw Moment Control for Vehicle Stability ........................................................................................................386Junwei Li, Huafang Yang

Robust Adaptive PID Control for Electromechanical System ..................................................................................................................391Fang Yang, Zhaohui Yuan, Wei Zhang

MA1-P: POSTER SESSION - I Effect of Leakage Inductance on Bifurcation and Chaos in the Voltage-fed Forward Converter........................................................396

Jingmei Wang, Chuang Bi

Study on Adaptive Filter with MEMS-INS/GPS Integrated Navigation System ....................................................................................401Fengyang Duan, Huadong Yu, Xiaolong Li

A TDI CCD Simulation Instrument .............................................................................................................................................................406Hui Liu, Yunfei Li, Yongfei Guo

Development of Distributed Integrated Navigation Simulator for Autonomous Spacecraft.................................................................411Weihua Ma, Jianjun Luo, Mingming Wang, Zhanxia Zhu

Efficiency-Optimized Vector Control of PMSM Drive for Hybrid Electric Vehicle ..............................................................................417Xianqing Cao, Liping Fan

Algorithm Research of Fuzzy-PID Parameters Self-tuning Wall Thickness Controller........................................................................422Zhenhua Zhao, Yinghui Zhu, Shanshan Liu

The Small Signal Model for Wireless Parallel Operation of Inverters ....................................................................................................427Yan Cheng, Xiaoming Zha, Huali Chen

Reliability Analysis of AUV Based on Fuzzy Fault Tree ...........................................................................................................................432Xinqian Bian, Chunhui Mou, Zheping Yan, Jian Xu

Application of Adaptive Filtering to Digital Closed-loop Fiber Optic Gyroscope ..................................................................................437Xuyou Li, Zhou He, Chen Zhang, Gang Wang

A Kind of Improved Immune Controller.....................................................................................................................................................442Hongwei Mo, Lifang Xu

The Research and Implementation of Uncertain Delay in Networked Control Systems .......................................................................448Guang Feng, Qinruo Wang

A Boundary Surveillance Strategy Based on Critical Line in Wireless Sensor Networks .....................................................................453Yang Xiao, Yanping Zhang

Fuzzy RBF Assessment on Productive Efficiency of Environmental Impacted Enterprise...................................................................459Fengrong Zhang, Annik Magerholm Fet, Jing Wang

Research and Realization of TURBO Codec in the Space Laser Communication .................................................................................465Limin Chang, Lu Song, Qinguo Zhang

Research and Realization of Synthetic Detector for Oxygen System of Modern Aircraft .....................................................................470Limin Chang, Qingguo Zhang, Lijing Zhang

Research and Realization of RS Codec based on FPGA Technique.........................................................................................................475Limin Chang, Lu Song, Fengyang Duan

Double Closed-loops Control Application in High Frequency Chopped Wave Cascade Speed Control System ................................481Zhang Junwei, Wang Bingshu, Wan Jun, Jiang Ping

Single Neuron Controller of VSCF Wind Power Generation System ......................................................................................................487Chunqing Qi, Yong Yang, Ji Suo

Research on All-digital Strip Steel Rectifying Electro-hydraulic Control System..................................................................................492Huixiong Wan, Haibo Huang, Rui Lin

The Study of Accurate Digital Control for Precision AC Servo Table.....................................................................................................497Dong Liu, Xuesong Mei, Tao Tao

Design of Nonlinear Optimal Control System for Aircraft with Thrust Vector .....................................................................................502Hao Long, Shujie Song

A Multi-sensor System Applied to Control an Intelligent Robotic Hand for Underwater Environment ............................................507Kaiguo Yong, Yunjian Ge, Huibin Cao, Lei He

Design of Pressure Control System for a Large Freeform Surface Polishing Robot ..............................................................................513Zhixin Liu, Ji Zhao, Lei Zhang, Wusong Yang

Study on Ann-Based Intelligent Self-Tuning PID Controller....................................................................................................................518Shan Xue, Huilin Fan, Hongji Xu

A Design of Vehicle Collision Avoidance System Based on DSP...............................................................................................................524Shan Zhu, Honghui Zhu, Mi Zhou

Research on Driving Wheel Control of Cleaning Robot Based on Fuzzy Adaptive Tuning PID ..........................................................529Xiaobo Lai, Shiqiang Zhu, Wenxiang Wu

Energy Scheduling with Roles Dormant Cells in Wireless Sensor Network............................................................................................535Maan Younis Abdullah, Weihua Gui, Naif Alsharabi

A Non-Contact Measurement Method on Size Shape and Position of Deep Cavity Blind Hole............................................................540Hongji Xu, Hongping Wang, Guohua Cao, Hongchang Ding

Investigation to Simulation of Control Strategy of Parallel Hydraulic Hybrid Vehicles Based on Backward Modeling ..........................................................................................................................................................................................................545

Tao Liu, Hui Sun, Jihai Jiang

Static Characteristic and Vibration Dynamic Response Analysis of Switched Reluctance Motor System..........................................551Haijun Zhang, Ruizhen Gao, Jingjun Zhang, Junru Gao

Research on H∞ Control Strategy of Vertical Hoist System Driven by Permanent Magnet Linear Synchronous Motor ...............................................................................................................................................................................................................556

Haixing Wang, Shiying Yuan

Interceptor Guidance Law Based on Relative Heading Error Angle .......................................................................................................561Qi Naiming, Li Yunqian, Cheng Xing

The Fault-tolerant Controller for Uncertain Linear Large-scale Generalized Systems with Unknown Time-delays........................566Zhanmin Yang

H2/ H∞ Controller Design in Attitude Control System of Aerocraft .......................................................................................................571Boqi Xi, Yuanwei Li, Hongwei Xia, Qinghua Li, Changhong Wang

Study on Fuzzy Gain-Scheduled Multiple Mode Predictive Control of ALSTOM Gasifier Problem..................................................576Yong Wang, Hongjun Yue

Computation Model of Image Motion Velocity for Space Optical Remote Cameras.............................................................................582Weichao Zhong, Hong Deng, Zhaowei Sun, Xiande Wu

Finding the Lowest-cost Path for Searching the Grid-based Environment.............................................................................................587Bo Gao, Demin Xu, Fubin Zhang, Yao Yao

Motion Control of a Spherical Robot Based on Conservation of Angular Momentum .........................................................................593Guanghui Shu, Qiang Zhan, Yao Cai

Vehicle Suspensions Performance Testing System Based on Virtual Instrument ..................................................................................599Yumei Liu, Xiaoning Cao, Li Cui, Wei Xiong

The Basic Motion Control Strategy for the Water-jet-propelled USV.....................................................................................................605Gongxing Wu, Hanbin Sun, Jin Zou, Lei Wan

Research on Fault Diagnosis for Ship Course Control System .................................................................................................................611Sheng Liu, Zhenping Weng, Gaoyun Li

Application Research of Iterative Minor Adjustment in Reverse Engineering ......................................................................................616Yuzhang Liu, Hongsheng Fu, Luyue Ju

Prediction of AUV Moving Target Based on Forward Looking Sonar Using Grey Prediction Principle ...........................................621Jian Xu, Jie Zhao, Zheping Yan, Lei Chen

Process Simulation Modeling for Sequence Switching Strategy in Substations......................................................................................626Fengying Long, Wei Xia, Xiaoping Liao

A Fuzzy Expert System for Submarine Damage Control ..........................................................................................................................632Xiaocheng Shi, Yunlong Wang, Juan Li, Ying Qu

Photoluminescence Properties of Rare-Earth Nd, Ce doped Si-based Materials ...................................................................................638Meiling Yuan, Xinli Leng, Chenfa Li, Kun Yan, Qingnian Wang

Adaptive Control of a Rigid Manipulator Holding a Flexible Payload Driven by an Unknown Force................................................643Lei Liu, Dejun Wang, Yuanchun Li, Rihua Jiang

The Study of Hybrid Vision-based Navigation for Lunar Rover in Virtual Environment ....................................................................649Jinsong Bao, Dili Yu, Xiaofeng Xu, Sanhu Du, Ye Jin

Improved Force Feedback Model based on Position/Velocity Control of Teleoperation System .........................................................654Mingde Gong, Bin Yang, Chenghao Han

Design and Realization of Strapdown Inertial Navigation Accelerometer Signal Acquisition Unit .....................................................659Feng Sun, Yu Gao, Yang Lu, Jia Sun

Collision Detection Algorithm Based on Slice Projection ..........................................................................................................................665Xuyou Li, Zhen Zhong, Zhizhong Lu

Application of Self-adjustable Fuzzy Control Algorithm in the Air Suspension of the Vehicle............................................................670Weibo Yu, Nan Li, Lai Wei, Baimei Pang

Fault Daignosis Based on AGA-LS-SVM for Analog Circuit ...................................................................................................................675Sheng Liu, Yuchao Wang, Huixuan Fu

Optimization of Measuring Points Based on the Grey System Theory Spindle of CNC Machine Tool ...............................................680Changlong Zhao, Yiqiang Wang

Two-Step Modeling and Observability for Bearings-Only Tracking .......................................................................................................685Hongrui Li, Li Chen, Andong Sheng

A Cooperative Target Location Algorithm Based on Time Difference of Arrival in Wireless Senor Networks .................................690Pengfei Peng, Hao Luo, Zhong Liu, Xiongwei Ren

Research on New Methods to Improve the Ability of On-time Delivery in Discrete Enterprises .........................................................696Guo Caifen, Li Shaokun

Analysis of the Electro-hydraulic Servo Shaking Table with Flexible Payload ......................................................................................702Jianqiu Chen, Xinzheng Zhang, Ping Tan, Lushun Wei, Minzheng Zhang

Design of Vector Controller of PMSM Based on Pan-Boolean Algebra Self-adapting PID Control....................................................708Huazhong Xu, Jinquan He, Changzhe Chen

Dynamic Performance Analysis of Connected to Grid DFIG Based on Fuzzy Logic Control ..............................................................713Yongfeng Ren, Zhongquan An, Hanshan Li, Jie Zhou, Jinguo Liu, Hongbin Hu, Haitao Liu

Visual System Design for Excavator Simulator with Deformable Terrain..............................................................................................718Tao Ni, Dingxuan Zhao, Shui Ni

Adaptive Trajectory Tracking of WMRs based on Feedback Linearization Technique .......................................................................723Khoshnam Shojaei, Ahmadreza Tarakameh, Alireza Mohamd Shahri

Model Reference Adaptive Control of a Nuclear Reactor .........................................................................................................................729Zahra Sadat Alavi, Mohammad Bagher Menhaj, Hossein Eliasi

Design of H∞ Robust Controller for Electro-Hydraulic IGC System of Four-high Mill Based on Genetic Algorithm .....................735Jianliang Sun, Yan Peng, Hongmin Liu

Adaptive Fuzzy Tracking Control for Robotic Manipulators with Adjustable Gains ...........................................................................740Hongbin Wang, Xiaobo Wang, Yueling Wang

Implement Fault Diagnosis High Speed Reasoning Expert System with FPGA .....................................................................................746Jingyan Xue, Laijun Sun, Mingliang Liu, Changming Qiao, Haibo Qian

A New Controller of Stabilizing Circuit in FOGS ......................................................................................................................................751Qintuo Zhang, Zhenfan Tan, Lidong Guo

Attitude Fuzzy Logic Controller Design of A Staring-imaging Satellite in LEO ....................................................................................756Haizhao Liang, Zhaowei Sun, Xiande Wu

Optimization Design of Mobile Robot Based on Genetic Algorithm ........................................................................................................761Haiying Wang, Rui Xu, Mingyou Bai, Jinlin Jia

Robust Control of Norm-Bounded Uncertain Linear System with Regional Pole Assignment ............................................................766Jiansheng Xu, Ming Li

Driving Performance of Off-road Vehicle Matching with Tire by Simulation .......................................................................................772Guifan Zhao, Yueying Zhu, Dafang Wang, Dongyu Yang, Youshan Wang

Research Progress of Switched Reluctance Motor Drive System .............................................................................................................778Yueying Zhu, Dafang Wang, Guifan Zhao, Dongyu Yang, Yu Wang

Position-Velocity Based Force Feedback Scheme of Bilateral Hydraulic Servo Control System .........................................................784Zhuxin Zhang, Dingxuan Zhao

The Design of Automatic Material Storage Control System .....................................................................................................................789Hongbing Liu, Huaxiang Han

Fuzzy Process for Spatial Semantic Information........................................................................................................................................795Sheng Chai, Shengsheng Wang, Jiachen Zhang

Research on Acceleration Slip Regulation System for Two Wheel Drive Electric Vehicle....................................................................801Junwei Li, Baojun Qu

An Integrated Approach for Interoperation between Heterogeneous Bus Networks in City Bus Control System ............................806Jun Xu, Gangyan Li

Particle Filter Based Robust Mobile Robot Localization...........................................................................................................................811Dongsheng Wang, Jianchao Zhao, Wei Wang

Decentralized Control for a Class of Uncertain Switched Interconnected Large-scale Systems ..........................................................816Changchun Sun, Bo Fang, Wenhu Huang

Nonlinear Sliding Mode Speed Control of a PM Synchronous Motor Drive Using Model Reference Adaptive Backstepping Approach.................................................................................................................................................................................822

Hai Lin, Weisheng Yan, Yintao Wang, Bo Gao, Yao Yao

An Anti-laser Early-warning Collimator Design for Epistemic Passive Tracking .................................................................................828Rui Liu, Feng Chen, Andong Sheng

Simulation and Implementation of Marine Generator Excitation System with PSS..............................................................................833Sun Caiqin, Chengqiu Li, Chengjun Shi

Pitch regulated LQG Controller Design For Variable Speed Wind Turbine..........................................................................................839Xingjia Yao, Changchun Guo, Zuoxia Xing, Yan Li, Shu Liu, Xiaodong Wang

Switching Grey Prediction Fuzzy Control for Electro-hydraulic Proportional Pressure Control System ..........................................844Weike Song, Juliang Xiao, Guodong Wang

Doubly-fed Induction Generator Control for Variable-Speed Wind Power Generation System .........................................................849Xingjia Yao, Shu Liu, Xiaodong Wang, Changchun Guo, Zuoxia Xing, HongLiang Jiang

The Relaxed Exponential Stability Condition For a Class of Uncertain Time-delay Neural Networks...............................................854Jianwei Xia, Guangwu Meng

DSP Control Implement of Permanent Magnet Synchronous AC Servo Motor Based on Vector Control .........................................860Yanping Liu, Shuhong Liu, Huajun Wang

Vibration Control of Flexible Structure with Multiple Modes Using Input Shaping .............................................................................865Peng Zhang, Yuanchun Li

Expert PID Control Study of Hybrid Maglev Systems ..............................................................................................................................870Tongjuan Liu, Xiangguo Ma, Nengqiang Jin

MP1-1: MEDICAL APPLICATIONS - I Automated Haematopoietic Stem Cells Harvesting Machine....................................................................................................................875

KK Tan, KZ Tang, S Huang, AS Putra, TH Lee, SC Ng, Jerry Chan, LG Tan, Mark Chong

Spaceborne Laser Interconnect Technology based on Human Bionics....................................................................................................881Xiaojun He, Guang Jin, Jinling Wang

Three Dimensional Simulation for Blood Vessel of Ocular Fundus .........................................................................................................887Songtao Han, Zhiwen Xu, Yushan Zhao

Neural Substrates of Visual and Tactile Integration About the Object Recognition by fMRI..............................................................893Weihui Yang, Tan Mei, Sheng-fu Lu

Segmentation Method Based on Transition Region Extraction for Coronary Angiograms ..................................................................899Wenwei Kang, Ke Wang, Qingzhu Wang, Donghong An

Bioprocess Automation Using New Online Sensors....................................................................................................................................904Junfeng Jiang, Shunjie Fan, Bing Kong, Haoyuan Cai, Min Guo, Yue Zhuo

MP1-2: HUMAN MOTION DETECTION AND ASSIST - I Electromyography Analysis for Pre-clinical Trials of Hand Rehabilitation Tasks using Design of Experiments ..............................909

Kok Yong Ang, Yunyun Huang, Kin Huat Low

A Joystick Car Drive System for Wheelchair Users ...................................................................................................................................915Masayoshi Wada, Fujio Kameda

Human Walking Capture and its Inspiration to Biped Gait Planning.....................................................................................................920Zeyang Xia, Guodong Chen, Zhenzhong Jia, Jing Xiong, Ken Chen

Development of Upper Limb Motor Function Training and Rehabilitation System..............................................................................925Shuxiang Guo, Zhibin Song, Changchun Ren

Comprehensive Signal Interpretation of Functional Hand Strength for Activities of Daily Living (ADL) Rehabilitation via Multivariate Data Analysis (MVA)............................................................................................................................... 931

YunYun Huang, Kin Huat Low

A New Gravity Compensation Mechanism for Lower Limb Rehabilitation ...........................................................................................937Takayuki Nakayama, Yousuke Araki, Hideo Fujimoto

MP1-3: MICRO AND NANO POSITIONING Kinematic Analysis of a 6-DOF Parallel Mechanism for Human-Scale Teleoperation System ............................................................943

Nan Xiao, Shuxiang Guo

Magnetic Levitation as a Micromanipulation Technique for MEMS ......................................................................................................949Caglar Elbuken, M. Behrad Khamesee, Mustafa Yavuz

Shock Test and Analysis of Assembled Suspension with Microactuators in Hard Disk Drives ............................................................954Kwong Wah Chan, Wei-Hsin Liao

High Precision Control for Piezo-Actuated Positioners .............................................................................................................................960Xinkai Chen

Application Research of a New Kind of Attitude Update Algorithm .......................................................................................................966Jinxian Yang, Ying Zhang, Gannan Yuan

Modeling and Compensation of Piezoelectric Ceramic Hysteretic Behavior ..........................................................................................971Xihua Wang, Shuxiang Guo, Changhai Ru

MP1-4: IMAGE PROCESSING - II Automated Optical Inspection of Solder Paste based on 2.5D Visual Images .........................................................................................976

Grantham Pang, Ming-Hei Chu

Region-Based Weighted Histogram and Its Application to Image Contrast Enhancement ..................................................................982Ming Zeng, Youfu Li, Qinghao Meng

Research on Surface Defect Inspection for Small Magnetic Rings ...........................................................................................................988Zhanjiang Yu, Xiaozhou Li, Huadong Yu, Dan Xie, Aimei Liu, Hao Lv

A New Segment-based Algorithm for Stereo Matching .............................................................................................................................993Zhihua Liu, Zhenjun Han, Qixiang Ye, Jianbin Jiao

Research of Automatic Medical Image Segmentation Algorithm Based on Tsallis Entropy and Improved PCNN...........................998Weili Shi, Yu Miao, Zhanfang Chen, Hongbiao Zhang

An Industrial CT Image Adaptive Filtering Method based on Anisotropic Diffusion .........................................................................1003Jin Li, Lei Wang, Peihua Bao

MP1-5: HUMAN INTERFACE Adaptive Myoelectric Human-Machine Interface for Video Games ......................................................................................................1009

Mohammadreza Asghari Oskoei, Huosheng Hu

Evaluation of Gait with Trans-Femoral Prosthesis based on Riemannian Distance ............................................................................1015Takahiro Wada, Toyokazu Takeuchi, Masahiro Sekimoto, Yuuki Shiba, Suguru Arimoto

Development of Muscle Suit and Application to Factory Laborers........................................................................................................1021Takamitsu Aida, Hirokazu Nozaki, Hiroshi Kobayashi

Design of A Trigeminal Neuralgia Pressure-pained-detector Based on MSP430 .................................................................................1027Xiaojuan Chen, Youtian Zhang, Xinghua Li

WPAL for Human Power Assist during Walking Using Dynamic Equation ........................................................................................1033Chen Feng, Yu Yong, Ge Yun Jian, Fang Yu

Brain-Computer Interface Design Based on Slow Cortical Potentials using Matlab/Simulink ..........................................................1038Haibin Zhao, Hong Wang, Chunsheng Li, Yungong Li

MP1-6: ACTUATORS - II An Investigation on Development of Motor and Gearheas for Small Mechanism................................................................................1043

Joo Han Kim, Se Hyun Rhyu, In Soung Jung, Jung Moo Seo

Design and Modeling of A Novel Squeeze Film Journal Bearing ...........................................................................................................1048Su Zhao, Joerg Wallaschek

Study of Linear Drive Ultrasonic Feeder...................................................................................................................................................1054Bin Jiang, Zhigang Yang, Fengjun Tian, Zunqiang Fan, Wei Zheng, Xiaolun Liu

Research on Reliability of a Hybrid Three-Redundant Electro-Mechanical Actuator ........................................................................1060Na Wang, Yuanjun Zhou

Improved Fuzzy Logic Based Research on Energy Saving Control for Induction Motors..................................................................1065Dongmei Xie

Development of Electro-hydraulic Injection Timing Actuator Design for Heavy Duty Diesel Engine ..............................................1071Qinghui Xiong, Youtong Zhang, Jun Wang, Yongfeng Liu

MP1-7: MOBILE ROBOTS - II Vision Based Environment Recognition and Movement Control for Autonomous Wheeled Mobile Robots....................................1077

Gen'ichi Yasuda, Bin Ge

The Development of Driving System with Differential Drive Steering System for Omni-directional Mobile Robot .......................1083Yuki Ueno, Takashi Ohno, Kazuhiko Terashima, Hideo Kitagawa

Research on the Motion Performance of the Spherical Mobile Robot Wrapped by a Netlike Spherical Shell .................................1089Chengkun Shi, Hanxu Sun

A Kinematic Modeling Method for a Wheeled Mobile Robot.................................................................................................................1094Yong Chang, Shugen Ma, Hongguang Wang, Dalong Tan

Simultaneous Localization and Mapping for Mobile Robot Based on an Improved Particle Filter Algorithm................................1100Zhongmin Wang, Dehua Miao, Zhijiang Du

Development of an Omnidirectional Mobile Platform .............................................................................................................................1105Changlong Ye, Shugen Ma

MP1-8: LOCALIZATION - I Mobile Sensor Node Localization and Path Planning for Ubiquitous Service ......................................................................................1110

Ren C. Luo, Yu-Da Hong, Wei-Lung Hsu, Sung-Sheng Huang

ICP Based on Polar Point Matching with Application to Graph-SLAM ...............................................................................................1116Rui Guo, Fengchi Sun, Jing Yuan

Modeling and Simulation of Higher-order PLL Rotation Tracking System in GNSS Receiver .........................................................1122Hongbing Xiao, Peiyuan Guo, Shiyi Li

Optimal Decision Making for Cooperative Localization of MAUVs ......................................................................................................1128Yao Yao, Demin Xu, Weisheng Yan, Bo Gao

Passive Acoustic Localization Technology Using Arrays with Special Geography for Wireless Sensor Networks ..........................1134Qingzhou Li, Ping Song, Kejie Li

Acoustic Passive Localization Algorithm Based on Wireless Sensor Networks ....................................................................................1139Jingjing Jia, Mingjie Liu, Xiaofeng Li

MP1-9: CONTROL THEORY - II Integrated Vehicle Dynamics Control through Coordinating Electronic Stability Program and Active Suspension System ............................................................................................................................................................................................................1144

Hansong Xiao, Wuwei Chen, Huihui Zhou, Jean W.Zu

A Class of Adaptive Sliding Mode Controller with Integral Sliding Surface ........................................................................................1150Juntao Fei

Tracking Object under Intense Disturbance Based on Adaptive Histogram with an Active Camera ...............................................1156Guishan Xiang, Zhijie Lin

Model Predictive Control Based on Linear Programming for Engine Idle Speed Control .................................................................1161Shu Li, Hong Chen, Miaomiao Ma

Improved Off-Line Formulation of Robust Model Predictive Control for a Discrete Time Uncertain System ................................1167Weiwei Qin, Zhiqiang Zheng, Peng Li, Gang Liu

Controllability of the Nonlinear Underactuated Ball and Plate System ................................................................................................1173Siyan Fu, Zhen Sui, Hongrui Wang, Yantao Tian

MP1-10: AUV CONTROL - I Enhancing Situational Awareness through Multirate Control of an Autonomous Underwater Vehicle ...........................................1178

Igor Astrov, Andrus Pedai, Ennu Rüstern

A Conceptual Design of Vectored Water-jet Propulsion System ............................................................................................................1184Shuxiang Guo, Xichuan Lin, Seji Hata

Dynamics and Kinematics of Novel Underwater Vehicle-Manipulator for Cleaning Water Pool ......................................................1190Yangmin Li, Ka Meng Lo

Development of a 7-function Hydraulic Underwater Manipulator System ...........................................................................................1196Jianjun Yao, Liquan Wang, Peng Jia, Zhuo Wang

A Three-dimensional Locating Method for Underwater Robot Based on Sensors Fusion ..................................................................1201Mingjun Zhang, Li Zhang, Yan Li

Modeling and Simulation of Contact-less PowerTransformers for Underwater Application .............................................................1207Qifeng Gao, Xiongxi Wu, Jian Liu, Zhaojian Yang

MP1-11: FUZZY CONTROL - I Parameter Selection for Training Process of Neuro-fuzzy Systems for Average Air Temperature Estimation ...............................1212

Surinder Jassar, Zaiyi Liao, Lian Zhao, Ka Long Ringo Ng

Choquet Integral with Respect to Sigma-Fuzzy Measure........................................................................................................................1217Hsiang-Chuan Liu, Der-Bang Wu, Yu-Du Jheng, Chin-Chun Chen, Maw-Fa Chien, Tian-Wei Sheu

A Novel Flux-weakening Control Scheme Based on the Fuzzy Logic of PMSM Drive ........................................................................1222Xianqqing Cao, Liping Fan

Research on Application of Fuzzy Controller Based on Parameters Self-Adjustment in Gas Pressure Control..............................1227Rencheng Jin, Wujin Zhang, Mingliang Shao, Zhenan Tang

Fuzzy Attitude Control for Flexible Satellite during Orbit Maneuver ..................................................................................................1233Yingying Liu, Jun Zhou

T-S Fuzzy Modeling and Asymptotic Synchronization of Two Nonidentical Discrete-time Hyperchaotic Maps.............................1238Yan Zhao, Cunxu Wang, Xichang Han, Zhiliang Wang

MP1-12: ANALYSIS AND DESIGN OF MECHATRONIC SYSTEMS - I A 4-DOF Flexible Continuum Robot Using a Spring Backbone .............................................................................................................1243

Hyun-Soo Yoon, Byung-Ju Yi

Kinematic Analysis of the Reticle Stage for Lithography with Gamma Ratio Mapping Method.......................................................1249Min-taek Oh, Jung-han Kim

Glass Auto Alignment Mechanism on LCD Defect Repair Stage System..............................................................................................1257Seo Sung Keun, Lim Sungmuk, Lee Wonjeong, Lee Seungbae

An Open CNC for Machining NURBS Surfaces Based on STEP-NC ....................................................................................................1262Xia Li, Lin Lin, Hongbin Liang

The Winding Machine System of Large Diameter FRP Tank ................................................................................................................1267Jiazhong Xu, Wenbin Gao, Xinying Wang, Bo You

CFD Analysis on the Lubrication Behaviours of Journal Bearing with Dimples .................................................................................1273Hu Yong, Raj Balendra

MP1-P: POSTER SESSION - II Mobile Robot Vision System Based on Linear Structured Light and DSP............................................................................................1279

Boyu Wei, Ying Fan, Baoquan Gao

Research on the System of Synchronous Belt Fatigue Life Testing ........................................................................................................1285Tao Jiang, Guanghua Zhu, Fuyou Fan

Study of Robot Seam Tracking System with Laser Vision ......................................................................................................................1290Suyi Liu, Guorong Wang, Hua Zhang, Jianjun Bai, Lingteng Liu

Error Analysis of Parallel Manipulators Based on Differential Operators ...........................................................................................1296Hong Lin, Cong Meng, Hong Chuan

Research on 3D Reconstruction for Automated Ultrasonic Inspection System ....................................................................................1301Zhi Cao, Deyuan Luo, Dongxing Qin

Digital Watermarking Appraisement Scheme Based on Certainty Factor............................................................................................1306Jianguo Sun, Chaoguang Men, Liujuan Cao

Active Gear-based Approach Mechanism for Scanning Tunneling Microscope ..................................................................................1311Xiangying Deng, Zhengya Dong, Xin Ma, Haihua Wu, Boyuan Wang

The Transforming Value Creation and Networks in the Industrial Automation Sector .....................................................................1316Ching Huai Peng

Closed-form Direct Position Analysis of the General Stewart-Gough Manipulator Robot .................................................................1320Xiguang Huang, Guangpin He

A Method for Obtaining Direct and Inverse Pose Solutions to Delta Parallel Robot Based on ADAMS ..........................................1325Jingjun Zhang, Lihong Shi, Ruizhen Gao, Chaoyang Lian

Modeling and Simulation of Active-Controlled Heave Compensation System of Deepsea Mining based on Dynamic Vibration Absorber ......................................................................................................................................................................................1330

Liujun Li, Shaojun Liu

On-orbit Identification of Disturbance Torques Acting on Satellite with Moving Payloads ...............................................................1335Maoliang Chen, Yingying Liu, Jing Lei, Jun Zhou

The Feasibility and Superiority of Super-capacitors on Mild Hybrid Electric Vehicle .......................................................................1340Yuanbin Yu, Qingnian Wang, Changjian Hu, Boshi Wang

Cooperative Q-Learning Based on Maturity of the Policy ......................................................................................................................1345Mao Yang, Yantao Tian, Xiaomei Liu

Calibration Study of Force-balanced Micro Accelerometer Based on Least Squared Method and Genetic Algorithm ......................................................................................................................................................................................................1350

Wu Zhou, Bailin Li, Xiaoping He, Wei Su, Fengtian Zhang

Effects of Fabrication Error on the Pull-in Voltage of Capacitive Micro Accelerometer ....................................................................1355Wu Zhou, Bailin Li, Xiaoping He, Wei Su, Fengtian Zhang

Internal Model Control Using Neural Networks-Genetic Algorithm for Vertical Electric Furnace ..................................................1361Hongxing Li, Xuetao Wu, Yinong Zhang

Mechanical Performance Analysis on Miniature Tiltmeter and Design of a New Oscillator Suspended with Thin Reed Spring ...................................................................................................................................................................................................1367

Yu Huang, Ji Li

Cutting Temperature Modeling with Non-uniform Primary Heat Intensity Based on Slip-Line Field .............................................1372Xinguang Liang, Weibin Gu, Zhenqiang Yao

Research on Arrival Time Interval Control of Multiple Independent Reentry Vehicle ......................................................................1378Naigang Cui, Yu Fu, Jifeng Guo, Cheng Chen

Study of Compound Differential Gear Train Based on Pump Load Hydraulic Speed Regulation ....................................................1383Lin Li, Xiaoming Rui, Zhiyong Ma

Study on Speed Control System of In-Pipe Robot Power Self-Supported By Fluid .............................................................................1389Jianyong Li, Shengyuan Jiang, Yao Wang, Limin Ren, Xinghua Gao

Research and Application of RBF Neural Network in Cone Picking Robot .........................................................................................1394Xiuli Guo, Huaimin Lu, Danfeng Du

Optimization Design for CNC Machine Spindle System Heat-Dissipating Structure ..........................................................................1399Haolin Li, Xingjuan Ying, Heisel Uwe

Theoretical Research on a Six-Axis Accelerometer for Humanoid Robot Wrist ..................................................................................1404Chunzhan Yu, Xinyi Zhang, Qingxuan Jia, Jinliang Li

Torque Performance Comparison from Three-Phase with Six-Phase Induction Machine .................................................................1410Yongle Ai, Yumei Wang, Maarten J.Kamper

Establishment and Application for Diffusion Model of Moisture in Drying Process of Pressboard ..................................................1415Wanquan Li, Changyin Gao

Fabrication of Micro Gear with New Technologies..................................................................................................................................1420Shufeng Sun, Zhenzhen Li, Pingping Wang, Wenhao Huang

Research On MEMS Acceleration Sensor Detective Circuit based on Adaptive Filter .......................................................................1426Shu Zhang, Wei Dong, Jingran Zhou, Xindong Zhang, Caixia Liu, Yanping Wang, Shengping Ruan, Weiyou Chen

Cutting Force Modeling and Simulation of Tee Slot Milling...................................................................................................................1431Zhongqun Li, Shangxian Zhang

A Method of Motion Control About Micro-hole Abrasive Flow Machining Based on Delphi Language ..........................................1437Junye Li, Weina Liu, Lifeng Yang, Chunlin Tian, Shuren Zhang

Match of High Pressure Common Rail System in Diesel Engine by Knowledge based Engineering .................................................1442Jun Wang, Youtong Zhang, Qinghui Xiong, Xiaoliang Ding

Parameter Matching of Induction Motor for Electric Vehicle Based on Orthogonal Design .............................................................1448Wang Wei, Wang Qingnian, Yang Xiukun, Zeng Xiaohua, Min Haitao

Design and Error Analysis of Reconfigurable Turn-milling Machine Tool ..........................................................................................1453Wei Yuan, Zhijing Zhang, Xuxiao Fan, Lei Sun

Vibration Isolating Characteristic of A New Type of ER Fluid Engine Mount ....................................................................................1459Shuhua Cui, Hangxu Yang

Jumping Mechanism Analysis and Modeling for Locust Robot .............................................................................................................1464Yong Chen

Design of the Angle Hammers Impact Test System of the Automobile Fuel Tank ...............................................................................1469Tao Jiang, Shi Zhong, Chengzhi Su

Intelligent and Reconfigurable Control of Automatic Production Line by Applying IEC61499 Function Blocks and Software Agent..............................................................................................................................................................................................1474

Xuemei Huang

Real time Control of Line Contact Machining CNC System Based on Windows .................................................................................1480Wang Fang, Mei Xuesong, Wang Kunqi

Research on Application of NC Program Optimization Based on TSP .................................................................................................1486Xueguang Li, Shuren Zhang, Linsen song, Liqin Miao, Dahui Liu

Parameter Optimum Design of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy ..............................................1492Lijie Zhang, Yongquan Li, Wenya Shi

An Encoding Scheme and Reconfiguration Algorithm for the Reconfigurable Machine Tool ...........................................................1498Jingkun Wang, Xing Ai, Jinsheng Zhang

Dynamic Analysis of Spherical 5R Parallel Manipulator ........................................................................................................................1503Lijie Zhang, Yongquan Li, Yaqing Guo

Study and Analysis of the 3-PRS Parallel Mechanism .............................................................................................................................1508Chen Chun, Huang Yumei, Han Xuzhao, Cheng Xiang

Rigid Body Displacement Constrained Deformation ...............................................................................................................................1514Qi Huang, Chunning Jin, Ping Hu

Numerical Analysis of the Effect of Ground Clearance on a Simplified Car Model ............................................................................1519Hui Ye, Ping Hu, Shanbin Lu

Study of the Electro-hydraulic Control System for CVT Metal belt Axial-misalignment ...................................................................1524Zang Faye

Design of Integrated Weapon Test System Based On VXI Bus for New Type Homemade Aircraft ..................................................1529Huilin Fan, Shan Xue, Hongji Xu, Manyi Hou

Model of Micro-cutting and Analysis of Micro Cutting Force ................................................................................................................1534Xiaozhou Li, Huadong Yu, Jinkai Xu, Aimei Liu, Hao Lv

Study on Combustion Model Parameters of High Pressure Common Rail Diesel Engine under Transient Operation.......................................................................................................................................................................................................1539

Limin Shao, Hanbao Chang, Zhenming Liu , Jiadong Zhou, Jingqiu Zhang

Compound Control of the Robotic Polishing Process Basing on the Assistant Electromagnetic Field ..............................................1544Guangchao Han, Ming Sun

Path Planning for Automatic Robotic Blade Grinding ............................................................................................................................1549Yang Zhao, Ji Zhao, Lei Zhang, Lizhe Qi, Qing Tang

Application ANSYS CFX in Modeling Turbine Blade .............................................................................................................................1554Lifeng Yang, Weina Liu, Yu Yang, Weihong Zhao

Determining Interference Between Parts for Virtual Assembly .............................................................................................................1560Tongyu Wang, Xiuli Li, Dangyang Guo

A Planning Algorithm of Trajectory and Feedrate Generation of Spatial Motion...............................................................................1565Jun Hu, Qianqian Cao, Fang Liu

The Prediction of SOC of Lithium Batteries and Varied Pulse Charge.................................................................................................1571Wei He, Dagui Huang, Daiwei Feng

Research on Extension Element Model in Hydraulic System..................................................................................................................1576Tian Junying, Han Jianhai

Principles of Nano-Robotics Based on Atomic Force Microscopy ..........................................................................................................1582Khadijeh Daeinabi, Mohammad Teshnehlab

Green Clamping Devices Based on Two-step Orthogonal Toggle Force Amplifier Driven by Pneumatic Muscle...........................1589Guangju Si, Kangmin Zhong

Dynamics Modeling of an Unmanned Bicycle with Parallel Mechanism Adjusting Stability .............................................................1594Yanbin Liu, Chenhui Jia, Jianhai Han

A Fractal-Based Flaw Feature Extraction Method for Ultrasonic Phased Array Nondestructive Testing .......................................1599Xianglin Zhan, Shijiu Jin

Research on Constraint-Based Model Reconstruction of Structural Parts ...........................................................................................1605Tieli Ye, Luling An, Min Wu, Li Gao

The Space Contrail Detection Unit Research of Based on Inertia Device..............................................................................................1611Zongyu Gao, Chubjie Yang, Desheng Li, Wei Wang

The Generalized Mechanisms Design and Control of a Patch Automatically Snatching System .......................................................1617Jianxin Qiu, Chuang Li

Research on Axial Force of Fluid Coupling Based on 3-D Flow Numerical Solution...........................................................................1622Bo Sun, Wenxing Ma, Yandong He

Development and Simulation of ZJUT Hand Based on Flexible Pneumatic Actuator FPA ................................................................1627Libin Zhang, Zhiheng Wang, Qinghua Yang, Guanjun Bao, Shaoming Qian

Worm-like Mechanical Walking Mechanism............................................................................................................................................1633Guanlong Luo, Jie Tang, Jun Chen

Design and Analysis of an Automotive Vibration Reduction System Based on Magneto-Rheological Elastomer............................1638Cao Kuankuan, Deng Yimin

Dynamic Design and Simulation Analysis of 1000MW Large Turbo-Generator .................................................................................1643Yixuan Wang, Ying Wang, Haifei Qiu, Xin Liu

Study on Fabrication of The Diamond Film Gear in Microsystem ........................................................................................................1649Yanbing Leng, Lianhe Dong, Yanjun Sun

Development on Automatic Conveying System for Dangerous Goods...................................................................................................1654Yang Yu, Juan Wei

Magnetic Field Analysis and Optimal Design of Magnetic Bearing .......................................................................................................1659Han Wu, Chunguang Xu, Dingguo Xiao, Juan Hao

An Integrated CAD/CAPP System for Bases ............................................................................................................................................1664Bin Zhu, Yantao Wang

Petri Net-based Control of the Material Handling Flow Path for Automated Guided Vehicles .........................................................1670Xiaorong Zhou, Peihui Li, Wengui Su

Numerical Analysis of Common Rail Electro-Injector for Diesel Engines ............................................................................................1676Zhenming Liu, Guangyao Ouyang

Research of the Observation Suspended Bin for Helicopter Power line Inspection .............................................................................1682Lizhong Zhang, Huilin Jiang, Lixin Meng

Study on a High Torque Output and Compact Precision Positioning System ......................................................................................1688Meng Li, Tieyu Hu, Huadong Yu, Ping Zhao

Modeling of Warship Power Devices and Simulation Research on Different Work Conditions ........................................................1694Jinhui Hu, Dabin Hu, Ji Xia

Working Condition Matching Characteristic Analysis of IHP System in Several Working Modes...................................................1699Yulong Ji, Hexun Wang, Yuqing Sun, Chengqiu Li

Co-simulation of Magnetic Suspended Rotor System:Research and Application ................................................................................1704Jinguang Zhang, Yefa Hu, Huachun Wu, Nianxian Wang

Research on Test System of Automobile Clutch Plate Based on Virtual Instrument...........................................................................1709Zhanli Wang, Weibing Wang, Hong Guo, Yingjie Lin

A Numerical Analysis on Nonlinear Radial Stiffness of Plane Supporting Spring and Its Combination ..........................................1714He Chen, Fang Jia, Defeng Zhang, Zhisheng Zhang, Shu Jiang, Xin Ji

Research on Nonlinear Behavior of Rotation Vibration System.............................................................................................................1719Jianfeng Chu, Yu Jiang, Wen Liang

An Artificial Intelligence Approach for the Multicriteria Optimization in Mechatronic Products Design .......................................1724Ouael Mouelhi, Pierre Couturier, Tanneguy Redarce

The Flexible Body Dynamic Analysis of the Arms of Automatic Inspection Robot for High-Voltage Transmission Line.................................................................................................................................................................................................................1730

Yu Si, Xiaozhou Li, Huadong Yu, Yiquan Li, Zhanjiang Yu, Jinkai Xu

Design and Analysis of the Apparatus for Meso-scale Friction Force Testing......................................................................................1735Ying Xu, Jingdong Wang, Huadong Yu, Yiquan Li, Hao Lv

The Stability of Linear Neutral Delay Differential Systems with Two Delays ......................................................................................1740Xin Yu, Yan Zhong

Improvement for Real-time Performance in Bluetooth Home Control Network .................................................................................1745Suying Yang, Xin Zhang, Chongquan Zhong

The Obstacle Recognition Approach for A Power Line Inspection Robot ............................................................................................1750Qi Zuo, Zhi Xie, Zijian Guo, Dehui Sun

Parametric Finite Element Modelling and Nonlinear Analysis of Vehicle Brake.................................................................................1755Jiuchen Fan, Zhaojun Yang, Jixin Wang, Shuwei Ding, Changliang Liu, Zongcheng Shi

MP2-1: MEDICAL APPLICATIONS - II Design of a Bidirectional Force Feedback Dataglove Based on Pneumatic Artificial Muscles ...........................................................1760

Zhongsheng Sun, Xiaodong Miao, Xiaoning Li

Point-Based Registration Using Extended Kalman Filter in Medical Robotic System ........................................................................1765Zhangjun Song, Jing Xu, Jianwei Zhang, Ken Chen

A Mapping Modelling of Visual Feature and Knowledge Representation Approach for Medical Image Retrieval ........................1771Jin Li, Hong Liang, Lianzhi Tang

Skin Impedance Models for Transdermal Drug Delivery .......................................................................................................................1777Grantham K.H. Pang, Dapeng Qiao

Error Propagation of the Robotic System for Liver Cancer Coagulation Therapy .............................................................................1782Jing Xu, Zhangjun Song, Ken Chen

Estimation of Hand Grasp Force based on Forearm Surface EMG.......................................................................................................1788Dapeng Yang, Jingdong Zhao, Yikun Gu, Li Jiang, Hong Liu

MP2-2: HUMAN MOTION DETECTION AND ASSIST - II Extraction of Behavior Primitives for Understanding Human Standing-up Motion ...........................................................................1793

Qi An, Hiroki Matsuoka, Yusuke Ikemoto, Hajime Asama

Development of a Prosthetic Ankle-Foot and Its Slope-Walking Experiments.....................................................................................1799Li Chengqiu, Morimoto Shoji, Fueusho Junji, Kikuchi Takehito

Mechanism Design and Dynamics Study of Meal-assistance Robot .......................................................................................................1804Yantao Li, Lixun Zhang, Lan Wang

Research on Sensing Information Forecasting for Power Assist Walking Legs ...................................................................................1809Zhaojun Sun, Yong Yu, Yunjian Ge

Design of Mechanical Structure and Tracking Control System for Lower Limbs Rehabilitative Training Robot ..........................1817Junyou Yang, Dianchun Bai, Shan Bai, Yuqing Li, Shuoyu Wang

Performance Evaluation Method of Passive Force Display and Rehabilitation System with Redundant Brakes ............................1823Ying Jin, Junji Furusho

MP2-3: MICRO AND NANO SENSING Quality Inspection of Nanoscale Patterns Produced by Laser Interference Lithography Using Image Analysis Techniques.....................................................................................................................................................................................................1828

Ze Ji, Jin Zhang, Santiago M Olaizola, Yury K Verevkin, Changsi Peng, Chunlei Tan, Thierry Berthou, Stéphane Tisserand, Zuobin Wang

Development and Analysis of Micro/Nano Displacement Sensor for Piezoelectric Actuator ..............................................................1834Yong Yu, Bo Song, Yunjian Ge

Single Cell Penetration using Nano-pipette by E-SEM Nanorobotic Manipulation System ...............................................................1842Yajing Shen, Masahiro Nakajima, Mohd Ridzuan Ahmad, Seiji Kojima, Michio Homma, Toshio Fukuda

Investigation of GDH/Laccase Enzymes for Bio-energy Generation Systems.......................................................................................1848Long-ho Chau, Ken C. F. Leung, Wen J. Li

3D Shape Reconstruction of Microstructures via Micro Stereovision ...................................................................................................1854Yuezong Wang, Jinghui Liu

Preparation of Macroporous Silicon Array by Micromachining Processes ..........................................................................................1859Qingduo Duanmu, Guozheng Wang, Yang Wang, Ye Li, Shencheng Fu, Xin Wang

MP2-4: IMAGE PROCESSING - III A Low-Complexity Algorithm for the On-Chip Moment Computation of Binary Images..................................................................1864

Yanfei Liu, Carlos Arturo Pomalaza-Raez

The Remote-Sensing Image Segmentation Using Textons In The Normalized Cuts Framework.......................................................1870Feng Sun, Jinpeng He

Study of Real-Time Infrared Image Enhancement Algorithm Based on FPGA ...................................................................................1875Guangwen Liu, Jitao Li, Hong Ma

Global Depth from Defocus with Fixed Camera Parameters..................................................................................................................1880Yangjie Wei, Zaili Dong, Chengdong Wu

Study on Moving Image of DVD Recorder and Its Measurement Method ...........................................................................................1886Hongbo Liu, Xiaotao Wang, Liang Yu, Lei Di

Influence of The TDICCD Camera Takes Pictures When High Resolution Satellite Lateral Swaying .............................................1892Xiubin Yang, Xing Zhong, Guang Jin, Liu Zhang, Zhiyuan Sun

MP2-5: HUMANOID ROBOTS Humanoid Push Recovery Strategy for Unknown Input Forces.............................................................................................................1897

Wentao Mao, Guihe Qin, Jujang Lee

Fast and Accurate Humanoid Robot Navigation Guided By Stereovision ............................................................................................1903Guodong Chen, Ming Xie, Zeyang Xia, Lining Sun, Junhong Ji, Zhijiang Du, Lei Wang

Transition Motion from Ladder Climbing to Brachiation for Multi-Locomotion Robot ....................................................................1909Zhiguo Lu, Hironari Yoneda, Kosuke sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

Analysis of the State Transition for a Humanoid Robot SJTU-HR1 from Sitting to Standing...........................................................1915Kaicheng Qi, Feng Gao, Wei liu, Jialun Yang

Balance Recovery for Humanoid Robot in the Presence of Unknown External Push..........................................................................1921Yu Wei, Bao Gang, Wang Zu Wen

Human-Robot Collaborative Teleoperation System for Semi-Autonomous Reconnaissance Robot..................................................1927Hongru Tang, Aiguo Song, Yan Guo, Jiatong Bao, Xiaosong Cao

MP2-6: ACTUATORS - III Water vs. Oil Hydraulical Actuation for a Robot Leg .............................................................................................................................1933

Yousheng Yang, Claudio Semini, Emanuele Guglielmino, Nikos G Tsagarakis, Darwin G Cladwell

Analysis of Eddy Current Loss in Axial Permanent Magnet Coupling .................................................................................................1940Zunquan Kou, Qingchang Tan, Fengjiang He, Chunyang Wang

A Novel Fuzzy Logic Controller and Antiwindup PI Controller for Three-phase PWM Rectifier ....................................................1945Yang Liyong, Chang Zhenguo, Li Zhengxi

Theoretical Research on the Bending Effect of Piezoelectric Quartz and Experimental Verification ...............................................1950Changyin Gao, Wanquan Li

Optimization Matching of Wheel Drive Hydraulic Hybrid Vehicle Components Based on Adaptive Simulated Annealing Genetic Algorithm .....................................................................................................................................................................1955

Xin Wang, Jihai Jiang

A Dynamic Model for the Active Catheter Actuated by the Shape Memory Alloy Coil Spring .........................................................1961Hao Liu, Yili Fu, Zengyi Yan, Peng Wang, Shuguo Wang

MP2-7: OPTIMIZATION - I Study on ERP II Decisions under Asymmetric Information: An Agency Approach ...........................................................................1967

Lina Wang, Koen Milis, Stephan Poelmans

An Algorithm for Determining the Optimal Cutter Length in 3-Axis Milling ......................................................................................1972Wenli Huang, Masatomo Inui

Optimal Design of Lead for Minimizing Energy Dissipated in a Mechatronic System with a Ball Screw-nut .................................1978Zuowei Li, Teruyuki Izumi, Hai Zhou

Optimizing Control Mode of Optical Payloads Based on Multi-Population Genetic Algorithm ........................................................1984Wei Xu, Guang Jin

Optimization Design of the Electronically Controlled Injector ..............................................................................................................1989Jingqiu Zhang, Guangyao OuYang

Research on the Fouling Prediction of Heat Exchanger Based on Support Vector Machine Optimized by Particle Swarm Optimization Algorithm .................................................................................................................................................................1995

Lingfang Sun, Yingying Zhang, Rina Saqi

MP2-8: LOCALIZATION - II Using Cricket Sensor Nodes for Pioneer Robot Localization ..................................................................................................................2001

Atul Kapse, Dongbing Gu, Zhen Hu

Navigation, Location and Non-collision Obstacles Overcoming for High-Voltage Power Transmission-Line Inspection Robot ...........................................................................................................................................................................................2007

Gongping Wu, Tuo Zheng, Hua Xiao, Cheng Li

Research on Missile Search Path for Wide Spread Target......................................................................................................................2014Fei Lu, Naigang Cui, Jifeng Guo

Maximum Range Computation Based on Differential Flatness for Guided Bombs .............................................................................2019Lina Geng, Weimeng Sun, Zhiqiang Zheng

Uncalibrated Visual Servoing with Obstacle Avoidance Using SQP Method .......................................................................................2024Qingshan Fu, Zhisheng Zhang, Jinfei Shi, Lei Zhang, Ruhong Ma

Monocular Vision SLAM for Large Scale Outdoor Environment .........................................................................................................2030Eryong Wu, Wenhui Zhou, Guojun Dai, Qicong Wang

MP2-9: CONTROL THEORY - III Development of Remote Class Support System and Field Trial using an Android Robot...................................................................2035

Takuya Hashimoto, Masato Suzuki, Hiroshi Kobayashi

Real Number Laplace Transformation-based Identification and its Application.................................................................................2041Satoshi Suzuki, Katsuhisa Furuta

Study on Energy Conservation Technology of Double-fed Motor System.............................................................................................2047Chengwu Lin, Hui Jiang, Feng Zi

Stepping Motion Coordination Strategy Based on Environmental Prediction for Multiple Robot Systems .....................................2053Yanmin Lei, Qidan Zhu, Zhibin Feng

Incomplete Hybrid Attributes Reduction Based on Neighborhood Granulation and Approximation ..............................................2059Baiting Zhao, Xijun Chen, Qingshuang Zeng

On-line Adaptive Identification and Cancellation of Periodic Disturbance with Unknown Parameter ............................................2065Yulin Xu, Disan Huang, Lei Zhang

MP2-10: AUV CONTROL - II Development of a Ball Type of Underwater Robot...................................................................................................................................2070

Shuxiang Guo, Koujirou Tanaka, Seiji Hata, Kouhei Ishii

Compact Underwater Vehicle with Accurate Positioning System ..........................................................................................................2076Kosei Shimoo, Yutaka Nagashima, Takakazu Ishimatsu

C-space Geometric Theory Applicated in AUV Three-dimensional Global Path Planning ................................................................2082Shuping Hou, Yanli Chai, Yanchao Zhang, Zheping Yan

Acoustic Stealth Situation Assessment of Underwater Vehicle Based on Fuzzy Support Vector Machine .......................................2088Zhiyin Tang, Guanghua Li, Lin He

Autonomous Mission Management and Intelligent Decision for AUV ..................................................................................................2094Xinqian Bian, Tao Chen, Zheping Yan, Zheng Qin

Design of a Visual Guiding System for IAUV Docking ............................................................................................................................2100Xianqian Bian, Xiaojuan Wang, Wei Zhang, Zheping Yan

MP2-11: FUZZY CONTROL - II Performance of Hybrid Electric Vehicle Using Arithmetic Fuzzy Logic Control.................................................................................2106

Said Wahsh, Hamed Galal, Maged Nashed, Taerk Dakourry

Fuzzy Control of Semi-Active Automotive Suspensions ..........................................................................................................................2111Aws Abu-Khudhair, Radu Muresan, Simon X Yang

A Fuzzy Logic Based Coagulant Real Time Control Scheme for Water Purification System ............................................................2116Hua Bai

Design of Automobile Clutch Comprehensive Performance Test Platform Based on Fuzzy Control................................................2121Bangcheng Zhang, Zhanli Wang, Xueyan Dong, Zhi Gao, Yong Fang

A Method for Milk Powder Spray-drying Based on Composite Fuzzy Control Technology ..............................................................2126Yong Zhang, Xianjiang Shi, Qiang Jing

Fuzzy Cross-coupling Control for Dual Linear Motors based on Preview Feedforward Compensation ..........................................2131Limei Wang, Yaping Tang

MP2-12: ANALYSIS AND DESIGN OF MECHATRONIC SYSTEMS - II Kinematics and Verification of a Deboning Device ..................................................................................................................................2136

Debao Zhou, Wayne Daley, Gary McMurray

CAE Analysis Approach for Split on Stamping Edge Considering Sheared Edge Effect....................................................................2142Kangkang Yan, Ping Hu, Yanwu Xu

Analysis and Study on a Novel Type of Fully Auto-cross Paper-cutting Machine ...............................................................................2148Xinxiang Wang, Guoqing Hu

Stress Analysis of Throttle Slices and Characteristic Test of Hydro-pneumatic Spring......................................................................2154Changcheng Zhou, Yuanyi Liu

A New Kind of MicroStructures Applied to Closed Loop Thermosyphons ..........................................................................................2160Dashi Su

A Unified Product Model based on C&CM for Mechatronic Product Development ...........................................................................2166Chenglong Wang, Qingliang Zeng, Albert Albers

MP2-P: POSTER SESSION - III Design of MFCS for Nonlinear Discrete-Time with Disturbances..........................................................................................................2171

Shujing Wu, Shigenori Okubo, Dazhong Wang

Research on Voltage-Source PWM Inverter Based on State Analysis Method.....................................................................................2176Wenyi Zhang, Wensheng Chen

Research on High Speed Laser Carving Control System Based on Embedded OS ..............................................................................2181Jun Li, Dongxing Qin, Hui Li, Yong Chen

The Stokes Vector Analysis of Polarization Characteristic in Infinity Display System .......................................................................2186Hui Wang, Haishen Zhou

Synthesized Control System for Production Line of Large-scale Textile Dyeing Based on CAN Bus ...............................................2191Zhenhua Zhao, Na Wang, Weifa Yang

Research and Application of Digital Assembly Process Planning and Simulative Validation ............................................................2196Chenhui Jia, Yanbin Liu, Xintao Xia

Application of Wavelet Analysis in Testing of Dynamic Characteristics of Fiber Optic Gyroscope ..................................................2201Xuyou Li, Na Zhang, Gen Wang

Adaptive Extended Kalman Filtering Applied to Low-Cost MEMS IMU/GPS Integration for UAV ...............................................2207Xiaogang Wang, Jifeng Guo, Naigang Cui

Research on the Computer Simulation and Optimization Analysis of the Large Aperture Optical Aspheric Surface Polishing with Small Tools...........................................................................................................................................................................2212

Xuechen Zhang, Guohua Cao, Fengming Nie, Yinzhong Kan

On Critical Condition under Adiabatic Shear in High Speed Machining .............................................................................................2217Xudong Jiang, Yiqiang Wang

A Simplified Method of B-spline Curve Back Calculation in Reverse Engineering .............................................................................2222Kangmei Li, Lei Luo, Zhenqiang Yao

Automatic Assembly Planning for Virtual Assembly ...............................................................................................................................2227Xiuli Li, Shuren Zhang

Inflatable Deployment Dynamics Simulation of Solar Sail Spacecraft Support Tube .........................................................................2232Siyuan Rong, Jiafu Liu, Biao Zhao, Naigang Cui

Research on Unbalance Torque of the Three Axis Air Bearing Based Platform ..................................................................................2238Dong Xiang

Numerical Simulation Study on the Process of Multi-point Stretch-forming for Sheet Metal Parts .................................................2243WenZhi Fu, ZhiHong Chen, MingZhe Li

Effect of Elastic Controlling Parameters on the PCD Burnishing System ............................................................................................2248Jianying Liu, Zhaojun Yang

Research on Co-modeling Virtual Prototype of Motion System of Flight Simulator ...........................................................................2253Haiguo Xiong, Qitao Huang, Jianming Ma, Junwei Han

A Modified Algorithm for SAR Parallel Imaging Using Digital Wavefront Reconstruction ..............................................................2258Jurong Hu, Fei Wang, Ning Cao, Hao Lu

Characteristics Inspection of Sheet Metal Parts for Manufacturing Applications ...............................................................................2263Wei Shao, Junjie Guo, Enxiu Shi

DFIG Wind Power Generation Based on Back-to-back PWM Converter ............................................................................................2269Haisheng Sun, Yongfeng Ren, Hanshan Li, Zhongquan An, Jinguo Liu, Hongbin Hu, Haitao Liu

Intelligent Japanese Learning System for Chinese Students -Development of Database for Katakana Word Listening- .......................................................................................................................................................................................................2274

Sa Lu, Bin Wang, Meiying Piao, Jie Ruan, Naoko Yamashita, Toshihiro Hayashi, Toshinori Yamasaki

Research on Auto and Rapid Exchange System of EV Battery Cases ...................................................................................................2280Dafang Wang, Yueying Zhu, Ming Xin, Guifan Zhao

A Cross Fourth Order Moment Minimum Norm Method for Chirp Time Delay Estimation ............................................................2285Xiaohui Yu, Yaowu Shi, Yan Ma

A Robust Non-reversing Starting Scheme for Sensorless Switched Reluctance Motors......................................................................2290Haijin Chen, Longxing Shi, Rui Zhong, Weiping Jing

Frequency Retrieval of Sinusoid Signal with Accurate CS-TLS Approach ..........................................................................................2295Yan Ma, Yaowu Shi, Xiaohui Yu

Design of Laser Gyroscope SINS Data Acquisition Based on FPGA .....................................................................................................2300Wei Gao, Jia Sun, Kan Yang, Yu Gao

The Improved Training Algorithm for Prediction of Short-circuit Based on Signal Processing Method .........................................2306Huaying Liu, Weiguang Ding

Design of Monitor System for Grain Depots Based on Wireless Sensor Network ................................................................................2311Jianguang Jia, Jingming Kuang, Zunwen He, Yuhang Mu

A Study on the System of a Carbon-Oxygen Ratio Spectrum Logging Instrument with Double Detectors ......................................2317Qingjie Meng, Yiqian Liu, Zhi Hao

The Optimization of the Fluid Machinery Design Parameter .................................................................................................................2322Yindong Zhang, Haigui Kang, Hongpeng Zhang, Yulong Ji

The Research of Task Assignment Based on Ant Colony Algorithm .....................................................................................................2327Ziniu Wang, Song Li, Yan Wang, Shaobo Li

Research on On-Line Calculation Algorithm of Material Moment during Dumping of Car Dumpers.............................................2333Herong Jin, Xiuchun Lu, Dezhong Zheng

The Design of Wide Interval FH Sequences Based on RS code ..............................................................................................................2338Hui Wang, Yanlei Zhao, Feng Shen, Wei Sun

Numerical Analysis of Water-jet Inlet Flow..............................................................................................................................................2344Shuxiang Guo, Yao Chen

Adaptive Multi-model Synthesis Dynamic Prediction of Software Reliability Based on Particle Swarm Optimization..................................................................................................................................................................................................2350

Ju-mei Yuan

Application of Relevance Vector Regression Model based on Sparse Bayesian Learning to Long-term Electricity Demand Forecasting.....................................................................................................................................................................................2356

Lin Niu, Jianguo Zhao, Min Liu

Design of Power Utilization System Making use of IC Card in Student Dormitory by MCU.............................................................2361Tao Jiang, Zhenglin Yu, Yonghao Li, Hongji Xu

Motor Noise Source Identification Based on Frequency Domain Analysis ...........................................................................................2366Qingnian Wang, Kun Yan, Hongyan Li, Meiling Yuan

Application of Acoustic Emission Technology on Automation Detection of Polluted Insulator .........................................................2371Hongling Li, Xishan Wen, Naiqiu Shu, Chunming Pei

Centralized Fusion Estimation for Uncertain Multisensor System Based on LMI Method ................................................................2376Xuebo Jin, Jia Bao, Qiaoling Zhang

Fuzzy-based Kalman Filter for Ship Navigation ......................................................................................................................................2381Hongmei Zhang, Xiaofei Mao

Multi-robot Decision Making Based on Coordination Graphs ...............................................................................................................2386Jin Wang, Tong Wang, Xiangping Meng, Xiao Wang

Space Logistics Development and Future Trend ......................................................................................................................................2392Xing Cheng, Jifeng Guo, Naigang Cui

The Research of Printing’s Image Defect Inspection Based on Machine Vision...................................................................................2397Fucheng You, Lifan Zhang, Yongbin Zhang

The Design and Analyse for Accelerometer-based Gravity Gradiometer .............................................................................................2402Lin Zhao, Fengming Liu, Haijing Yuan

Reliability Testing System of Relay Based on Ethernet ...........................................................................................................................2408Zhihua Li, Hua Hou, Chunyan Cui, Bingkuan Yan, Yahui Yan

A Pseudo-random Sequence Fingerprint Key Algorithm Based on Fuzzy Vault .................................................................................2414Dacheng Xu, Bailiang Li

Prediction Model of End-point for AOD Furnace Based on Neural Network.......................................................................................2419Changjun Guan, Wen You, Xiaomei Lin

Study of 316L Stainless Steel Coronary Stent High Vacuum Heat Treatment .....................................................................................2424Jialing Wang, Zhuo Chen, Yutian Li

Research of the Distributed Multi-rate Frame Synchronization Data Reconstruct based on Spline .................................................2429Wenjie Wu, Dagui Huang, Zheng Dong

Multiple Facial Instance for Face Recognition based on SIFT Features ...............................................................................................2435Yunyi Wang, Chunqing Huang, Xiaobin Qiu

Multisensor Optimal Information Fusion White Noise Deconvolution Filter .......................................................................................2440Xin Wang, Qidan Zhu, Yebin Wu

The Technical Study of Prearing Al2O3 Flinty Thin Film On The Engine Monomer Pump Test Sample 38CrMoAl Surface ...........................................................................................................................................................................................................2445

Weina Liu, Lifeng Yang, Shuren Zhang, Chonge Wang, Yankai Cai

Forward Simulation Model Precision Study for Hybrid Electric Vehicle .............................................................................................2450Jiaxue Wang, Qingnian Wang, Jishun Liu, Xiaohua Zeng

Electromechanical Coupled Analysis and Experimental Validation of Reflector Antennas ...............................................................2455Peng Li, Wei Wang, Fei Zheng

A Novel Reconfigurable On-Board Computer Based on Soft Core CPU ..............................................................................................2460Guodong Xu, Song Wang, Jie Lin, Yuan Liu

A Method of Chinese Named Entity Recognition Based on Maximum Entropy Model ......................................................................2465Hui Ning, Hua Yang, Yazhou Tan, Hao Wu

A Script-driven Virtual Assembly Simulation System based on Assembly Sequence Concurrent Planning ....................................2471Xiaomei Hu, Wenhua Zhu, Tao Yu, Zonghui Xiong

The Research for Resistance Spot Welding with Rectangular Electrode ..............................................................................................2477Xiaoqi Zhang, Guocheng Xu, Jing Wen, Chunsheng Wang

The Characteristics of Hybrid Ceramic Ball Bearing for High-Speed Spindle.....................................................................................2482Qiang He, HongZhao Liu, Jun Ye, QinPo Niu

Quality Monitoring for Resistance Spot Welding using Dynamic Signals.............................................................................................2488Guocheng Xu, Jing Wen, Chunsheng Wang, Xiaoqi Zhang

Common Nature of Learning between BP and Hopfield-Type Neural Networks for Convex Quadratic Minimization with Simplified Network Models ........................................................................................................................................2493

Yunong Zhang, Yanyan Shi, Binghuang Cai, Zhan Li, Chenfu Yi, Jianzhang Mai

Self-tuning Measurement Fusion Kalman Filter based on the Information Matrix ............................................................................2499Chenjian Ran, Zili Deng

Self-tuning Weighted Measurement Fusion Kalman filter......................................................................................................................2505Yuan Gao, Zili Deng

Self-Motion Planning of Functionally Redundant PUMA560 Manipulator via Quadratic-Program Formulation and Solution...................................................................................................................................................................................................2511

Yunong Zhang, Yan Huang, Dongsheng Guo

Self-tuning White Noise Deconvolution Fuser with Correlated Measurement Noises .........................................................................2517Xiaojun Sun, Zili Deng

Analyse of Damping Network Effect on SINS...........................................................................................................................................2523Wei Gao, Yi Zhang, Bo Xu, Yueyang Ben

Research on Four-Layer Back Propagation Neural Network for the Computation of Ship Resistance ............................................2530Aiguo Chen, Jiawei Ye

Object Recognition Based on Modified Invariant Moments ...................................................................................................................2535Lei Zhang, Jiexin Pu, Jia Yu

A Novel Seam Measuring Method of Complex Tight Butt Joint for Laser Welding............................................................................2541Jiayong Wu, Pingjiang Wang, Xingdou Fu, Biao Liu, Jihong Chen

A New Method of Noncontact Measurement of the Plane Parameters ..................................................................................................2547Wusheng Tang

A Visual Basic.NET Based Online Inspecting System for Portable DVD ..............................................................................................2553Zhixiang Xu, Yong Zhang, Jizhou Wang, Yuanxiong Zhang

Research and Simulation of Frequency Jitter Technique in Restraining Conducted EMI .................................................................2559Sheng Liu, Yuting Zhang

Mechanical Analogy of Propellant Sloshing using Finite Element Structural Codes...........................................................................2564Naiming Qi, Kai Dong, Baoshan Zhao, Jingjing Guo

Research on Delay-dependent Stability Criteria for Linear Systems with Time Delay .......................................................................2569Changhui Song, Guoliang Zhao

Application of BP Neural Network Fault Diagnosis in Solar Photovoltaic System ..............................................................................2574Yuchuan Wu, Qinli Lan, Yaqin Sun

Cable Tension Measurement for Cable-stayed Bridge Considering on the Effect of Damper ............................................................2579Fengchen Li, Dapeng Wang, Ou Yang, Lina Zhang, Zeping Yang

On-line Monitoring System of Vehicle Lubricants Quality Based on the Permittivity ........................................................................2584Yumei Liu, Xuehai Li, Xiaoning Cao, Wei Xiong

Weakness Analysis of Singular Value Based Watermarking ..................................................................................................................2589Changzhen Xiong, Fenhong Xiong, Zhengxi Li

Fundamental Tests for 550 kV SF6 Synchronous Circuit Breaker .........................................................................................................2595Yonggang Guan, Weidong Liu, Guozheng Xu, Xin Zheng, Ning Du, Junhui Wu, Junhua Yin, Hua Zhang, Yiming Zhang

The Short-Term Traffic Volume Forecasting for Urban Interchange Based on RBF Artificial Neural Networks ..........................2600Xiaodong Zang

Application of Wireless Satellite Bus in Micro-Satellite Design..............................................................................................................2605Shaobin Li, Guochen Fan, Guodong Xu

The Research on the Simulation System of the Passive Countermeasure..............................................................................................2610Qian Cai, Weihua Zhang

Finite Element Analysis on Performance of The Diamond Synthetic Craft at HPHT .........................................................................2615Rui Li, Changbo Chen, Ying Zhang, Jinghe Liu, Qigang Han, Xiaopeng Jia, Hongan Ma, Guozhong Ren

The Research on Reinforce Launch Algorithm ........................................................................................................................................2620Qian Cai, Weihua Zhang

Modified Scale Invariant Feature Transform in Omnidirectional Images............................................................................................2625Yuquan Wang, Guihua Xia, Qidan Zhu, Tong Wang

Study on Continuous Detection of Vibro-roller Compactness ................................................................................................................2630Jun Li, Yan Li, Zhili Zhou, Fengkui Cui

Series Connected Buck-Boost Type Solar Power Converter Based on Microcontroller......................................................................2635Shiqiang Wang, Mingshun Wang, Yue Ma, Hansheng Hong

A Measure System of Telescope’s Resolution with Man-computer Interaction....................................................................................2640Xin Wang, Hailuo Meng

TA1-1: BIPED AND MULTI-LEGGED ROBOTS A Biologically Inspired Miniature Biped Climbing Robot ......................................................................................................................2646

Chuanwu Cai, Haifei Zhu, Jiang Li, Yisheng Guan, Xianmin Zhang, Hong Zhang

Dynamic Rolling-walk Motion by Limb Mechanism Robot ASTERISK ..............................................................................................2652Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

Optimization of Grid Wall Walking by Genetic Algorithm ....................................................................................................................2658Yuya Yanagihara, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

4-legged Mechanism of Realizing Dynamic Running. - Basic Movement of Prototype Ii with Drive System That Enables Locomotion Change - ....................................................................................................................................................................2664

Kazuo Morita, Hidenori Ishihara

Rotational Operation of Polygonal Prism by Multi-Legged Robot ........................................................................................................2670Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

The Design and Kinematics Analysis of a New Six-leg Vehicle ...............................................................................................................2676Long Jin, Wenfeng Li, Qiaowen Xiong, Bin Li

TA1-2: NEURAL NETWORK - I A Neural Network Approach to Monitoring Robot Malfunction in Multirobot Formation Control Tasks ......................................2682

Can Wang, Wen Shang, Dong Sun

Intelligent Position Control of Earth Station Antennas with Model Independent Friction Compensation Based on MLP Neural Networks .................................................................................................................................................................................2688

Amir Razi, Mohammad Bagher Menhaj

Study on Active Disturbance Rejection Controller Based on Neural Network in Press Overprint System ......................................2694Enping Zhang, Bicui Xue

Research of Wireless Fading Channel Modeling Based on Improved Simulated Annealing Neural Network .................................2700Meijuan Gao, Jingwen Tian, Yang Sun

Simulation Study of Oil and Water Migration Modeling Based on Radial Basic Probabilistic Neural Network .............................2705Jingwen Tian, Meijuan Gao, Shiru Zhou

Application of Neural Network on Distortion Correction Based of Standard Grid .............................................................................2710Hongping Wang, Guohua Cao, Hongji Xu, Peng Wang

TA1-3: ROBOT MODELING Design and Realization of a Two-armed Multifunctional Companion Robot with Electronic Game Board.....................................2716

Chyi-Yeu Lin, Po-Chia Jo, Chang-Kuo Tseng

Modeling and System Identification of Three-layer Structure Electrostatic Film Motors for a Robotic Fish ..................................2722Zuguang Zhang, Norio Yamashita, Akio Yamamoto, Masahiko Gondo, Toshiro Higuchi

Research of Kinematics Parameter Calibration for Robot Manipulator Based on Measuring Method............................................2728Zhenyu Liu, Jingshan Yang, Miaomiao Wang

Development of Suspending Attitude Self-balance Mechanism for Boom-orientated Line Inspection Robot ..................................2734Shengyuan Jiang, Limin Ren, Xiangyan Lv, Jianyong Li, Hongzhang Jiao

Mechanical Design of 7-DOF Manipulator for Water Jet Cutting .........................................................................................................2739Ting Yao, Yuxian Gai, Sheng Fu, Huiying Liu

Efficient Grasp Planning Using Continuous Collision Detection............................................................................................................2745Zhixing Xue, Philip Woerner, Johann Marius Zoellner, Ruediger Dillmann

TA1-4: TELEROBOTICS Teleoperation Performance using Excavator with Tactile Feedback .....................................................................................................2752

Kouki Hayashi, Takayuki Tamura

A Combined Scheduling Scheme for Absolute and Relative Differentiated Services in Web-based Teleoperation .........................2758Qing Yun Li, Yun Hui Liu

Internet Based Crossover Robot Remote Control Competition in Asian Countries -Development of practice based Innovative Education Methodology, Phase II- ..........................................................................................................................................2764

Chunquan Xu, Aiguo Ming, Chisato Kanamori, Hisayuki Aoyama, Hui Li, Limei Xu, Xuesheng Li, Taworn Benjanarasuth, Songmoung Nundrakwang, Samatthachai Panya, Boonchana Purahong, Ching-Chang Wong

Haptically Guided Teleoperation System Based on Virtual Attractive Force.......................................................................................2770Jianning Hua, Deying Gu

Real-time Obstacle Avoidance Algorithm Research for Telerobot ........................................................................................................2776Dongjie Li, Jiangyan Qiu, Bo You

Study on Master-slave Control of Telerobot Based on Load Impedance Identifier .............................................................................2781Xiao Li

TA1-5: MANIPULATOR CONTROL Dynamic Model and Modal Testing for Vibration Analysis of Robotic Grinding Process with a 6DOF Flexible-joint Manipulator .........................................................................................................................................................................................2786

Farzad Rafieian, Zhaoheng Liu, Bruce Hazel

Impedance Control of a Spatial Redundant Manipulator Used for Relaxing Muscle Fatigue............................................................2792Jingguo Wang, Yangmin Li

Cooperative Control of Two Mobile Manipulators Transporting Objects on the Slope......................................................................2798Chao Tang, Chunquan Xu, Aiguo Ming, Makoto Shimojo

Design and Stiffness Modeling of a Soft Multi-Fingered Mechanism ....................................................................................................2804Hyo-Jung Cha, Byung-Ju Yi

Analysis and Grasp Strategy Modeling for Underactuated Multi-fingered Robot Hand ....................................................................2810Shuangji Yao, Qiang Zhan, Marco Ceccarelli, Giuseppe Carbone, Zhen Lu

Research on Adaptive Multi-contract Grasping Model of Flexible Pneumatic Finger ........................................................................2816Shaoming Qian, Libin Zhang, Qinghua Yang, Guanjun Bao, Zhiheng Wang, Liyong Qi

TA1-6: INTELLIGENT CONTROL - I Development and Control of an Inverted Pendulum Driven by a Reaction Wheel ..............................................................................2822

Frank Jepsen, Anders Soborg, Anders Roland Pedersen, Zhenyu Yang

A New Reconfigurable Logic for CNC Lathe Controllers .......................................................................................................................2828Jingchuan Dong, Yunfeng Wang, Zijing Wang, Taiyong Wang

The Analysis of Adaptive System with Reference Model Self-Adjustment and Control Signal Saturation ......................................2834Alexander V. Lebedev, Vladimir F. Filaretov, Alla A. Nesenchuk

Experimental Characterization for Active Flatness Control of Membrane Structures .......................................................................2839Xiaoyun Wang, Wanping Zheng, Yan-ru Hu

Design of Intelligent and Integrated Information System for Shield Construction ..............................................................................2845Shuangchang Feng, Qicai Zhou, Song Gao, Ziqiang He, Heng Zhang

Programming and Reconfigurable Control for the Motor Suite Based on Networks ..........................................................................2850He Xu, Zhenyu Zhang, Dawei Tan, Bao Jin, Yulin Ma

TA1-7: INTELLIGENT SYSTEM AND METHODOLOGIES FOR ROBOTIC AND CONTROL APPLICATION Visual Tracking and Control of a Quadcopter Using a Stereo Camera System and Inertial Sensors ...............................................2856

Markus Achtelik, Tianguang Zhang, Kolja Kühnlenz, Martin Buss

Autonomous Hovering of a Vision/IMU Guided Quadrotor ...................................................................................................................2863Tianguang Zhang, Ye Kang, Markus Achtelik, Kolja Kuehnlenz, Martin Buss

Input Shaping Techniques for Anti-sway Control of a 3-D Gantry Crane System ..............................................................................2869Mohd Ashraf Ahmad, Raja Mohd Taufika Raja Ismail, Mohd Syakirin Ramli

Design of Hybrid-type MEMS Microgripper ............................................................................................................................................2875Liguo Chen, Baixu Liu, Tao Chen, Bing Shao

An Intelligent Surveillance System based on RANSAC algorithm.........................................................................................................2881Jinnian Guo, Xinyu Wu, Zhi Zhong, Shiqi Yu, Yangsheng Xu, Jianwei Zhang

Design of Software Architecture for NC Engraving Machine Based on Embedded Linux .................................................................2887Junqi Zhao, Hui Li, Longfei Peng

TA1-8: MECHATRONIC SYSTEM MODELING - I Development of an Environmentally Benign Manufacturing System for MEMS devices ...................................................................2893

Nozomu Mishima, Shizuka Nakano, Kiwamu Ashida, Shinsuke Kondoh, Keijiro Masui

Research on Maximum Allowable Transfer Interval of Safety Critical DCS with Prescribed Stability ...........................................2899Yuefei Wang, Jianghong Han, Ye Wu, Hao Peng

Variable Focus Tool-path Planning Algorithm for Virtual-axis Elastic Polishing Machine Tool ......................................................2904Bing Xu, Wei Xu, Liguo Xu

Journey Error Analysis and Compensation for Automatic Overhead Travelling Crane ....................................................................2910Mingchuan Zhang, Xiuling Bai, Qingtao Wu, Zongxiao Yang, Qingli Fang

A Study on Kinematics Accuracy Reliability for High Speed Press Mechanisms ................................................................................2916Fang Jia, Shu Jiang, Zhisheng Zhang, Shengjun Chen, Zunmang Ke

Deadlock State and Its Avoidance Method in Flexible Manufacturing System with Tool Shared Resource ....................................2921Dan Zhao, Jiatai Zhang

TA1-9: SPACE AND AERIAL SYSTEMS - I Dynamic Modeling and Vision-Based Control for Indoor Airship.........................................................................................................2927

Jinjun Shan

On-Line Fouling Detection of Aircraft Environmental Control System Cross Flow Heat Exchanger ..............................................2933Shoaib Shah, Guangjun Liu, David Greatrix

Initial Experimental Result of Pico-Satellite KUKAI on Orbit...............................................................................................................2939Masahiro Nohmi

A Data-centered Transaction Scheduling Strategy of Real-time Database in Micro-satellite Ground Test System ........................2945Xiande Wu, Zhaowei Sun, Zejing Xing

Study on a Novel Approach for Time Synchronization Data Integrity Monitoring .............................................................................2950Bilei Zhou, Xingli Gan, Baoguo Yu, Weixiong Luo

Research on the Controller of the Ground Testing System for Space Robot ........................................................................................2955Sanfeng Chen, Huijing Wang, Xianyi Ren, TaoMei

TA1-10: SOFT COMPUTING FOR MECHATRONIC SYSTEMS - I Filter Design by Using Map Information on Wireless-LAN Location Awareness System...................................................................2960

Jun Ishii, Yusuke Tamura, Hajime Asama

Modeling C-based Embedded System using UML Design.......................................................................................................................2966Guoping Wang

A Novel Kernel Self-Organizing Map Algorithm for Clustering ............................................................................................................2971Ning Chen, Hongyi Zhang, Jiexin Pu

A Variable-Structure IMM Filtering Algorithm Based on Current Statistical Model ........................................................................2976Xiangnan Li, Zheng Qin, Ronghua Guo, Guobing Li

Robust Adaptive Beamforming Algorithm under Nonlinear Constraint ..............................................................................................2982Xin Song, Jinkuan Wang, Bin Wang, Yinghua Han

Computation Program of Diffusion Coefficient in Non-equilibrium Grain-boundary Segregation of Phosphorus.........................2987Jun Wang, Qingfen Li, Erbao Liu

TA1-11: FUZZY CONTROL - III Trajectory Tracking for Direct Drive X-Y Table Using T-S Recurrent Fuzzy Network Controller..................................................2993

Limei Wang, Zhitao Wu, Chunfang Liu

Research on High-Speed Fuzzy Reasoning with FPGA for Fault Diagnosis Expert System...............................................................2998Jingyan Xue, Laijun Sun, Mingliang Liu, Changming Qiao, Guangzhong Ye

Study on Electromagnetic Actuator Active Engine Mount with Fuzzy Control ...................................................................................3003Tianye Liang, Wenku Shi

Active Disturbance Rejection Fuzzy Control of MTG Fuel Pressure ....................................................................................................3008Shijie Yan, Xu Wang

A Hybrid Fuzzy-PI Control Model for Constant-pressure Automatic Bit-feeding System of Large-diameter Shaft Drilling Rig ....................................................................................................................................................................................................3014

Jun Cao, Shengdun Zhao, Chenli Tao

Study of Magnetic Field Measurement Technique Based on Grey Theory & Fuzzy Logic.................................................................3020Jinyue Liu, Tiejun Li, Zhoumo Zeng

TA1-12: MANUFACTURING MANAGEMENT The Effect of Bearing Preload on the Lobes Diagram of High-Speed End Milling Process ................................................................3026

Chiwei Lin

Application of General Fractal Dimension to Rolling Bearing Diagnosis..............................................................................................3032Meng Li, Xiujuan Liu, Huadong Yu, Ping Zhao

Study on the Fault of Power-Shift Steering Transmission Based on SVM Structural Risk ................................................................3038Yingfeng Zhang, Biao Ma, Changsong Zheng, Jinle Zhang

Research and Design about the Neutral Reactors Compensation on UHV Double-Circle Lines........................................................3043Haijun Liu, Jun Wen, Minxiao Han, Huiyuan Zhang, Xiangning Xiao, Xiuyu Chen

Analysis on Scheduling Performance of Periodic Messages in Industrial Ethernet Based on EPA ...................................................3048Ning Liu, Chongquan Zhong

Research on Building and Mapping of Ontology on Heterogeneous Data.............................................................................................3053Yaping Wang, Jianghua Ge, Yongchao Tao, Junpeng Shao

TP1-1: SENSOR NETWORK Ambulatory Measurement and Analysis of the Lower Limb 3D Posture Using Wearable Sensor System .......................................3058

Kun Liu, Tao Liu, Kyoko Shibata, Yoshio Inoue

Research on Fin Stabilizers with Lift Feedback Employed Multi-Sensor Data Fusion Technology ..................................................3063Yanhua Liang, Kai Xue, Hongzhang Jin

Active and Dynamic Multi-sensor Information Fusion Method Based on Dynamic Bayesian Networks ..........................................3069Pengxin Han, Rongjun Mu, Naigang Cui

Motion Planning for Deployment and Reconfiguration of Active Sensor Networks ............................................................................3074Weihong Fan, Yunhui Liu, Ling Wang, Xuanping Cai

The Cramer-Rao Bounds of RSS Location Estimation for 3D Wireless Sensor Networks .................................................................3079Qiaoling Du, Zhihong Qian, Rui Ding, Shuxun Wang

A Beacon Selected Localization Algorithm for Ad-Hoc Networks of Sensors.......................................................................................3084Lingfei Wu, Max Q.-H. Meng, Huawei Liang

TP1-2: NEURAL NETWORK - II Dynamic Modeling of Reheat-Furnace Using Neural Network based on PSO Algorithm ..................................................................3090

Xuegang Sun, Chao Yun, Yihui Cui

The Study of BP Neural Network Decoupling Control in Sulfur Dioxide Converter...........................................................................3095Lijun Hao, Zhihong Wang, Zengtao Xue, Shaohua Wang

Developmental Cognitive Map Learning and Behavior Acquisition by A Mobile Robot through A Self-Organizing Incremental Neural Network ......................................................................................................................................................................3100

Fumiaki Saitoh, Manabu Tsuboyama, Furao Shen, Osamu Hasegawa

An Improved Watermarking Method Based on Neural Network for Color Image. ............................................................................3106Qianhui Yi, Ke Wang

Delay-dependent Exponential Stability For a Class of Stochastic Neural Networks With Distributed Delays and Polytopic Uncertainties ................................................................................................................................................................................3111

Jianwei Xia, Guangwu Meng, Xinhua Wang

Study on Wood Detection Based on BP Neural Network.........................................................................................................................3117Dawei Qi, Peng Zhang

TP1-3: ANALYSIS AND DESIGN OF MICRO AND NANO SYSTEMS - I An EO Pump-based New Type of Micro Fluidic System .........................................................................................................................3123

Shuxiang Guo, Wei Dong, Ping Zhao, Huadong Yu

Design of a Pump for Non-contact Micro-reagents Dispense ..................................................................................................................3128Liguo Chen, Yongyang Zhu, Yaxin Liu, Weibin Rong, Lining Sun

Automatic Separation of Microscopic Particles via Optoelectronic Chip and Associated Platform ..................................................3133Xiaolu Zhu, Hong Yi, Zhonghua Ni, Xingzhong Gu

Study on the Optimization Design of Flow Channels and Heat Dissipation Performance of Liquid Cooling Modules ...................3138Wenjian Feng, Dagui Huang

The Sound Field Analysis of Piezoelectric Micromachined Ultrasound Transducer Array ...............................................................3143Yueping Xu, Limei Xu, Xuesheng Li, Jianmin Min, Zhihong Wang

Numerical Simulation and Experimental Study of Polymer Micro Extrusion Flow ............................................................................3148Danyang Zhao, Yifei Jin, Minjie Wang, Kai Li, Mancang Song

TP1-4: MODULAR ROBOTICS Topological Metrics for Evaluating Self-Reconfigurable Modules Properties (Flexibility).................................................................3154

Barmak Heshmat, Ali Mohammad Fouladgar, Karim Rostamzadeh

Parallel Inverse Dynamics Method for Synthesis of Control Movement of Multidimensional Walking Robot................................3161Alexander Sergeevich Gorobtsov, Victor Victorovich Getmanskiy, Serge Yurievich Klimov

Tendon-Sheath Actuated Robots and Transmission System ...................................................................................................................3166Lin Chen, Xingsong Wang, Fuxiang Tian

Optimization of Electromagnetic Clutch of Traction Robot Based on Solenoid...................................................................................3172Xianglin Bai, Qingbin Wu, Wenjian Liu

Nonlinear Stabilization of Bicycle Robot Steering Control System ........................................................................................................3178Lei Guo, Qizheng Liao, Shimin Wei

Function-based Modular Robot System.....................................................................................................................................................3183Xuan Liu, Minglu Zhang, Wei Liu

TP1-5: CONTROL OF SHIPS AND MOBILE AGENTS Design of a Hybrid Electromagnetic/Hydraulic Damper for Automotive Suspension Systems ..........................................................3189

Babak Ebrahimi, Mir Behrad Khamesee, Farid Golnaraghi

Research of the Tracking Accuracy and Stabilization Accuracy Test on Airborne Platform.............................................................3194Lizhong Zhang, Lixin Meng, Rui Xu, Huilin Jiang

The Research on the Nonlinear Control of Carangiform Biomimetic Robotic Fish.............................................................................3200Hong Zhang, Lingling Chen

Optimal Multirate Flight Control Design in Multirate Sampled-data Control System .......................................................................3205Weikun Zhong, Zhongjian Li

Research on the Effect of Ship's Deck Deflection on Angular Rate Matching Based Transfer Alignment Process .........................3211Weidong Zhou, Guoqiang Ding, Yanling Hao, Guangzhao Cui

Dynamic Control of the Underactuated Flexible Robot in the Operational Space ...............................................................................3216Wei Chen, Yueqing Yu, Xinhua Zhao, Lianyu Zhao

TP1-6: MOBILE MOTION PLANNING AND CONTROL Research on Information Fusion Algorithm for Vehicle Speed Information and Road Adhesion Property Estimation......................................................................................................................................................................................................3222

Dan Hu, Changfu Zong, Hsiaohsiang Na

A Core Controller Design and Implement for Ground Multiple Formations Tracking ......................................................................3228Guobing Li, Ronghua Guo, Zheng Qin, Yang Chang, Xiangnan Li

Disturbances Analysis and Control for an Omnidirectional Wheeled Mobile Robot ..........................................................................3234Yixu Song, Dalong Tan, Meng Miao

Investigations on Cornering Control Algorithm Design and Road Feeling Optimization for a Steer-by-Wire Vehicle............................................................................................................................................................................................................3239

Hsiaohsiang Na, Changfu Zong, Dan Hu

Modeling and Simulation of Traction Control of Hybrid Electric Vehicle............................................................................................3245Chenglin Liao, Shoubo Li, Shanglou Chen, Lifang Wang

Combined Feedback Control and Input Shaping for Vibration Suppression of Flexible Spacecraft ................................................3250Xianren Kong, Zhengxian Yang

TP1-7: VISION SYSTEM Proposal of Calibration Error-tolerant 3D Measurement Method using Stereo Camera for Robot Vision......................................3256

Satoru Nagatomo, Junichiro Hayashi, Seiji Hata

Growing Neural Gas for Intelligent Robot Vision with Range Imaging Camera .................................................................................3262Hironobu Sasaki, Masashi Satomi, Naoyuki Kubota, Toshio Fukuda

A Video Target Tracking Method Based on Particle Filter and the Features of Affine Moment Invariants ....................................3268Qian Bu, Hongguang Sun, Danni Yang, Jin Zhang, Yannan Xie, Jialiang Wang

A Vision-Based 3D Grasp Planning Approach with One Single Image .................................................................................................3274Jianhua Su, Hong Qiao, Chuankai Liu

A Hybrid Visual Servoing Control of 4 DOFs Space Robot ....................................................................................................................3280Guoliang Zhang, Bin Wang, Jie Wang, Hong Liu

A Neural Network-based Machine Vision Method for Surface Roughness Measurement ..................................................................3286Zhisheng Zhang, Zixin Chen, Jinfei Chen, Ruhong Ma, Fang Jia

TP1-8: MECHARONIC SYSTEM MODELING - II Axial Motion of Flat Belt Induced by Angular Misalignment of Rollers ...............................................................................................3291

Fenglin Han, Feng Xiong, Pengxing Yi, Tielin Shi

Fatigue Reliability Test Study of Silent Chain ..........................................................................................................................................3297Shukun Wang, Fanzhang Meng, Hong Lan

The Automatic Photoresist Coating Machine On the Spherical Surface ...............................................................................................3302Xiaozhou Li, Huiqing Wang, Jinkai Xu, Yiquan Li, Xiaoguo Feng

Numerical Simulation of Cold Rolling Involute Spline Forming ............................................................................................................3307Hongyu Xu, Xiaoqiang Wang, Fengkui Cui, Fengshou Zhang, Jianhui Quan

Development of Pneumatic Measurement and Device for Servo Valve Orifice Edge Axial Dimension Error..................................3312Xudong Pan, Guanglin Wang, Yuefeng Li, Shuang Zou

Design and Kinematics Analysis of a 3-DOF Precision Positioning Stage .............................................................................................3317Xiaohui Jia, Yanling Tian, Dawei Zhang

TP1-9: BIOMIMETIC SYSTEM Experiments and Characteristics Analysis of a Bio-inspired Underwater Microrobot .......................................................................3323

Shuxiang Guo, Liwei Shi, Kinji Asaka, Lingfei Li

Experimental Study on the Hydrodynamics of a Pectoral-fin Propulsive System................................................................................3329Zhaoli Wang, Yumin Su, Xiaofei Wang, Xianzhao Yu, Zaibai Qin

Hydrodynamic Analysis of Fishlike Robot Swimming in the Straight Forward Way .........................................................................3335Dan Xia, Junkao Liu, Weishan Chen, Luhui Han

The Recognition Based on Band Tree for Blood Vessel of Ocular Fundus............................................................................................3341Songtao Han, Zhiwen Xu, Chen Sun

Study of Biomimetic Designing Ridging Plough Tine Based on Head of Wild Boar ............................................................................3347Zhijun Zhang, Jianqiao Li, Jiyu Sun

Research on Circular Bimorph Piezoelectric Boneconduction Hearing Device....................................................................................3352Jingyang Sun, Boda Wu, Guangming Cheng, Jianming Wen, Ping Zeng

TP1-10: SOFT COMPUTING FOR MECHATRONIC SYSTEMS - II Study of Algorithm for the Ship’s Instantaneous Linear Movement Information Based on SINS.....................................................3357

Jianhua Cheng, Junyu Shi, Licheng Luo, Jianming Dong

Research of Camera Calibration Algorithm in the Auto Rack Girders Detecting System..................................................................3362Hua Wang, Liqiang Han, Shuang Zhang

Improved Filter Estimation Method Applied in Zero Velocity Update for SINS .................................................................................3368Yueyang Ben, Guisheng Yin, Wei Gao, Feng Sun

Convolutive Sources Separation Combining Optimized Sub-Band Filter with Instantaneous Separator.........................................3374Weidong Jiao

Deterministic Particle Filter Based Transfer Alignment Method For Large Misalignment Angle ....................................................3380Guoqiang Ding, Weidong Zhou, Yanling Hao, Guangzhao Cui

Improved MAP Channel Estimation Algorithm for MIMO-OFDM Systems under Angle Domain .................................................3386Peng Xu, Jinkuan Wang, Feng Qi

TP1-11: MANUFACTURING OPTIMIZATION A High Efficiency Approach to Line Contact Rotatory Milling Based on Feature Surface ................................................................3391

Wang Fang, Mei Xuesong, Wang Kunqi

Rapair CAD Model of Automotive Panel Based on ACIS .......................................................................................................................3396XiangWen Dang, Ping Sun, RuiJun Liu

Improvement of Manufacturing Work-Cell Layout Design Using Weighted Isotropy Metrics .........................................................3401Frank L. Hammond III, Kenji Shimada

Research on the Mass Unbalance Response of an Inner Planetary Gear Reducer...............................................................................3408Suohuai Zhang, Pingman Zhang

Reconfigurable Manufacturing System Modeling Method Based on Object-Oriented Technology ..................................................3413Aiping Li, Chao Lv

Development of a Novel Pulsed Arc System for Precision Plasma Cutting ...........................................................................................3419Jiayou Wang, Conghui He, Junhua Yu, Feng Yang

TP1-12: MANUFACTURING MODELING Test Modeling and Parameter Identification of a Gun Magnetorheological Recoil Damper ..............................................................3424

Hongsheng Hu, Jiong Wang, Suxiang Qian, Xuezheng Jiang

Machining and Testing Technology Research of Industrial Aspherical Components .........................................................................3430Jinkai Xu, Xuejun Zhang, Huadong Yu, Xiaozhou Li

On-Line Nondestructive Evaluation of Carbon Content of Steel Using Surface Temperature during Induction Heating...........................................................................................................................................................................................................3435

Yafei Sun, Dongjie Niu, Jing Sun

Research on Quadric-Jerk Profile Algorithm for 5-Axis Machining .....................................................................................................3440Peinan Li, Ruifeng Guo, Zhenzhen Shi

Digitized Conjugate Tooth Surface Model of Spiral Bevel Gear and Its Simulation ...........................................................................3446Yanwei Xu, Lianhong Zhang, Wei Wei, Dequan Liu, Wei Wang

A Method of CAE for Calculating the Temperature Tolerance of Telescope .......................................................................................3452Shaowang Xie, Xiaoming Zhu, Qingfen Li, Changzheng Chen

TP2-1: CONTROL THEORY - IV Robust Energy-to-Peak Filtering for Uncertain Systems Based on Sampled Measurement ...............................................................3457

Weinan Xie, Guangcheng Ma, Wei Jiang, Boqi Xi

Adaptive Sliding Mode Control for Robots Based on Fuzzy Support Vector Machines......................................................................3462Dequan Zhu, Tao Mei, Minzhou Luo

A New Design Scheme for Discrete-time Variable Structure Control Systems.....................................................................................3468Qidan Zhu, Tong Wang, Mai Jiang, Yuquan Wang

Switching Filter Compensation Using A-type Two Order Iterative Learning Control for Periodic Force Ripple of Linear Motor.................................................................................................................................................................................................3473

Junyou Yang, Hang Ma, Bo Men, Lin Yuan

Auto Disturbance Rejection Control and Parameter Tuning of First-order Inertial Systems with Time-delay...............................3479Mingge Sun, Meng Wu, Xilin Zhu

The Application of Multi-level Recursive Prediction in Time-varying System .....................................................................................3484Jie Ma, Di Li

TP2-2: MODELING AND DETECTION - I Empirical Analysis of AdaBoost Algorithms on License Plate Detection ..............................................................................................3490

Junxi Sun, Dong Cui, Dongbing Gu, Hua Cai, Guangwen Liu

Modeling and Simulation of the Dynamic Behavior Applied to a Mechatronic Unit EOD/IEDD ......................................................3496Luis Adrian Zuñiga Aviles, Jesús Carlos Pedraza Ortega, Efren Gorrostieta Hurtado, Juan Manuel Ramos Arreguin

Study of Complex Car-Body Part Automatically Modeling ....................................................................................................................3502Chunning Jin, Bo Liu, Ye Shi, Ping Hu

Influence of the Coupling Effect between Torsional and Axial Vibration on the Dynamic Characteristics of the Crankshaft System .......................................................................................................................................................................................3508

Suohuai Zhang, Jun Guo

Magic Cube Approach Application on Crashworthiness Design of Front Rail in Front Angle Impact.............................................3514Sibo Hu, Zheng-Dong Ma, Chang Qi, Ping Hu

Mathematics Modeling and SMVS Control Research of Supercavitating Projectiles Based on Thrust Vector ...............................3520Hao Meng, Xianwen Yang, Xiaolong Lv

TP2-3: PARALLEL MANIPULATORS - I A Comparison of Simulations and Experimental Tests on Operation Performance of CaPaMan2 BIS ...........................................3526

conghui liang, giuseppe carbone, marco Ceccarelli, eusebio hernandez

Vibration Suppression of a 3-PRR Flexible Parallel Manipulator using Input Shaping .....................................................................3532Bing Li, Xuping Zhang, James K. Mills, William L. Cleghorn, Liyang Xie

Architectural Singularity Analysis and Design Optimization of A Parallel Mechanism with a Suspended Platform .....................3538Hoon Lim, Byung Ju Yi, Sang Heon Lee

Global Stiffness Modeling and Optimization of a 5-DOF Parallel Mechanism.....................................................................................3544Dan Zhang

Forward Kinematics of the General Stewart-Gough Platform Using Gröbner Basis ..........................................................................3550Xiguang Huang, Guangpin He

Displacement Analysis of the 4SPS-2CCS Mechanism Based on Hyper-chaotic Network ..................................................................3555Youxin Luo, Xiaoyi Che, Bin Zeng, Xiguang Huang

TP2-4: NETWORK - I Design of a QPSK-CDMA Acoustic Communication System for Multiple Underwater Vehicels ......................................................3561

Shuxiang Guo, Zixin Zhao

Bio-Inspired Communications among Robots, Sensors, and RFID Tags ..............................................................................................3566Yang Xiao, Xiannuan Liang

A Tunable Ultra-wideband Band-stop Filter Based on EBG Structures Using MEMS Technology..................................................3572Zhongliang Deng, Naibo Zhang, Jianming Huang

A New Method of Iterative Interference Cancellation for Mobile OFDM System ...............................................................................3577Chi Zhang, Lin Zhao, Xin Zhao

An Anti-interference Method for Spread Spectrum System Based on Amplitude Domain Processing .............................................3582Feng Shen, Jiahuan Wang, Jinggang Wang

Low Complexity Technology for Multipath Elimination in Spread Spectrum System........................................................................3588Zhaodong Tang, Pijie Zhao, Jiajia Zhou

TP2-5: MOBILE ROBOTS - III Entropy-based Visual Homing ....................................................................................................................................................................3594

Piljae Kim, Matthew D.Szenher, Barbara Webb

The Study on Human Walking Gait Analysis System for the Design of Walking Power-assisted Robot ..........................................3600Yali Han, Xingsong Wang, Chunqian Fu, Jianqin Niu

Simulation Analysis of Vertical and Lateral Dynamics of an Electric Vehicle Driven by Two Rear Hub-motors ...........................3606Yong Chen, Zhongkui Lu

Type Synthesis and Kinematic Analysis for a Class of Mobile Parallel Robots ....................................................................................3612Ying Hu, Jianwei Zhang, Yi Chen, Junfeng Yao

Moving Object Tracking based on Mobile Robot Vision.........................................................................................................................3618Rui Lin, Zhijiang Du, Lining Sun

The Investigation of Walking Machines with Movers on the Basis of Cycle Mechanisms of Walking ..............................................3624Eugeny Samuilovich Briskin, Vadim Victorovich Chernyshev, Alexander Vasilievich Maloletov, Victor Victorovich Zhoga

TP2-6: ACTUATORS - IV Design and Control of a 1DOF Power Assist Robot for Lifting Objects Based on Human Operator's Unimanual and Bimanual Weight Discrimination........................................................................................................................................................3630

S.M.Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe, Hideki Sawai

Analysis on New Equivalent Circuit of Linear Induction Motor ............................................................................................................3638Jiangbo Wang, Wei Xu, Yaohua Li, Luguang Yan

Simulation Research on The Dynamic Characteristics of A Novel Electrohydraulic Vibration Exciter ...........................................3643Jiping Bai, Jian Ruan, Guoqiang Pan, Genghong Jiang

A MRAS based Speed Identification Scheme for a PM Synchronous Motor Drive Using the Sliding Mode Technique ......................................................................................................................................................................................................3649

Weisheng Yan, Hai Lin, Hong Li, Huiping Li, Jian Lu

Research on PVDF Displacement Sensor Used on IPMC ........................................................................................................................3655Xiufen Ye, Ling Zhu, Shuxiang Guo, Yandong Li

Direct Control of the Stator Flux Linkage Applying in the Permanent Magnet Synchronous Motor ...............................................3661Pan Aixian, Zhao Hongcai

TP2-7: SENSING SYSTEMS - I Experimental Verification of Estimated Parameters of Contact Conditions by Active Force Sensing ..............................................3667

Takayoshi Yamada, Akira Tanaka, Tetsuya Mouri, Manabu Yamada, Yasuyuki Funahashi, Hidehiko Yamamoto

High Accuracy Surface Perceiving Water Level Gauge with Self Calibration .....................................................................................3673Guilin Zheng, Hongyan Zong

Research on Signal Processing of Micro/Nano Displacement Sensor for Piezoelectric Actuator Based on Forward Linear Prediction Wavelet Transform.......................................................................................................................................................3680

Renbing Chen, Yong Yu, Bo Song, Yunjian Ge

Configuration and Isotropy Study of a Novel Fully Pre-stressed and Double-layer Six-component Force/Torque Sensor.............................................................................................................................................................................................................3686

Hang Wang, Jiantao Yao, Yulei Hou, Zhijun Wang, Yongsheng Zhao

Data Acquisition System Design of Shear Probe for Ocean Turbulence Measurement.......................................................................3692Zilong Wang, Lei Gu, Yanhui Wang, Yuhong Liu

TP2-8: ANALYSIS AND DESIGN OF MECHTRONIC SYSTEMS - III Numerical Analysis on Internal Flow Field of a Hydraulic Retarder ....................................................................................................3697

Xuesong Li, Xiusheng Cheng, Zhonghua Liu, Liying Miao

Research on the Stabilization of Friction Torque of Precision Ball Screw ............................................................................................3703Zuoying Zhang, Wanli Zhang, Xianchun Song

Simulation of Combined Motions for a 1-DOF Clutched Robotic Arm.................................................................................................3708Hao Gu, Marco Ceccarelli

Study on Pneumatic Measurement Method and System for Throttling Edge Coplanarity Error of Valve Sleeve...........................3714Jun Liu, Guanglin Wang, Xudong Pan

Leader-follower Flocking Experiments Using Estimated Flocking Center ...........................................................................................3720Zongyao Wang, Dongbing Gu, Huosheng Hu

The Finite Element Simulation of the Multileaf Foil Journal Bearings with Large Assembly Preload .............................................3726Haipeng Geng, Shemiao Qi, Lie Yu, Tiejun Wang, Min He, Shuhai Yu

TP2-9: NAVIGATION - I Parameter Optimzation in Non-uniform Randomized Footstep Planning for Biped Navigation .......................................................3732

Zeyang Xia, Ken Chen, Jing Xiong, Guodong Chen

Initial Alignment for Strapdown Inertial Navigation System Based on Inertial Frame ......................................................................3738Feng Sun, Tong Cao, Bo Xu, Yueyang Ben, Yudan Wang

Analysis of Gyro’s Slope Drift Affecting Inertial Navigation System Error .........................................................................................3744Gao Wei, Cao Bing, Ben Yue Yang, Xu Bo

Application of a Novel Polarization Sensor to Mobile Robot Navigation ..............................................................................................3750Jinkui Chu, Hongqing Wang, Wenjing Chen, Ronghua Li

Time Synchronization Design Based on FPGA in Integrated GPS/INS System ...................................................................................3756Qian Li, Liduan Wang, Chuanrun Zhai, Xingqun Zhan

Visual Navigation of an Indoor Mobile Robot Based on a Novel Artificial Landmark System ..........................................................3762Feng Wen, Kui Yuan, Wei Zou, Xiaojie Chai, Rui Zheng

TP2-10: CONTROL APPLICATIONS - I Design of a Gain Scheduled PID Controller for Precision Stage in Lithography .................................................................................3768

Mun-su Kim, Jung-han Kim

Indirect Adaptive Flight Control based on Nonlinear Inversion ............................................................................................................3774Zirui Yu, Guoliang Fan, Jianqiang Yi

H2 Output Feedback Control for Polytopic Linear Parameter-varying Systems .................................................................................3780Hui Li, Haiyun Zhang, Tao Zhang, Jingyan Song, Huang Yu

Control of Lateral Vibration of Slice-Disk Cutter Rotation....................................................................................................................3786Li Qinghua, Tan Qingchang, He Fengjiang, Zhang Huiduan, Zheng Fusheng, Chen Tianhua

Control of Circulating Current for Direct Parallel Grid-connected Inverters in Photovoltaic Power Generation ..........................3792Ji Suo, Yong Yang, Chunqing Qi

Quaternion-based Attitude Maneuver Hardware-In-the-Loop Simulation for Micro Satellite..........................................................3798Zhaowei Sun, Dong Ye, Feng Wang, Jiangting Lv

TP2-11: CONTROL TECHNOLOGY - I Centralized Multi-user Multi-rate Haptic Cooperation Using Wave Transformation ........................................................................3803

Naser Yasrebi, Daniela Constantinescu

Compensation Time-Varying Delays in Networked Control Systems: An Improved LMI Approach...............................................3809Hongwei Xia, Qiyong Wen, Boqi Xi, Yimin Kou, Qinghua Li

Vibration Suppression Control for a Dies-Driving Spindle of a Form Rolling Machine: Effects of a Model-Based Control with a Rotational Speed Sensor II ................................................................................................................................................3814

Masahiko Itoh

A Position Sensorless Vector Control System of Permanent Magnet Synchronous Motor Based on Active-disturbance Rejection Controller ...............................................................................................................................................................3820

Kai Sun, Yanlei Zhao, Qifang Shu

Networked Guaranteed Cost Control of Uncertain Systems with Fast-Varying Delay and Packet-Dropout ...................................3825Nan Xie, Bin Xia

Deadbeat Decoupling Control of Three-phase Photovoltaic Grid-connected Inverters.......................................................................3830Chunqing Qi, Yong Yang, Ji Suo

TP2-12: MODELING METHOD - I On the Single-Zone Modeling for Optimal Climate Control of a Real-Sized Livestock Stable System .............................................3836

Zhenyu Yang, Stefan K. Greisen, Jette R. Hansen, Niels A. Pedersen, Martin R. Jensen

Roundness Error Evaluation Based on Polar Mesh Searching Algorithm ............................................................................................3842Lei Xianqing, Li Jishun, Xue Yujun, Duan Mingde, Ma Wei

Soft-sensing Modeling of the Carbon Content in Fly Ash Based on Information Fusion for Thermal Power Plant........................3847Guiwei Zhang, Lin Bao

Optimal Design for Working Clearance of Rotary MRF Dampers ........................................................................................................3853Di Zheng, Wencong Ye, Liyong Hu, Jianming Zhan, Yimin Deng

Modeling and Simulation of High Temperature Optical-fiber SiC-based Pressure Sensor ................................................................3859Dongzhi Zhang, Guoqing Hu, Gengxin Zeng

Study on Locomotion Simulation of the Bridge Detection Vehicle Arm Based on the Flexible Multi Body Dynamics and Electro Hydraulic Proportional Control System...............................................................................................................................3864

Zhao Bo, Dai Li, Cui Hong, Liu Jie

WA1-1: SPACE AND AERIAL SYSTEMS - II Autonomous Guidance for Proximity to Target Spacecraft ....................................................................................................................3870

Zhaowei Sun, Shunan Wu, Shengchang Lan

A Satellite System Distributed Simulation Design and Synchronous Control ......................................................................................3876Ying Miao, Changchun Chen, Zhaowei Sun

Spacecraft Attitude Control Based on Extended State Observer and Fuzzy Logic System ................................................................3881Zuowei Wang, Jianxin Guo, Yingzi He

The Variable Structure Control of Spacecraft during Spring-eject Separation ...................................................................................3887Zhanxia Zhu, Wei Jin, Wei Zhang

Autonomous Determination of Relative Orbit for Satellite Formation Flying Using Fault Tolerant UKF .......................................3892Wang Hui, Gu Xuemai

Pose Determination of Large Non-Cooperative Satellite in Close Range Using Coordinated Cameras ............................................3897Xiaodong Du, Bin Liang, Yanbo Tao

WA1-2: PARALLEL MANIPULATORS - II A New Approach for Determining the Contact Indentation of the Wire Race Ball Bearing in a Three-axis Simulating Rotary Table..............................................................................................................................................................................3903

Xiaobiao Shan, Jiangbo Yuan, Tao Xie, Haiqun Qi

A Novel Surface Self-adapting Parallel Machine Tool for Blade Machining ........................................................................................3908Xu Yang, Ji Zhao, Lei Zhang, Daqi Li, Ruiqing Li

Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation......................................................................3914Dayong Yu, Xiwei Sun, Sheng Liu

Optimal Design of a 6-DOF Parallel Robot for Precise Manipulation ...................................................................................................3920Lefeng Wang, Weibin Rong, Limin Qi, Zhigang Qin

Singularity Analysis and Nonlinear Tracking Controller Design for a Five-bar Parallel Manipulator ............................................3925Weiwei Shang, Shuang Cong, Yuan Ge

Calibration of A 6 -PRRS Parallel Manipulator Using D-H Method Combined with Vector Chain .................................................3931Yonggang Yang, Yubin Liu, Jun Pi, Yongsheng Shi, Wei Li

WA1-3: SIGNAL PROCESSING METHODS - I Real-Time Geometric Calibration on Graphics Processing Unit with CUDA ......................................................................................3936

Ying Ding, Wenhui Li, Jingtao Fan, Huamin Yang

Research on Date Fusion Distortion Invariant Target Recognition Technology in Joint Transform Correlator.............................3942Lu Yang, Huanhuan Jia, Cuiling Zhao, Wensheng Wang

Weighted Fusion Steady-state White Noise Deconvolution Estimators .................................................................................................3947Xiaojun Sun, Zili Deng

A Novel Control Method for Dynamic Performance Improvement of Induction Motor Using Neural Network .............................3953Shanlin Kang, Huanzhen Zhang, Yuzhe Kang

Enhanced Anti-jamming Capability for Cyclostationary Algorithms in Weak Signal Environments...............................................3958Lin Zhao, Hongtao Song, Haibo Wang

An Improved Method to Solve the End Effect of EMD and its Application on Vibration Signal.......................................................3964Ting Wang, Gang Liu

WA1-4: NETWORK - II The Performance Improvement of Condition Monitoring for Induction Motor Based on Neural Network.....................................3969

Hua Liu, Weiguang Ding

Strategy of Object Synchronization for DIS Based on RT-TCP/IP........................................................................................................3974Tao You, Chenglie Du, Yian Zhu

Research and Implementation of ZigBee Networking .............................................................................................................................3979Yong Shao, Yi Zhang, Jian Wang, Tinggao Qin

On the Retransmission Methods to Prolong the Lifetime of Wireless Sensor Networks .....................................................................3984Shu Zhang, Jiaqing Qu

Cluster Head Load Balanced Clustering Routing Protocol for Wireless Sensor Networks ................................................................3989Haifeng Jiang, Jiansheng Qian, Jie Zhao

Neural Network Model-based Training Algorithm for Transient Signal Analysis...............................................................................3994Weili Huang, Zixiang Huo, Wei Du

WA1-5: OPTIMIZATION - II Optimal Attack Trajectory for Hypersonic Boost-Glide Missile in Maximum Reachable Domain ...................................................3999

Yu Li, Naigang Cui

Study on Vibration Control Based on Adaptive Filtering Algorithm ....................................................................................................4005Qingmei Yang, Jianmin Sun

Application of Multi-variable Optimizing Grey Model MGM(1,n,q,r) to the Load-strain Relation..................................................4010Youxin Luo, Jianying Li

Comparison of Intelligent Optimization Algorithms for Crack Shape Reconstruction from ECT Signals.......................................4015Siquan Zhang, Hefa Yang

Global Time-Energy Optimal Planning of Robot Trajectories ...............................................................................................................4021Haili Xu, Zhisong Zhu, Jian Zhuang, Sunan Wang

An Optimized Avionics Interface System for High Fidelity Flight Simulator Research......................................................................4027Shutao Zheng, Shupeng Zheng, Jingfeng He, Guangda Liu, Junwei Han

WA1-6: INTELLIGENT CONTROL - II Hierarchical Hybrid Control of a Four-stroke Free-piston Engine for Electrical Power Generation ...............................................4032

Zhaoping Xu, Siqin Chang

Study on Three Parameters Fuzzy Automatic Transmission Schedule for Vehicle by PLC and HMI ..............................................4037ZhiYi Zhang, Hong Wang, RongJun Xu

Driving Intention Identification and Maneuvering Behavior Prediction of Drivers on Cornering ....................................................4042Changfu Zong, Chang Wang, Dejun Yang, Hsiao Yang

Algorithm for Decision Rules Reduction in Incomplete Information System Based on Binary Discernibility Matrix ....................4048Xiuling Bai, Mingchuan Zhang, Yong Qiu, Qingtao Wu

Dynamic Motion Editing by Combining an Extension of the Prioritized Inverse Kinematics with Active Dynamic Control ...........................................................................................................................................................................................................4054

Shilei Li, Jiahong Liang, Bing Wu, Ling Chen, Zhiwei Hu, Jiongming Su

Research on The Control Algorithm of The Acousto-optic Steering System for Intersatellite Optic Communications ...........................................................................................................................................................................................4062

Xiangzhi Li, Zhaowei Sun

WA1-7: SENSING SYSTEMS - II A Cylindrical Hydrophone with Built-in Amplifier .................................................................................................................................4067

Likun Wang, Lei Qin, Hongliang Du, Gang Wang

Electric Current Measurement using AMR Sensor Array ......................................................................................................................4072Xisheng Li, Jia You, Xiongying Shu, Ruiqing Kang

Heat Transfer Process Analysis and Simulation of Eutectic Furnace for High-Power LED Encapsulation .....................................4077Tang Shunjie, Zheng Xiangzhou, Song Tianbin, Deng Zhiyong, Luo Yougao

Structure and Character Analysis of a New Type of Steel Wire Rope NDT Detector Apparatus ......................................................4082Xiuli Chai, Yang Lu, Zhihua Gan, Jianjun Zhao

The Precise Mathematical Model of the Capacitance Sensor of Unspecific Form................................................................................4087Shaogang Liu, Qinxin Meng, Yuesheng Luo, Dedong Tang

A Research of an Improved Ellipse Method in Magnetoresistive Sensors Error Compensation........................................................4092Lianyan Shi, Qing Hong, Wenyuan Song

WA1-8: ANALYSIS AND DESIGN OF MECHATRONIC SYSTEMS - IV Research on Mechanism of Combined Milling Cutter Cutting Double-bevel Groove of Pipe ............................................................4097

Haixia Gong, Jiakui Han, Liang Song, Ying Wang

Numerical Analysis for Solid-liquid Two-phase Flow Field of Draining-sand Jet Pump ....................................................................4103Xu Liu, Hongchao Deng, Wenxing Ma

Optimization Design of Solenoid Valve for Electrically-Controlled High Pressure Pump ..................................................................4109Zhou Jiadong, Ouyang Guangyao

Design and Optimization of a Two-Stage Varying Displacement Mechanism in Axial Piston Motor................................................4114Yi Sun, Jihai Jiang, Mengzhuan Cheng, Youche Wang

Investigation of a Self-Actuating Traction Drive Device .........................................................................................................................4120Wei Wu, Shihua Yuan, Kai Guo, Zhenhua Zhou

Kinematics Modeling and Simulation of a Passive Four-bar Linkage ...................................................................................................4126Xubing Chen, Caihua Xiong, Youlun Xiong

WA1-9: NAVIGATION - II Research on Re-entry Vehicle Integrated Navigation ..............................................................................................................................4132

Rongjun Mu, Pengxin Han, Naigang Cui

Integrated Navigation System Study Based On Distributed Multiscale Fusion Estimation ................................................................4138Xuemei Zhou, Junwei Wu, Li Su, Lidong Guo

The River Trials for the Velocity Matching and Velocity Plus Attitude Matching Transfer Alignments .........................................4143Feng Sun, Gen Wang, Yueyang Ben, Yongli Chai

Three-Dimensional Guidance Law with Terminal Impact Angle Constraint .......................................................................................4149Peibei Ma, You'an Zhang, Jun Ji, Xiaojie Zhang

An Adaptive Hatch Filter to Minimize the Effects of Lonosphere and Multipath for GPS Single Point Positioning ......................4154Lin Zhao, Liang Li, Xin Zhao

A Novel Under-Water Terrain-Aided Navigation Algorithm Based on Particle Swarm Optimization .............................................4160Gannan Yuan, Jialin Tan

WA1-10: CONTROL APPLICATIONS - II Research and Application of CMAC Based Adaptive Control Method Using in Servo System .........................................................4166

Hongjie Hu, Lin Wang, Dedi Li

Autotuning IMC Structure With Two-Degree of Freedom for Long Time-Delay Process..................................................................4172Wei Tang, Rui Wu, Xi Wang, Mengxiao Wang

A Novel Model Free Adaptive Controller with the Tracking Differentiator .........................................................................................4178Yan Ma, Xue Chen, Xiaohua Xie

Research on Missile Formation Control System .......................................................................................................................................4184Naigang Cui, Changzhu Wei, Jifeng Guo, Biao Zhao

Application of Non-Cancellation Decoupling in Boom Refueling Control ............................................................................................4190Yaohong Qu, Lisha Chen, Jiang Qiu

Amplitude Adjusting Filtering Zero Phase Error Tracking Sliding Mode Control for Piston Lathe Linear Servo System ............................................................................................................................................................................................................4195

Hong Cui, Jinghu Cui

WA1-11: CONTROL TECHNOLOGY - II Simulation of Flight Control Laws Design Using Model Predictive Controllers ..................................................................................4200

Zhijun Yang, Xiaohui Qi, Ganlin Shan

Stability Analysis of Quantized Feedback Networked Control Systems ................................................................................................4206Zhongmin Liu, Yanmin Wu, Pingyuan Qiao

Research on the Algorithm of Stability Control for Tractor Semi-trailer .............................................................................................4211Li Mai, Pu Xie, Changfu Zong

Equipment Simulation Control System Based on Virtual Language .....................................................................................................4216Haidong Wang, Wenhua Zhu

Clamping Dexterity on Manipulator And Simulation of Laparoscopic Robot .....................................................................................4222Lingtao Yu, Daoming Wang, Zhentao Xia, Jiliang Zhao

More Illustrative Investigation on Window-Shaped Obstacle Avoidance of Robot Manipulators Using a Simplified LVI-Based Primal-Dual Neural Network ..................................................................................................................................................4227

Yunong Zhang, Ziheng Pan, Kene Li, Dongsheng Guo

WA1-12: MODELING METHOD - II Experiment and Numerical Simulation of Auto Panel Surface Wrinkle based on Universal Formability Technology...................4233

Jinwu Wang, Ping Hu, Zhengchun Fu, Yanwu Xu

Simulation and Analysis of the Third-order Model of Synchronous Generator Based on MFC ........................................................4239Zhijun Li, Yu Yang, Xiujuan Bao

Vibration Analysis for Switched Reluctance Motor System Based on Finite Element and FFT ........................................................4244Haijun Zhang, Ruizhen Gao, Jingjun Zhang, Lili Wang

A Multi-layer Film Model for Formation Mechanism of Bright Whiteness in Beetle Scale ................................................................4249Xiaoping Li, Zirong Tang, Rizwan Malik, Tielin Shi, Wuxing Lai, Shiyuan Liu

Buckling Analysis on Finite-sized Shell Structures ..................................................................................................................................4254Jiantao Liu, Pingan Du, Mingjing Huang, Yaobing Xiao

Establishment and Theoretical Analysis of Mathematical Model for Dual-Mode Fiber Optic Current Sensor ...............................4259Xuyou Li, Gang Wang, Zhou He

WA2-1: ANALYSIS AND DESIGN OF MICRO AND NANO SYSTEMS - II Nanomechanical Properties and the Hierarchical Structure of Elytra Cuticle of Dung Beetle (Copris ochus Motschulsky) .................................................................................................................................................................................................4264

Jiyu Sun, Jin Tong, Zhijun Zhang

5-Axis Micro-Milling Machine Tool for Machining Complex 3D Meso-Scale Parts ............................................................................4270Xiang Zhang, Hongya Fu, Zhenyu Han, Yazhou Sun

Nonlinear Forced Vibration for an Electromechanical Coupled Micro-plate Simple Supported at Three Sides and Free at One Side............................................................................................................................................................................................4276

Libo Sun, Lizhong Xu

Study On the Large Flow Rate Piezoelectric Mini-pump with Metal Check Valve .............................................................................4281Zunqiang Fan, Jianfang Liu, Jingshi Dong, Bin Jiang, Jianqiao Li

Study on Fatigue and High-Speed Characteristics of Automotive Engine Oil-Pump Narrow-Width Chain ....................................4286Yabing Cheng, Fanzhong Meng, Zengming Feng

Study On Abrasive Flow Ultra-Precision Polishing Technology of Small Hole ....................................................................................4292Shuren Zhang, Weina Liu, Lifeng Yang, Chunfeng Zhu, Chun Li, Junye Li, Xin Li

WA2-2: MODELING AND DETECTION - II Research on Automatic Flaw Detection of Pipeline Girth Weld by Ultrasonic Phased Array System ..............................................4297

Xianglin Zhan, Dexin Zhou, Shili Chen, Shijiu Jin

Atmospheric Drag Perturbation Effect on the Deployment of Tether-Assisted Deorbit System ........................................................4303Xinbin Cao, Pengfei Zheng, Shijie Zhang

Speech Endpoint Detection in Strong Noisy Environment Based on the Hilbert-Huang Transform.................................................4309Zhimao Lu, Baisen Liu, Liran Shen

Mathematical Models of Protein Secondary Structures and Gene Mutation........................................................................................4314Rui Gao, Juanyi Yu, Mingjun Zhang, Tzyh-Jong Tarn

Curve Tracking with Improved Chain Code Algorithm .........................................................................................................................4320Haihong Chi, Hongwei Sun, Xuejiao Yang

Dynamic Modeling and Simulation of Electric Bicycle Ride Comfort ...................................................................................................4326Wenhua Du, Dawei Zhang, Xingyu Zhao

WA2-3: SIGNAL PROCESSING METHODS - II GPS Time Transfer Smooth Using Discrete Wavelet ...............................................................................................................................4331

Ping Huang, BingFa Zu

Detection of Low Contrast Targets Based on Lifting Scheme Wavelet Transform..............................................................................4336Xiaolin Chen, Yanjie Wang

On Modeling of Random Drift of MEMS Gyroscope and Design of Kalman Filter ............................................................................4342Huaming Qian, Quanxi Xia, Bo Jiang, Chong Wang

Study on Antenna Radiation Using Multiresolution Time Domain Based on Daubechies-wavelet ....................................................4348Mai Jiang, Chengtao Cai, Shaopeng Yu

Extended Kalman Filter Based Pedestrian Localization for Collision Avoidance................................................................................4353Xu Yanwu, Cao Xianbin, Li Tong

Pattern Recognition of Fatigue Damage Acoustic Emission Signal ........................................................................................................4358Wenxue Qian, Xiaowei Yin, Liyang Xie, Dayan Huang

WA2-4: CONTROL OF VEHICLES – I Attitude Controller Design for the Advanced Upper Stage .....................................................................................................................4363

Naigang Cui, Libin Zhang, Jialun Pu

Multi-Unmanned Helicopter Formation Control on Relative Dynamics...............................................................................................4368Zheng Wang, Yuqing He, Jianda Han

Real-time Roll State Estimation and Rollover Prediction for Light SUVs ............................................................................................4374Jian Wang, Guizhen Yu, Zhenhua Li, Wei Zhang, Nenggen Ding

Gain-Scheduled Reusable Launch Vehicle Attitude Controller Design.................................................................................................4380Naigang Cui, Jiangtao Xu, Rongjun Mu, Pengxin Han

A Method for Reducing Exhaust Pressure of Vehicle Compressed Air Powered Engine....................................................................4385Zhenggang Xu, Xiaopeng Xie

Design of the Control System for the Charge-discharge Device used for an Electrically-driven Automobile...................................4390Lan Yu , Liu Qizhong, Yu Chaogang, Zeng Guohui, Gao Fei

WA2-5: FAULT DIAGNOSIS – I Research on Fault Detection for Satellite Attitude Control Systems Based on Sliding Mode Observers ..........................................4395

Lina Wu, Yingchun Zhang, Huayi Li

Detection and Localization of Turbine-generator Bearing Vibration Using Wavelet Neural Network .............................................4401Shanlin Kang, Huanzhen Zhang, Yuzhe Kang

The PPCA a New Method to Select Features in Process of Rolling Bearing Fault Diagnosing...........................................................4406Chen Kan, Fu Pan

Research of Gun Muzzle Offset Measuring Method ................................................................................................................................4411Lixin Meng, Lizhong Zhang, Tie Chi, Yao Lei

Analog Circuit Fault Diagnosis using Bagging Ensemble Method with Cross-Validation ..................................................................4417Hong Liu, Guangju Chen, Guoming Song, Tailin Han

Application of Learning Vector Quantization Network in Fault Diagnosis of Power Transformer ..................................................4422Jianye Liu, Yongchun Liang, Xiaoyun Sun

WA2-6: AUV CONTROL - III Research on Motion Planning Based on Self-learning Behavior Agent for AUV .................................................................................4427

Qiang Chen, Tao Chen, Zheng Qin

Research of GA-based PID for AUV Motion Control ..............................................................................................................................4433Qiang Chen, Tao Chen, Yong Zhang

Simulation Model and Fault Tree Analysis for AUV ...............................................................................................................................4439Xinqian Bian, Chunhui Mou, Zheping Yan, Jian Xu

Neural Networks Based Parking Control of Deep-sea Hydrothermal Plume Explorer .......................................................................4445Xiujun Sun, Yanhui Wang, Hongwei Zhang, Yan Yang

Modeling and Motion Control System Research of a Mini Underwater Vehicle ..................................................................................4450Bo Wang, Yumin Su, Lei Wan, Yueming Li

Horizontal Motion Planning based on Behavior Basic For AUV............................................................................................................4455Juan Li, Xianqian Bian, Zheng Qin, Xiaocheng Shi

WA2-7: SENSING AND MEASUREMENT - I Non-contact Surface Roughness Measurement Based on Laser Technology and Neural Network....................................................4461

Xiaomei Xu

An Intelligent 3D Force Platform for Plantar Pressure Distribution Measurement ............................................................................4466Huijing Wang, Junyao Liu, Sanfeng Chen

High Precision Contactless Object-diameter Measurement Using Laser Light Source .......................................................................4471Xinwen Gao, Tongyue Gao, Wei Ding, Zhenbang Gong

The Research on the Application of Laser Scanning Measurement Technology in Forestry..............................................................4477Lifu Zhang, Huaimin Lu

Quick Detection of Water Content in Fine Iron Powder .........................................................................................................................4482Lijie Wang, Zhen Zhou, Yong Qin, Jianying Guo, Bin Niu

A Fast Moving Object Detection Method via Local Neighborhood Similarity .....................................................................................4487Wei Li, Kaipeng Li, Jiaxin Chen, Qingtao Wu, Mingchuan Zhang

WA2-8: ANALYSIS AND DESIGN OF MECHATRONIC SYSTEMS - V Simulation of Downburst in a Multiple Fan Wind Tunnel and Research on Its Load on High-Rise Structure by Wind Tunnel Experiment ............................................................................................................................................................................4493

Yang Zhao, Shuyang Cao, Yukio Tamura, Zhongdong Duan, Shigehira Ozono

New Numerical Method for Investigating the Displacement and Stress Fields inside Contact Bodies of a Wire Race Ball Bearing...................................................................................................................................................................................................4499

Xiaobiao Shan, Jiangbo Yuan, Tao Xie, Weishan Chen, Haiqun Qi

HLA Based Multidisciplinary Joint Simulation Technology for Servo Mechanism Analysis .............................................................4504Xufeng Tong, Jin Huang, Dongxia Zhang

Study on the CNC Internal Gear Form Grinding Technology ...............................................................................................................4510Xiaozhong Ren, Jianxin Su, Xiaozhong Deng

Research on the Key Technologies of CNC Noncircular Camshaft Grinding.......................................................................................4515Guangsheng Chen, Xuesong Mei, Tianyu Zheng

Loads Analysis and Finite Element Simulation for Cycloid Ball Planetary Transmission..................................................................4521Peng Zhang, Zijun An, Zuomei Yang

WA2-9: NAVIGATION - III Spacecraft Inertial Navigation Errors nearby Perigee and its Elimination...........................................................................................4526

Jialun Pu, Naigang Cui, Libin Zhang

Large Scale Formation Relative Navigation with Relative Measurement Time Delay and Communication Jam ...........................4531Xibin Cao, Yanjun Xing, Yunhua Wu, Xiande Wu, Jinxiu Zhang, Shijie Zhang

Interference Analysis and Simulation for GPS/Galileo Signals ..............................................................................................................4537Yao Wang, Shenyuan Yang, Baoguo Yu, Xianzhi Luo

Unscented Kalman Filtering for Ultra-tightly Coupled GPS/INS Integration......................................................................................4543Gannan Yuan, Tao Zhang

GPS-based Attitude Determination RAIM Method Study and Optimize..............................................................................................4548Boxiong Wang, Chuanrun Zhai, Xingqun Zhan

Nonlinear Gaussian Filter Algorithm Enhancements for Low-cost Integrated Navigation System ...................................................4553Linlin Xia, Jianguo Wang, Lihui Zhang, Lijun Gu

WA2-10: SLIDING MODE CONTROL Nonlinear Disturbance Observer-Based Finite-time Convergent Second Order Sliding Mode Control for a Tailless Aircraft ..........................................................................................................................................................................................................4559

Peng Li, Weiwei Qin, Zhiqiang Zheng

Tire-Road Forces Estimation Based on Sliding Mode Observer ............................................................................................................4564Hongyan Guo, Hong Chen, Tonghao Song

A Simplified Backstepping Sliding Mode Controller based on Adaptive Control for BTT Missiles ..................................................4570Kai Zhu, Naiming Qi, Yingzi Guan, Wei Wang

Control of Supercavitating Vehicles Using Adaptive Integral Sliding Mode ........................................................................................4576Jiali Fan, Xiaolong Lv, Li Su, Guoliang Zhao

Study of Vector Modulation and Sliding Model Control for High Frequency Link Inverter .............................................................4581Zhaoyang Yan, Jianxia Li, Wei Zhang, Yuepeng Wang, Yingnan Zheng, Weiyang Wu

Research on the Regenerative Braking Control Strategy for Secondary Regulation Hydrostatic Transmission Excavators .....................................................................................................................................................................................................4587

Ancai Yu, Jihai Jiang

WA2-11: OUTDOOR ROBOTIC SYSTEM BIT Climber:A Centrifugal Impeller-Based Wall Climbing Robot .......................................................................................................4592

Jun Li, Xueshan Gao, Ningjun Fan, Kejie Li, Zhihong Jiang

Development of a Wall Climbing Robot for Ship Rust Removal ............................................................................................................4597Zhengyao Yi, Yongjun Gong, Zuwen Wang, Xingru Wang

Several Technical Problems in Lunar Rover Investigations ...................................................................................................................4603Weiping Ge, Dun Liu

Designed and Implementation of a Semi-autonomous Search Robot.....................................................................................................4608Yan Guo, Jiatong Bao, Aiguo Song

Path Planning for Minimizing Base Reaction of Space Robot and its Ground Experimental Study .................................................4614Jianwei Wu, Shicai Shi, Bin Wang, Zainan Jiang, Hong Liu

Design of Continuous Climbing Pneumatic Cable Maintenance Robot.................................................................................................4620Jianyong Li, Xiaoyong Liu, Shengyuan Jiang, Rongli Li, Limin Ren

WA2-12: MODELING METHOD - III Design of the Refitted High Mobility Tracked Vehicle Suspension System...........................................................................................4625

Shang Qigang, Wang Hongyan, Li Ying

A Method for Panel Adjustment from Far Field Pattern of Large Reflector Antenna........................................................................4631Wei Wang, Peng Li, Liwei Song

Modeling and Estimation of Networked Control Systems with Time Delays Based on CTHMM......................................................4636Yuan Ge, Qigong Chen, Ming Jiang

The Research of Soft tissue Deformation Based on Mass-Spring Model ...............................................................................................4642Bing Qiao, Gang Chen, Xiufen Ye

Modelling of Micro Tubes Hydroforming Processes ................................................................................................................................4648Weimin Zhuang, Jianguo Lin

The Simulation and Analysis of Iced Conductor Forced by Time-Varying Aerodynamic ..................................................................4653Xiaosun Wang, Shijing Wu, Jicai Hu, Chengxue Zhang

WP1-1: ACTUATORS - V Out-plane Dynamics Analysis for the Electromechanical Integrated Electrostatic Harmonic Motor ...............................................4659

Yaowu Li, Lizhong Xu

Simulation of A New Method in Double Closed Loop for Slip Power Recovery Motor with Chopper..............................................4664Ping Jiang, Binshu Wang, Junwei Zhang

Time Delay Effects on AMB Systems .........................................................................................................................................................4669Wenjun Su, Kai Zheng, Heng Liu, Lie Yu

The Improved Passive Dynamic Model with High Stability ....................................................................................................................4674Jie Zhao, Xiaoguang Wu, Yanhe Zhu, Ge Li

Experimental Investigation on the Stability of 1-3-2 PZT Epoxy Piezoelectric Composite .................................................................4680Lei Qin, Likun Wang, Baisheng Sun

Design of Doubly Salient Permanent Magnet Motor for Small Displacement ISG Mild Hybrid .......................................................4685Jing Lian, Yafu Zhou, Teng Ma, Xiaoyong Shen, Mengdong Mi

WP1-2: MODELING AND DETECTION - III Research on Customer Order Decoupling Point Positioning Model for Product Life Cycle...............................................................4691

Jianghua Ge, Fen Wei, Yongtao Huang, Guoan Gao

Research on the Filtering Model of a Complicated Resistance Exhaust Muffler with Acoustic Performance..................................4697Li Wang, Yiqi Zhou, Jihua Fang, Xiaodong Hu

Modeling of Hybrid Suspension System of Superconducting and Electrostatic Suspension ...............................................................4702Jianhua Liu, Qiuliang Wang, Xian Li

The Mathematical Model and Simulation for a Micro Electromagnetic Relay ....................................................................................4707Bendong Liu, Desheng Li, Jiahui Yang, Yuezong Wang

Research of a Genetic Algorithm Ant Colony Optimization Based on Cloud Model ...........................................................................4712Zheping Yan, Yanchao Zhang, Xiaomin Fu, Shuping Peng

Analysis and Optimization of the Engine Valve Train.............................................................................................................................4718Kun Liang, Aimin Du, Shiquan He

WP1-3: SIGNAL PROCESSING METHODS - III Time-variation and Frequency-variation Analysis of Wavelet Packet-Characteristic Entropy for Vibration Signals....................4724

Jingyan Xue, Laijun Sun, Mingliang Liu, Changming Qiao, Guangzhong Ye

Design and Research on Errors Compensation of Digital Compass.......................................................................................................4729Hua Sun, Peike Yang

Research on Signal Framing for Frame Number Optimization in Automotive Embedded Networked Control System ............................................................................................................................................................................................................4735

Jian Hu, Gangyan Li, Yeqiong Song

Different Inertia Weight PSO Algorithm Optimizing SVM Kernel Parameters Applied in a Speech Recognition System ............................................................................................................................................................................................................4741

Jing Bai, Xueying Zhang, Yueling Guo

The Research on Rotation Self -Compensation Scheme of Strapdown Inertial System.......................................................................4747Lin Zhao, Xinzhe Wang, Chen Huang, Jianhua Cheng

Dynamic Analysis of Functional Magnetic Resonance Images Time Series based on Wavelet Decomposition ................................4752Sen Liu, Jiexin Pu, Hongyi Zhang, Li Zhao

WP1-4: CONTROL OF VEHICLES - II Dynamic Surface Backstepping Control Design for One Hypersonic Vehicle ......................................................................................4757

Jie Chen, Wu Jinhua, Pan Changpeng

Study on Fail-Safe Strategy of Electric Power Steering System .............................................................................................................4762Lingbing Li, Bingshan Liu, Guowei Zhao, Hexu Sun

UKF and EKF Estimator Design Based on a Nonlinear Vehicle Model Containing UniTire Model .................................................4767Zhao Pan, Changfu Zong, Jiahao Zhang, Xujun Xie, Yiliang Dong

Optimal Design for Automobile Friction Clutch ......................................................................................................................................4772Yuan Ding, Yuxue Pan

The Sailing Stability of Autonomous Underwater Vehicle with Pitch Controller ................................................................................4777Hao Ding, Deshi Wang

Realistic Vehicle Driving Simulator with Dynamic Terrain Deformation.............................................................................................4782Tao Ni, Dingxuan Zhao, Hongyan Zhang

WP1-5: FAULT DIAGNOSIS - II Fault Detection and Data Restoration Based on PCA for Sensors of Autonomous Underwater Vehicle ..........................................4788

Yujia Wang, Mingjun Zhang, Yong Guo

Research on Rub Impact Fault Diagnosis Method of Rotating Machinery Based on EMD and SVM ..............................................4793Yibo Li, Fanlong Meng, Yanjun Lu

Signal Decomposition and Fault Diagnosis of a SCARA Robot Based Only on Tip Acceleration Measurement .............................4798Hongwei Liu, Tao Wei, Xingsong Wang

A New Method of Fault Diagnosis for High Voltage Circuit Breakers Based on Vibration Signals ..................................................4804Jingyan Xue, Laijun Sun, Mingliang Liu, Changming Qiao, Haibo Qian

Extraction of Fault Feature Values for Piston Compressor Based on Bispectrum Analysis ...............................................................4809Yanbing Zhou, Yibing Liu, Keguo Yan, Hong Xu

Feature Extraction of Gear Tooth Crack Based on the Method of Surrogate Data .............................................................................4814Li Fan, Yibing Liu, Yanbin Cui, Peng Lv

WP1-6: AUV CONTROL - IV Study on Algorithm for Small AUV Attitude Estimation from Vector Observations ..........................................................................4820

Yao Sun, Qiang Zhang, Lei Wan

Sensor Soft Fault Detection Method of Autonomous Underwater Vehicle............................................................................................4826Mingjun Zhang, Juan Wu, Yujia Wang

Underwater Simultaneous Localization and Mapping Based on EKF and Point Features .................................................................4832Bo He, Ke Yang, Shuai Zhao, Yitong Wang

Modeling and Motion Control Strategy for Autonomous Underwater Vehicles ..................................................................................4838Fang Wang, Ye Li, Lei Wan, Yuru Xu

Pattern Data Acquisition for High-speed Electronic Jacquard Circular Knitting Machine ...............................................................4844Chengjun Zhang, Xiaoguang Wu, Xiaoyan Zuo

A Leader-Follower Formation Control Strategy for AUVs Based on Line-of-Sight Guidance ..........................................................4850Yintao Wang, Weisheng Yan, Wei Yan

WP1-7: SENSING AND MEASUREMENT - II Phase Difference Determination by Fringe Pattern Correlation ............................................................................................................4855

Lanjiao Liu, Hongmei Xu, Zhengxun Song, Rencheng Liu, Jin Zhang, Zuobin Wang

A Novel Phase Current Reconstruction Method Using a Single DC-Link Current Sensor.................................................................4861Yikun Gu, Fenglei Ni, Dapeng Yang, Hong Liu

Experiment Evaluation of Rapid Error Compensation for Magnetic Compass in Underwater Vehicle ...........................................4867Ping Ye, Chuanrun Zhai, Gang Du, Xingqun Zhan

Study on the Testing Device of Axis Parallelism .......................................................................................................................................4872Tianyuan Gao, Yuegang Fu, Zhiying Liu, Yuan Hu, Zhijian Wang

Geoacoustic Inversion Based on Single Receiver Measurement .............................................................................................................4877Junjie Shi, Dajun Sun, Cuie Zheng

WP1-8: MOTION CONTROL Modeling and Simulation of Ship Longitudinal Motion ..........................................................................................................................4882

Hongli Chen, Wenyan Liu, Zhaoxin Zhong

Research on Passenger Car Windscreen Wiper Controller and Control Method Based on CAN .....................................................4888Jian Hu, Gangyan Li, Duanfeng Chu, Jun Xu

A Neural-Network-Based Robust Control Strategy Applying to Omnidirectional Lower Limbs Rehabilitation Robot during Centre-of-Gravity Shift .......................................................................................................................................................4894

Ying Jiang, Shuoyu Wang, Baodong Bai

Research on the Technology of Rotational Motion for FOG Strapdown Inertial Navigation System ...............................................4900Feng Sun, Wei Sun, Wei Gao, Yueyang Ben

Contour Control for Direct Drive XY Table .............................................................................................................................................4906Limei Wang, Fuying Jin, Yibiao Sun

Randomization-based Algorithms for Real-Time Servicing Spacecraft Motion Planning on Elliptical Orbit .................................4911Ping Wang, Cheng Chen, Jifeng Guo, Naigang Cui

WP1-9: PATH PLANNING Laser-Scanner Grid Map Building Based on Dempster-Shafer Evidence Theory ...............................................................................4917

Hongyu Cao, Hanxu Sun, Qingxuan Jia, Ping Ye, Chengkun Shi

A Modified Genetic Algorithm for Global Path Planning of Searching Robot in Mine Disasters ......................................................4923Jie Zhao, Lei Zhu, Gangfeng Liu, Gang Liu, Zhenfeng Han

Research on Polishing Path Planning and Simulation of Small Mobile Robot .....................................................................................4928Daqi Li, Lei Zhang, Ji Zhao, Xu Yang, Shijun Ji

Path Planning for Mobile Robots Based on a Modified Potential Model...............................................................................................4933Qian Jia, Xingsong Wang

A Multi-RRTs Framework for Robot Path Planning in High-Dimensional Configuration Space with Narrow Passages .........................................................................................................................................................................................................4939

Wei Wang, Yan Li

Surface Segmentation based Intelligent Trajectory Planning and Control Modeling for Spray Painting ........................................4945Wei Xia, Chunhua Wei, Xiaoping Liao

WP1-10: IMAGE PROCESSING - IV Joint Transform Correlator Based on Joint Image Feature Extraction Using Swarm Intelligence Method ....................................4951

Yong Wang, Ming Zhu

Mathematical Morphology Based Surface Reconstruction from Defective and Misregistration Point Sets .....................................4957Kun Mo, Zhuopin Yin

Binarized Gabor Filters Based Illumination Invariant Chinese Character Recognition.....................................................................4963Jianjun Fang, Kexian Xiao, Chunli Wang, Miaotao Mo

Computer-Aided Restoration of Characters on Jiagu Rubbings ............................................................................................................4968Shaotong Gu, Xuexue Fan

Automatic Chinese Text Categorization System Based on Mutual Information ..................................................................................4973Zhimao Lu, Hong Shi, Qi Zhang, Chaoyue Yuan

Recognition for Driving Across Central-Line of On-board Information Image Monitoring System.................................................4978Lin Guangyu, Wei Lang

WP1-11: POWER TECHNOLOGY Power System Load Forecasting Based on BEMPSO Chaotic Neural Network...................................................................................4984

Wei Liu, Xinlan Liang, Longshui Zhang, Jie Yao

Controlling Strategy and Implementation for Synchronously Closing 550 kV Parallel Capacitor ....................................................4989Yonggang Guan, Guozheng Xu, Weidong Liu, Xin Zheng, Ning Du

An Optimized PWM Modulation Scheme for High Power Three-Level Converter.............................................................................4995Gang Zhang, Zhigang Liu, Lei Wang, Hengli Quan

Research on Idle Load Grid-connection Control Strategy for Double-fed Induction Generator (DFIG) Based on Direct Power Control ...................................................................................................................................................................................5001

Lan Yu, Song Xiaoliang, Chen Guocheng, Yue Yan

Reactive Power and Voltage Control Using Micro-Genetic Algorithm .................................................................................................5006Dong Guan, Zixing Cai, Zhizhou Kong

Neural Network-based Detection and Localization of Short Duration Disturbances in Power System .............................................5012Weili Huang, Zixiang Huo, Wei Du

WP1-12: MODELING METHOD - IV A Kind of Hybrid Optical Structure IFOG ...............................................................................................................................................5017

Qiang Yu, Xuyou Li, Guangtao Zhou

Streaming Audio Retrieval Based on Fuzzy Classification in MPEG-1 Compressed Domain............................................................5022Miao Li, Jiqing Han

Influences of Fluid Flow Effects on Mechanical Properties of The Blood Fuel Cell via Finite Element Method .............................5027Hongwei Zhao, Ruiqing Li, Xiaoqin Zhou, Xu Yang, Baihao Yang, Jixin Wang

Modeling and Simulation of Flywheel Energy Storage System with IPMSM for Voltage Sags in Distributed Power Network .........................................................................................................................................................................................................5033

Long Zhou, Zhiping Qi

Modeling and Optimization for Hybrid Layout Design with Behavioural Constraints .......................................................................5039Hong Zhang, Aiping Li, Xuemei Liu

Study on the Photoelectric Method of Calibrating the Large-scale Unit to Its Center ........................................................................5044Guohua Cao, Zhisheng Wang, Tao Jiang, Hongchang Ding, Liming Geng

WP2-1: OPTO-ELECTRONIC ELEMENTS A Study of Tunable Optical Filters Based on Micro-ring Structures.....................................................................................................5051

Jianming Huang, Yidong Yao, Zhongliang Deng

Kalman Filtering with Measurement Delay for Electro-optical Tracking Systems..............................................................................5056Qiuping Wang, Shun Kang, Yuan Zhou

Research on Stability of Fiber Amplify Source with Bi-pump-source for Fiber Optical Gyroscope .................................................5061Yanling Hao, Rui Wang, Xuyou Li, Qiang Ji

Research upon the High-capacity Lead-Acid Battery Charge Model ....................................................................................................5066Kun Yang, Guangyao Ouyang, Ping Zhang, Jianping Zhang

New Development of Nanocrystalline TiO2-Based Dye-Sensitized Solar Cells......................................................................................5071Chao Song, Xiangting Dong, Jinxian Wang, Guixia Liu, Wensheng Yu

Configuring an Electrostatic Membrane Reflector with Potentials Exerted on Distributed Electrodes............................................5076Guangfeng Shi, Xing Zhong, Guang Jin, Peng Zhang

WP2-2: MODELING AND DETECTION – IV Numerical Simulation of Structures and Distributions of Particles in MAGIC Fluid .........................................................................5081

Bingyue Liu, Yongsheng Zhu

Investigations of Tool Geometry in Ultraprecision Cutting: A FEM Simulation Approach ...............................................................5086Xiubing Jing, Dawei Zhang, Zhongzhou Wang, Guobin Li

Pipeline Leakage Monitor System Based on Virtual Instrument ...........................................................................................................5092Jian Li, Yu Zhang, Shijiu Jin

The Simulation Research on Passive Heave Compensation System for Deep Sea Mining ..................................................................5098Jia Ni, Shaojun Liu, Mingfeng Wang, Xiaozhou Hu, Yu Dai

Research on Evaluation Model of Emergency Response Plans ...............................................................................................................5104Fuyou Han, Hailong Zhang, Liyan Dong

Transmittance Detection Method for Optical Instrument in the Bright Field ......................................................................................5110Chengzhi Su, Jing Hu, Honglei Gong, Hongji Xu

Author Index