Preliminary ProgramSeptember 12th-14th, 2006

Heidelberg, Germany

MECHATRONICS 20064th IFAC-Symposium on

Mechatronic Systems

www.mechatronics2006.com

International Federation of Automatic Control

including the program for the 50th Anniversary Celebration of IFAC

TIMETABLE

Monday, September 1116:00 Registration19:00

Tuesday, September 12 09:00 Opening09:30 Plenary I10:15 Break10:45 A1: Mechatronics in

MedicineA2: Control Design A3: Reliability, Safety, and

Fault ToleranceA4: Nano Robotics

12:25 Lunch14:10 B1: Robots B2: Multibody Control B3: Fault Diagnosis B4: Integrated Modelling

and Simulation

15:50 Break16:20 C1: Manipulator and

Actuator Control C2: Position and Force

Control C3: Digital Filtering and

Embedded ControlC4: Mechatronic Design

Strategies

18:00 Guided City Walk19:00 Possibility to visit Pubs, Bars and Restaurants in Heidelberg

Wednesday, September 1309:00 Plenary II09:45 Break10:15 D1: Semiactive and Active

SuspensionD2: Robust and Optimal

ControlD3: Piezoelectric Actuators D4: Human-Machine

Interaction

12:15 Lunch13:15 E1: Vehicle, Tire, Road

InteractionE2: Identification and

EstimationE3: Magnetic Actuators E4: Localization and

Exploration

15:30 Break16:00 – 17:30 Poster

18:30 – 22:30 Boat Trip / Symposium Dinner

Thursday, September 1409:00 F1: Advances on Vehicle

Control F2: Vibration, Isolation and

Active Control F3: Mechatronics for

Bio-MimickingF4: Mechatronics in

Production

10:40 Break11:20 G1: Automotive Systems G2: Adaptive Control and

Learning SystemsG3: Industrial Applications G4: Instrumentation

for Scanning Probe Microscopy

13:00 Lunch14:00 Plenary III14:45 Closing / Resume / Awards15:30 – 16:00 Fare Well

Reserve the right to change!

4th IFAC-Symposium on Mechatronic Systems

Heidelberg, Germany

September 12th-14th, 2006

VenueRuprecht-Karls-UniversityNew UniversityUniversitätsplatz69117 HeidelbergGermany

Organizers– VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik

(GMA), German NMO in IFAC– Technische Universität Dresden,

Institute of Automation

Sponsors– IFAC International Federation of Automatic Control– Technical Committee of Mechatronic Systems

In cooperation with– Institute of Electrical and Electronics Engineers (IEEE)– Amercian Society of Mechanical Engineers (ASME)

ScopeMechatronic systems comprise the synergetic functional and spatial integration of mechanical components with electronic systems and embedded information technology. This design paradigm results in innovative, smart and intelligent products. Faster innovation cycles required by the markets and evolving advances in materials and microelectronics call for improved engineering solutions in this challenging multi-disciplinary field. Automatic control plays a traditional strong role for the design of mechatronic systems. The feedback principle forms the basis for every controlled motion, influencing the dynamic interaction between mechatronic components is mandatory for robust product operation and machine intelligence offers new perspectives in system autonomy.

The goal of this Symposium is to continue the successful IFAC symposium series on mechatronic systems (2000 Darmstadt, 2002 Berkeley, 2004 Sydney) and to bring together experts in this interdisciplinary field from all over the world. The Symposium will give an overview of the state-of-the-art and will show the leading-edge research results and developments.

The venue of this symposium is a unique place for science in general and for IFAC in particular: Heidelberg, the world famous and picturesque historic city in the heart of Germany. The symposium is hosted by Ruprecht-Karls-University, Germany‘s oldest and most prestigious university (founded 1386), located in one of the most attractive pedestrian zones in Europe. Heidelberg is also the birth place of IFAC, founded 1956 at the historic Castle. It is a special honor for mechatronics community that our symposium has been awarded to give the scientific framework for the anniversary event “50 Years of IFAC” which will be celebrated on September 15th in Heidelberg.

So there are a lot of good reasons to go for Heidelberg in September 2006 and we invite the international scientific community to exchange ideas on mechatronics in a unique atmosphere: welcome to Heidelberg and have a great time there!

Klaus Janschek– IPC Chair IFAC Mechatronics 2006 –

Financial sponsors

Tuesday, September 12th09:00 Opening 09:30 Plenary I

Chair: K. Janschek, Germany Winning the DARPA Grand Challenge S. Thrun, Stanford University, USA

A1: Mechatronics in Medicine

10:45 Smart Mechatronic Device to Assist Heart FunctionS. Leonhardt, RWTH Aachen University, M. Kortyka, S. Schwandtner, ABIOMED, Aachen, Germany

11:05 On Development of Totally Implantable MEMS Vestibular ProsthesisA. M. Shkel, University of California at Irvine, USA

11:25 A Mems-Based Micro-Biopsy Actuator for Capsular EnduscopeS. Park, K. Koo, G. Kim, H. Choi, M.-J. Jung, D. Cho, Seoul National University, S. Song, S. Y. Bang, Yonsei University, South Corea

11:45 Concepts for a Mechatronic Device to Control Intracranial PressureS. Jetzki, M. Walter, S. Leonhardt, RWTH Aachen University, M. Kiefer, University of Saarland, Homburg, Germany

12:05 A Novel Manipulator for Prostate Brachytherapy: Design and Preliminary Results H. Bassan, R. Patel, M. Moallem, University of Western Ontario, London, Canada

B1: Robots

14:10 Control Design for an Overactuated Wheeled Mobile RobotJ. Ploeg, TNO Automotive, Helmond, J. Vissers, Vanderlande Industries, Veghel, H. Nijmeijer, Eindhoven Technical University, Netherlands

14:30 Development and Design of a Multi-Fingered Gripper for Dexterous ManipulationM. Nefzi, M. Riedel, B. Corves, Technical University Aachen, Germany

14:50 Peristaltic Crawling Robot Based on the Locomotion Mechanism of EarthwormsT. Kato, T. Nakamura, T. Iwanaga, Y. Muranaka, Chuo University, Japan

15.10 Neural Control of a Parallel Robot – Design and Implementation in FPGAM. Petko, G. Karpiel, T. Uhl, AGH University of Science and Technology, Krakow, Poland

15:30 Solving the Singularity Problem for a Holonomic Mobile RobotA. El-Shenawy, A. Wagner, E. Badreddin, University of Mannheim, Germany

C1: Manipulator and Actuator Control

16:20 Low Cost Fuzzy Controlled Servo Systems in Mechatronic SystemsR.-E. Precup, S. Preitl, Politehnica University of Timisoara, Romania

16:40 Tabular Pulse-Width Control of a Two Degree-of-Freedom ManipulatorK. Buffinton, C. Hubicki, Bucknell University, Lewisburg, M. Berg, University of Washingto, Seattle, USA

17:00 Quiet Hydraulics for LIGOC. Hardham, Stanford University, and co-authors from Livingston Observatory, California Institute of Technology, Massachusetts Institute of Technology, Loisiana State University, USA

17:20 Derivation of a Mathematical Model for Pneumatic Artificial Muscles

H. Shinohara, T. Nakamura, Chuo University, Tokyo, Japan

17:40 Modular Multi-Sensory Rotary Fluidic Actuator with Pleated Rotary Elastic ChambersO. Ivlev, Friedrich-Wilhelm-Bessel Institute, Bremen, M. Mihajlov, A. Gräser, University of Bremen, Germany

A2: Control Design

Flatness Based Control of a Buck-Converter Driven DC MotorF. Antritter, P. Maurer, University Erlangen-Nürnberg, J. Reger, University of Armed Forces, Munich, Germany

Application of Higher Order Derivatives in Aircraft Flight ControlR. Czyba, M. Bachuta, Silesian Technical University, Gliwice, Poland

Flatness Based Control of a Dual Coil Solenoid ValveJ. Reuter, EATON Corporation, Southfield, USA

Adaptive Backstepping Sliding-Mode Control with Application to a Flexible-Joint ManipulatorL. Ma, K. Schilling, University of Würzburg, Ch. Schmid, Ruhr-University Bochum, Germany

Control with ON/OFF Sensors and Actuators: An Ellipsoid Observer Plus Sliding-Mode Control ApproachA. Sala, Universidad Politecnica Valencia, Spain

B2: Multibody Control

Impact of Center of Gravity in Quadrotor Helicopter Controller DesignM. Kemper, S. Fatikow, Oldenburg University, Germany

A Dynamical Systems Approach to Rhythmic Coordination between RobotsH. Hirai, F. Miyazaki, Osaka University, JapanInversion-Based Transient Shaping of a Piezo-Actuated Plate: Motion Planning and Feedforward ControlT. Meurer, A. Kugi, Saarland University, Saarbrücken, Germany

Smooth Trajectories for High-Performance Multi-Axes Automatic MachinesL. Biagiotti, C. Melchiorri, University of Bologna, Italy

A New Approach to Feedforword Control Design under Output Constraints Applied to the Side-Stepping of the Triple Inverted PendulumK. Graichen, M. Zeitz, University of Stuttgart, Germany

C2: Position and Force Control

A Mechatronic Approach to Full Sheet Control Using Steerable NipsR. Horowitz, R. Sanchez, E. Ergueta, B. Fine, M. Tomizuka, M. Krucinski, University of California, Berkeley, USAPosition/Torque Control of a Space Robotics ArmD. Camorali, G. Magnani, P. Rocco, Politecnico di Milano, A. Rusconi, Galileo Avionica, Milano, Italy

Parallel Force and Motion Control Using Robust Velocity ObserverQ.H. Xia, M.H. Ang, National University of Singapore, S.Y. Lim, T.M. Lim, Institute of Manufacturing Technology, Singapore

Precise Modeling of Rolling Friction in Ball Screw-Driven Table Positioning SystemM. Iwasaki, Y. Maeda, M. Kawafuku, H. Hirai, Nagoya Institute of Technology, JapanExperimental Study of Position-Position and Force-Position Control Methods in TeleoperationT. Delwiche, A. De Greef, L. Catoire, M Kinnaert, Université Libre de Bruxelles, Belgium

Tuesday, September 12th09:00 Opening 09:30 Plenary I

Chair: K. Janschek, Germany Winning the DARPA Grand Challenge S. Thrun, Stanford University, USA

A3: Reliability, Safety and Fault Tolerance

10:45 Achieving Functional Safety of Audi Dynamic Steering Using a Structured Development ProcessJ. Schuller, M. Lannoije, M. Sagefka, W. Dick, R. Schwarz, Audi AG,Ingolstadt, Germany

11:05 New Integrated Inline Concept for Vehicle Testing and AdjustingJ. Schenk, T. Tentrup, R. Müller, Duerr Final Assembly Products GmbH, Püttlingen, Germany

11:25 Active Fault-Tolerant Control for Unstable SystemsZ. Weng, P. Cui, Shanghai Jiao Tong University, China, R. Patton, University of Hull, Great Britain

11:45 Safety and System Integrity of ISOBUS Application for Agricultu-ral Machine Control System (AMCS)M. Rugerri, IMAMOTER – CNR, Ferrara, S. Marzani, C. Fantuzzi, University of Modena and Reggio Emilia, Italy

12:05 Holistic Qualitative and Model-Based Reliability Analysis of Pro-grammable Mechatronic SystemsM. Wedel, P. Göhner, University of Stuttgart, Germany

B3: Fault Diagnosis

14:10 Monte-Carlo Reliability and Performance Analysis of Satellite FDI SystemF. Uppal, R. Patton, University of Hull, Great Britain, S. Simani, Uni-versity of Ferrara, Italy, B. Polle, EADS, Toulouse, France

14:30 Fault Detection Using Parameter Estimation for a Hydraulic Servo-Axis M. Münchhof, Darmstadt University of Technology, Germany

14:50 Free Derivative State Observers to Track Brushless Motor RotorN. Cesario, F. Tagliatatela, M. Iavorgna, STMicroelectronics, Arzano, Italy

15:10 Fault Model of an Inverter-Fed PMSM for X-By-Wire SystemsL. Feng, A. Rentschler, A. Binder, University of Technology Darm-stadt, A. Paweletz, R. Bosch GmbH, Gerlingen, Germany

15:30 Fault Diagnosis and Fault-Tolerant Control of a Joystick Controlled WheelchairM. Hashimoto, Doshisha University, Kyoto, Y. Nakamura, Chugai Technos Co., Ltd., Hiroshima, F. Oba, Hiroshima University, Japan

C3: Digital Filtering and Embedded Control

16:20 The Windup Problem in Repetitive Control a Simple Anti-Windup StrategyD. Sbarbaro, Universidad de Concepcion, Chile, M. Tomizuka, Uni-versity of California, Berkeley, USA, B. L. de la Barra, University of Tasmania, Hobard, Australia

16:40 FIR-based Optimised Design of the Set Point Path in 2-d.o.f. Digital RegulatorsL. Bascetta, A. Leva, Politecnico di Milano, Italy

17:00 Efficient IIR Notch Filter Design via Multirate Filtering Targeted at Harmonic Disturbance RejectionD. Bruijnen, R. Van de Molengraft, M. Steinbuch, Technical University Eindhoven, Netherlands

17:20 Automatic On-Line Tuning of the Knock Detection System on an ECUJ. Borg, G. Saikalis, S. Oho, Hitachi America Ltd, Farmington Hills, K.C. Cheok, Oakland University, Auburn Hills, USA, N. Kurihara, Hachinohe Institute of Technology, Tokyo, Japan

17:40 Control Kernel: A Key Concept in Embedded Control SystemsP. Albertos, A. Crespo, J. Simo, Universidad Politécnica, Valencia, Spain

A4: Nano Robotics (Invited Session)

Nano Electro Mechanical Systems with Single Walled Carbon Nanotubes as Functional ElementsCh. Hierold, Ch. Stampfer, T. Helbling, A. Jungen, D. Sarangi, ETH Zurich, SwitzerlandPrototyping Proteins-based Bio-Nanorobotic Systems: Modeling and Control AspectsA. Ferreira, M. Hamdi, Laboratoire Vision et Robotique, Bourges, FranceScanning Eletron Microscopy Based Manipulation and Characte-risation of Nano-Scale ObjectsS. Fahlbusch, S. Hoffmann, I. Utke, A. Steinecker, J.-M. Brequet, J. Michler, EMPA, Thun, SwitzerlandNanorobotic Manipulation of Carbon Nanotubes Inside a Transimission Electron MicroscopeL. Dong, B. J. Nelson, D. R. Frutiger, A. Subramanian, ETH, Zurich, L. Zhang, Paul Scherrer Institute, Villigen-PSI, Switzerland, X. Tao, X. Zhang, Zhejiang University, Hangzhou, ChinaMicrofabricated Tools for Pick-and-Place of Nanoscale Compo-nentsP. Bøggild, D. H. Petersen, J. Kjelstrup-Hansen, K. Mølhave, K. Nordstrøm Andersen, Technical University of Denmark, Kgs. Lyngby, Danmark, O. Sardan, Koc University, Istanbul, Turkey

B4: Integrated Modelling and Simulation

Virtual Prototyping of Hydraulic ComponentsD. Wehner, S. Helduser, Technische Universität Dresden, H. Lausch, Bosch Rexroth AG. Lohr/Main, Germany

Integrated Simulation of Mechanics, Electronics and ControlU. Killat, CADFEM GmbH, Grafing, Germany P. J. van Duijsen, P. Bauer, Alphen a.d. Rijn, NetherlandsMechatronic Analysis of a Complex Transmission ChainP. Rocco, G. Magnani, S. Galbersanini, M. Galimberti, Politecnico di Milano, G. Mazzola, Pietro Carnaghi S.p.A., Milano, Italy

Computer-Algebra Algorithms for the Geometric Controller Design of DAEsK. Zehetleitner, Johannes Kepler Universität Linz, Austria

Realtime Hardware Emulation for Rapid Prototyping and Testing of Digital Control SystemsG. Palli, C. Melchiorri, University of Bologna, Italy

C4: Mechatronic Design Strategies

Modelling and Simulating Approach of Distributed Development Processes in MechatronicsCh. Biantoro, Technical University of Berlin, F. L. Krause, Technical University, Fraunhofer IPK, Berlin, Germany

Conceptual Design of Mechatronic Systems as a Recurring Element of Innovation ProcessesP. Hehenberger, R. Naderer, Ch. Schüler, K. Zeman, Johannes Kepler Universität Linz, AustriaDesign Evaluation with Mechatronics Index Using the Discrete Choquet IntegralV. Moulianitis, N. Aspragathos, University of Patras, Greece

Application of a Search Algorithm to Model Based System OptimizationM. Kaufmann, University of Karlsruhe, G. Bretthauer, Research Center Karlsruhe GmbH, GermanyComputer-Aided Education in Mechatronics with a „Window into the Computer“S. Toepper, J. Lückel, A. Trächtler, University of Paderborn, Germany

Wednesday, September 13th09:00 Plenary II

Chair: M. Tomizuka, USADevelopment of the Humanoid Robot HUBO J. H. Oh, KAIST, Korea

D1: Semiactive and Active Suspension

10:15 Optimized Force Allocation - A General Approach to Control and to Investigate the Motion of Over-Actuated VehiclesCh. Knobel, A. Pruckner, BMW Group, Munich, T. Bünte, German Aerospace Center (DLR), Oberpfaffenhofen, Germany

10:35 Design, Mathematical Modeling and Control of an Asymmetrical Electrorheological DamperK. Holzmann, W. Kemmetmüller, A. Kugi, Saarland University, Saarbrücken, M. Stork, FLUDICON GmbH, Darmstadt Germany

10:55 Automatic Steering and Braking for a Collision Avoiding VehicleM. Schorn, R. Isermann, Technical University of Darmstadt, Germany

11:15 Active Roll Control Device for Vehicles equipped with Hydro-pneumatic SuspensionsP. Serrier, X. Moreau, A. Oustaloup, LAPS / University Bordeaux, France

11:35 Semi Active Suspension Control System Develomment for a Light Commercial VehicleB. Aksun Guvenc, E. Kural, Istanbul Technical University, B. Kesli, K. Gulbudak, S. Güngör, A. Kanbolat, Ford Otosan, Kocaeli Turkey

11:55

E1: Vehicle, Tire, Road Interaction

13:15 Cornering Stiffness and Slip Angle Estimation of Electric Vehicle for Direct Yaw-Moment ControlH. Fujimoto, Yokohama National University, Japan

13:35 Sensor Fault Diagnosis for Lateral Vehicle Dynamics with Varying Road Surface ConditionsI. Unger, R. Isermann, Technical University of Darmstadt, Germany

13:55 Road – Wheel Interaction in Vehicles – A Mechatronic View of Friction B. Heimann, H. Blume, University of Hannover, Germany

14:15 Electronic Regulation of an Automated Car Tyres Pressure Cont-rol SystemG. Sandoni, M. Ringdorfer, Magna Steyr, Graz, Austria

14:35 Brake Squeal Suppression with Shunted Piezoceramics – A Cont-rol FormalismM. Neubauer, University of Hannover, Germany, R. Oleskiewicz, Koszalin University of Technology, Poland

D2: Robust and Optimal Control

Modelling and Control in Optical Disc Drives: Reducing the Opto-mechanical Coupling EffectJ. J. Martinez, O. Sename, A. Voda, Institut National Polytechnique de Grenoble, FranceReceding Horizon Finite Memory Output Tracking Control and Its Application to Inverted Pendulum ControlCh. K. Ahn, S. Han, W.H. Kwon, National University, Seoul, South KoreaControl of a Climbing Robot Using Real-Time Convex Optimiza-tionT. Miller, S. Rock, T. Bretl, Stanford University, USA

Robust Near-Time-Optimal Command Shaping for Coordinated Contour ControlP. Meckl, Y. Xu, Purdue University, West Lafayette, USA

Robust H-Infinity-Control for Multi-Mass Systems Based on a Reduced ModelM. Joost, K. Peter, B. Orlik, University of Bremen, Germany

Modeling and Control of an Industrial Winder with Pendulum Dancer MechanismD. Knittel, D. Guy, E. Caillard, University Louis Pasteur, M. Vedrines, INSA, Strasbourg, France

E2: Identification and Estimation

Observer Based Position Detection of a Cantilever in Atomic Force MicroscopyM. Hrouzek, ESRF – UJF, G. Besancon, A. Voda, UJF-LAG, J. Chevrier, UJF – LEPES, Grenoble, FranceVisual Observer for Multi-link Mechanical SystemY. Ohta, Y. Baba, Y. Pan, K. Furuta, Tokyo Denki University, Japan

Integrated Motion Measurement: Applying the Principle of Integrated Navigation to Rigid Multi Body Systems and Flexible Vehicle StructuresJ. Wagner, Th. Örtel, University of Stuttgart, GermanyIdentification of the Cornering Stiffness by Parallel Identifica-tion and SimulationD. Wesemeier, R. Isermann, Technical University of Darmstadt, GermanyEstimation of Angular Velocity and Acceleration by Using Two Linear Acceleration SensorsG. Lim, Y. Park, S.-J. Paik, B.-D. Choi, H. Ko, K. Yoo, S. Lee, S. Ch. Lee, A. Lee, D. D. Cho, Seoul National University, S. W. Kim, J. Lim, SML Electronics, Seoul, South Korea

Poster

Wednesday, September 13th09:00 Plenary II

Chair: M. Tomizuka, USADevelopment of the Humanoid Robot HUBO J. H. Oh, KAIST, Korea

D3: Piezoelectric Actuators

10:15 Modeling of Piezoelectrically Actuated Fuel InjectorsD. Mehlfeldt, H. Weckenmann, DaimlerChrysler AG, Stuttgart, G. Stöhr; University of Siegen, Germany

10:35 High-Performance Control of a PZT ScannerB. Bhikkaji, M. Ratnam, A. Fleming, S. O. R. Moheimani, University of Newcastle, Australia

10:55 Unconventional High Performance Piezoelectric Composit Actuators for Mechatronic ApplicationsR. Petricevic, M. Gurka, Neue Materialien Würzburg GmbH, H. Friedmann, Wölfel Beratende Ingenieure GmbH & Co. KG, Höchberg, Germany

11:15 Vibration Control with Shunted Piezoceramics – The Energy BalanceR. Oleskiewicz, T. Krzyzynski, Koszalin University of Technology, Poland, M. Neubauer, University of Hannover, Germany

11:35 Feasibilility of Wireless Sensors in Industrial Applications Using Energy Harvesting MethodsB. Richter, J. Wallaschek, Heinz Nixdorf Institut, Paderborn, E. Nigge-mann, Weidmüller Interface GmbH & Co. KG, Detmold, Germany

11:55 Friction Modelling for Control of a Linear High-Precision ActuatorJ. Zimmermann, O. Sawodny, University of Stuttgart, T. Hausotte, G. Jäger, Technical University Ilmenau, Germany

E3: Magnetic Actuators

13:15 Magnetic Suspension System Using Three Flux Path Control ModulesT. Mizuno, Y. Hirai, Y. Ishino, M. Takasaki, Saitama University, Japan

13:35 A Position Control of a Parallel Stage with Magnetic LevitationJ. Lee, J. Jeon, Korea Electrotechnology Research Institute, Kyungnam, S. Lee, Kyungnam University, Y. Choi, Pusan National University, South Korea

13:55 Modelling of a Planar Active Magnetic Guidance System Inclu-ding Hysteresis EffectsR. Volkert, J. Zentner, V. Kireev, O. Radler, T. Ströhla, Technical University Ilmenau, T. Bertram, University Dortmund, Germany

14:15 Inverse Filters Design for Complex Hysteretic Actuator Nonlinea-rities – A New Preisach Modeling ApproachK. Kuhnen, H. Janocha, University of Saarland, Saarbrücken , Germany

14:35 Low Noise Five-Axis Magnetic Bearing Reaction WheelB. Gerlach, M. Ehinger, H. K. Raue, R. Seiler, TELDIX GmbH, Heidel-berg, Germany

D4: Human-Machine Interaction

Haptic Devices as New Mechatronic Components for Interactive Grid ApplicationsH. Maass, H. Cakmak, G. Bretthauer, U. G. Kuehnapfel, Research Center Karlsruhe GmbH, Germany Toward the Haptic Guidant Tele-MicromanpulationG. Hwang, H. Hashimoto, University of Tokyo, Japan Robust Training and Control strategies for the Grasp Type Selec-tion of Hand ProsthesesM. Reischl, R. Mikut, G. Bretthauer, Research Center Karlsruhe GmbH, GermanySimulation of a Mechatronic Microsystem‘s Intervention into the Human Accommodation SystemS. Klink, M. Bergemann, G. Bretthauer, Research Center Karlsruhe GmbH, GermanyA Framework for Grasp Simulation and Control in Domestic EnvironmentsJ. Tegin, J. Wikander, Royal Institute of Technology, Stockholm, Sweden

E4: Localization and Exploration

Global Localization of an Indoor Mobile Robot with a Single Base StationH. Kirmse, M. Hennig, K. Janschek, Technische Universität Dresden, GermanyAppearance Based Robot Localization Using Regression ModelsM. Saito, K. Kitaguchi, Osaka Municipal Technical Research Institute, Japan

Optical Flow Navigation for an Outdoor UAV Using a Wide Angle Mono Camera and DEM MatchingV. Tchernykh, M. Beck, K. Janschek, Technische Universität Dresden, GermanySource Localization with Minimal Number of Networked SensorsJ. Matthes, L. Gröll, H. B. Keller, Research Center Karlsruhe GmbH, Germany

Infrared Inspection of Buildings Using Autonomous HelicotersA. Ollero, J. Ferruz, R. Martinez-de Dios, University of Sevilla, Spain

Poster

Thursday, September 14th

F1: Advances on Vehicle Control (Invited Session)

09:00 Optimal Skyhook Control for Semi-Active SuspensionsO. Sename, Ch. Poussot-Vassal, L. Degard, Laboratoire d’Automatique de Grenoble, St Martin d‘Hères, France,R. Ramirez-Mendoza, L. Flores, TEC Monterrey, Mexico

09:20 Model-Matching Control for Steer By Wire VehiclesJ. Coudon, X. Claeys, Renault, Guyancourt, C. Canudas-de-Wit, Laboratoire d’Auto-matique de Grenoble, St Martin d‘Hères, France

09:40 A Self-Tuning ABS Control for Electromechanical Braking SystemsR. Morselli, R. Zanasi, University of Modena and Reggio Emilia, Modena, Italy

10:00 Lurch Avoidance Stategy and its Implementation in AMT VehiclesP. Dolcini, Centre Technique Renault, La Norville, C. Canudas-de-Wit, Laboratoire d’Automatique de Grenoble, St Martin d‘Hères, H. Béchart, Renault, Brétigny, France

10:20 Robust Smooth Engagement of an Automotive Dry ClutchL. Glielmo, L. Iannelli, F. Vasca, University of Sannio, Benevento, Italy, P.-O. Gutman, Faculty of Civil and Environmental Engineering, Haifa, Israel

G1: Automotive Systems

11:20 An Inertially Stabilised Vehicle Camera System for Driver Assistance ApplicationsPh. Wagner, W. Günthner, H. Ulbrich, Technical University of Munich, Germany

11:40 Modeling and Simulation of the Active Control Retractor (ACR) to develop the Situation Management Algorithm (SMA)C. Kurutas, U. Claas, TRW Automotive GmbH, Alfdorf, D. Schramm, M. Hiller, University of Duisburg-Essen, Germany

12:00 A Mechatronics Thermal Management System for Mobile Fuel CellsJ. Wagner, Clemson University, E. Marotta, Texas University, College Station, D. R. Noble, Gerogia Institute of Technology, Atlanta,USA

12:20 A Fundamental Approach in Reducing Computation Time by using Rule-Based Energy Management Strategies for Hybrid Vehicle Drivetrains.A. Serrarens, R. Van Druten, DTI B.V., Eindhoven, M. Steinbuch, Technical University Eindhoven, Netherlands

12:40 Desing and Hardware-in-the-Loop Simulation of an Automatic Headlight Control SystemB. Aksun Güvenc, S. Karaman, T. Hacibekir, E. Kural, E. S. Özturk, M. Demirci, Istanbul Technical University, Turkey

14:00 Plenary IIIChair: R. Isermann, GermanyAutomotive Application of Mechatronic Systems – State of the Art and Future Prospects H. Leffler, BMW, Germany

14:45 Closing / Resume / Awards

15:30 Fare Well

F2: Vibration, Isolation and Active Control

Vibration Reduction Control for Human-Riding Biped Robot, HUBO FX-1J.-Y. Kim, J. Lee, I.-W. Park, J.-H. Oh, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

Active Control of a Structure with Sloshing PhenomenaV. Pommier-Budinger, J. Richelot, J. Bordeneuve-Guibe, ENSICA, Toulouse, France

On Aproach of Active Vibration Control or Multi-Freedom Magnetostrictive Smart StructureJ. Mao, Ch. Li, Z. Zhang, Beijing Univ. of Aero. & Astro, Ch. Jiang, School of Materials Science and Eng., L. Li, School of Jet Propulsion, Beijing, ChinaActive Vibration Damping of a Flexible Structure in Hydrostatic BearingsP. Kytka, R. Nordmann, Ch. Ehmann, Technical University of Darm-stadt, Germany

A Model-Based Controller for a Vibration Isolation System with Weight Support SpringsE. Hoque, T. Mizuno, Y. Ishino, M. Takasaki, Saitama University, Japan

G2: Adaptive Control and Learning Systems

Direct ILC Based on Polynomial ExpressionM. Takeuchi, Akashi National College of Technology, H. Kawasaki, Y. Yoshida, J. Yu, F. Miyazaki, Osaka University, Japan

A MRAS-Based Learning Feed-Forward ControllerJ. Van Amerongen, University of Twente, Enschede, Netherlands

Adaptive PID Neuro-Controller for a Nonlinear ServomechanismR. Dhaouadi, R. Jafari, American University of Sharjah, USA

Adaptive Robust Posture Control of Parallel Manipulator Driven by Pneumatic MusclesX. Zhu, G. Tao, J. Cao, Bin Yoa, Zhejiang University, Hangzhou, China

Performance Improvement of an Adaptive Controller using Model Predictive Control: Application to an UAV ModelS. Bertrand, H. Piet-Lahanier, ONERA, Châtillon, T. Hamel, I3S-UNSA-CNRS, Sophia Antipolis France

Thursday, September 14th

F3: Mechatronics for Bio-Mimicking (Invited Session)

09:00 Wireless Networking Movement Implementation of Multi-Robot Search Team Using Minimal Communication DataF.-L. Lian, W.-H. Hsu, National Taiwan University, Taipei, Taiwan

09:20 Target Search and Navigation by Spatial Hearing Using Inter-aural SignalsJ.-S. Hu, W.-H. Liu, Ch.-Ch. Cheng, National Chiao-Tung University, Hsinchu, Taiwan,

09:40 Global Formation of Multiple Agents from Local Sensor Informa-tionCh.-L. Tien, Y.-Y. Chen, National Taiwan University, Taipei, Taiwan

10:00 Docking Control for a Biomimetic Autonomous Underwater Vehicle Using Active VisionJ. Guo, F.-Ch. Chiu, S.-W. Cheng, H.-W. Chen, National Taiwan Univer-sity, Taipei, Taiwan

10:20 A Hexapod Robot Based on Shape Memory Alloy ActuatorsS.-H. Liu, J.-Y. Yen, National Taiwan University, Taipei, Taiwan

G3: Industrial Applications

11:20 High-Rise Buildings under Earthquake Excitation: Stabilization Using SMCG. Dimirovski, Dogus University, Instanbul, Turkey, J. Zhao, Noth-western University, Shenyang, P. R. of China, M. Vukobratovic, Mihailo Pupin Institute, Karaburma, F. R. Serbia and Montenegro

11:40 Tool Based Automated ECU Controller OptimizationD. Boja, M. Becker, T. Flaeming-Vetter, S. Kraemer, IMH GmbH, Fellbach, Germany

12:00 Antarctica Rover Design and Optimization for Limited Power ConsumptionD. Lachat, A. Krebs, T. Thueer, R. Siegwart, Swiss Federal Institute of Technology (EPFL), Lausanne, Switzerland

12:20 Speed Regulation with Measurement Feedback of Heavy Haul TrainsX. Zhuan, X. Xia, University of Pretoria, South Africa

12:40 Dead Zone Optimisation in a Height Control System of a Field SprayerJ. Anthonis, H. Ramon, Catholic University Leuven; Belgium

14:00 Plenary IIIChair: R. Isermann, GermanyAutomotive Application of Mechatronic Systems – State of the Art and Future Prospects H. Leffler, BMW, Germany

14:45 Closing / Resume / Awards

15:30 Fare Well

F4: Mechatronics in Production

Real-Time Cutter Path Compensation for High Speed PlaningM. Jackson, P. Hynek, Loughborough University, R. Parkin, iensys Ltd., Holywell Park, Great Britain

Predictive Weft Insertion Control for Air Jet LoomsW. Siegl, Zurich University of Applied Sciences, Winterthur, K. Berktold, Sultex AG, Rüti, Switzerland

Design of a Novel Single Camera Vision System for Both Compo-nent and Board Alignment in Pick and Place MachinesP. Verstegen, J. Spronck, TU Delft, S. van Gastel, Assembleon, Veld-hoven, Netherlands Mechatronic in Container Glass FormingB. Corves, RWTH Aachen, Germany

G4: Instrumentation for Scanning Probe Microscopy (Invited Session)

Sensing in the Nano-Environment Based on High Order Harmo-nic Modes of Flexible ArmJ. Zhang, N. Xi, G. Li, Michigan State University, East Lansing, USA

Hysteresis and Vibration Compensation in Piezoelectric Actua-tors by Integrating Charge Control and Inverse FeedforwardG. Clayton, S. Tien, S. Devasia, University of Washington, USA, A. J. Fleming, S.O.R. Moheimani, University of Newcastle, Callaghan, AustraliaDesign and Characterisation of a Novel Scanner for High-Speed Atomic Force MicroscopyG. Schitter, G. E. Fantner, Ph. J. Thurner, J. Adams, P. K. Hansma, University of California, Santa Barbara, USAOn Single-Molecule DNA Sequencing with Functionalized Car-bon Nanotube ProbesD. Burns, K. Youcef-Toumi, Massachusetts Institute of Technology, Cambridge, USA

PosterP-1 An Approach for Reliability Estimation and Control of

Mechatronic SystemsI. Pabst, RMCtech GmbH, Germany

P-2 A Behaviour-Based Navigation System for an Auto-nomous Indoor BlimM. Kemper, M. Mahn, University Oldenburg, Germany

P-3 Neuro-Fuzzy Adaptive Control and Modelling of Auto-nomous Underwater VehiclesY. Tsepkovskiy, F. Palis, Otto von Guericke University Magdeburg, Germany, V. Filaretov, D. Ukhimets, Institute for automation and control process, Vladivostok, Russian Federation

P-4 Predictive Control Applied to Building Automation: An Experimental SetupJ. Figueiredo, Evora University, J. Sa Costa, Lisbon, Portugal

P-5 An Autonomous Control System for a Prosthetic Foot AnkleW. Svensson, U. Holmberg, Halmstad University, Sweden

P-6 Intelligence of Forging and Press ComplexesB. Gotlib, Urals State University of Railway, Yekaterinburg, A. S. Shibanov, Verkhnaya Salda Metallurgical Production Association, Russian Federation

P-7 A Rule Based Data Fusion Scheme for Wheeled Mobile Robot LocalizationH. Blume, F. Abelbeck, B. Heimann, Mechatronic-Center University Hannover, Germany

P-8 A Model Based Predictive Control Algorithm Applied to Nonlinear Processed R. Balan, V. Mäties, S. Stan, Technical University of Cluj-Napoca, Romania

P-9 Active Force-Feedback Applications using Harmonic Drive GearsA. Kayser, I. Schäfer, Harmonic Drive AG, Limburg, Germany

P-10 Automatic Generation of Robot Paths from CAD-Data Based on Lienar and Circular ApproximationU. Berger, R. Kretzschmann, J. Noack, Technical University of Brandenburg, Cottbus, Germany

P-11 The Influence of Gear Ratio on Performance of Electro-mechanical Servo SystemsF. Roos, J. Wikander, KTH, The Royal Institute of Tech-nology, Sweden

P-12 The Benefit of Skyhook Control in High Speed Railway VehiclesN. Hohenbichler, D. Abel, RWTH Aachen, Germany, K. Six, Siemens Transportation Systems GmbH & Co. KG, Graz, Austria

P-13 Smooth Reference Trajectory Generation for Industrial Mechatronic Systems under Torque SaturationY. Su, Xidian University, China P.C. Müller, University of Wuppertal, Germany

P-14 A Monitor-Based AR System as a Support Tool in Indus-trial MaintenanceNikolic, P. E. Elzer, Ch. Vetter, Technical University Clausthal, Germany

P-15 Design and Development of Multi-DOF Ball-Type Micro-motorK.-Y. Huang, C. N. Wu, E. Hu, National Taiwan University, Taiwan

P-17 A New Image-Based Using Visual Servoing for Planar Robot ManipulatorsJ. Pérez Gallardo, F. Reyes, University of Puebla, Mexico

P-18 Development of an Image-Based Feature Tracking Algo-rithm for Real-Time Clad Height DetectionE. Toyserkani, M. Iravani-Tabrizpour, M. Asselin, University of Waterloo, Canada

P-19 Dynamic Localization of a Mobile Robot with Active Beacon SensorsJ. M. Lee, S. Kim, Pusan Naional University, I. O. Lee, D.I. Cho, Ninety System, Seoul, South Korea

P-20 A Time-Varying Linear State Feedback Tracking Controller for a Boost-Converter Driven DC MotorJ. Reger, University of Armed Forces, Munich, Germany, J. Linares-Flores, H. Sira-Ramírez, CINVESTAV-IPN, Mexico, Mexico

P-21 A Discrete Element Model for Simulation of a Spinning Disc Fertilizer SpreaderP. Van Liedekerke, E. Tijskens, J. Antonis, H. Ramon, KU Leuven, Belgium

P-22 Making of State Space Formulations of Dynamic SystemsH. Knüpfer, R. Neugebauer, A. Ilgen, B. Kranz, Fraunhofer IWU, Chemnitz, Germany

P-23 Compliant Micro-Mechanism Design for Biochip Micro-arrayer Print HeadM. Vitasse, G. Abba, LGIPM, A. Eberhardt, LPMM, Metz, France

P-24 3D Artificaio Landmark Design and Recognition for Mobile RobotsN. Ruangpayoongsak, H. Roth, R. Schwarte, University of Siegen, Germany

P-25 Design and Control of a Mobile Exploration RobotH. Voos, R. Stetter, University of Applied Sciences Ravens-burg-Weingarten, Germany

P-26 Temporary Fixing Systems for Applications in Micro-roboticsC. Clévy, A. Hubert, N. Chaillet, Laboratoire d‘Automatique de Besançon, France

P-27 Influence of Initial State on Open-Loop Rejection of Input Noise in a Piezoceramic Stack ActuatorR. Gorbet, University of Waterloo, Canada

P-28 Real Time Control of a Mobile Robot Using Linearized Model Predictive ControlW. Lages, J. Alves, Federal University of Rio Grande do Sul, Porto Alegre, Brazil

P-29 Performande Evaluation and Dynamic Analysis of MEMS Accelerometers for High Precision Pointing DevicesS. M. Savaresi, M. Tanelli, S. Bittanti, Politecnico di Milano, M. Pioltelli, M. Bianchessi, D. Sirtori, ST Microelectronics, Milano, Italy

P-30 Cooperative Cognitive Automobiles and Diversity in CognitionCh. Stiller, University of Karlsruhe, Germany

P-31 Virtual Prototyping for Vehicle Dynamic ModelingA. Drivet, R. A. Ramérez-Mendoza. L. Flores, ITESM, Mexico, O. Sname, C. Poussot Vassal, L. Dugard, Labora-toire d’Automatique de Grenoble, France

PosterP-32 Wireless Communications Concepts for Mobile Robot

Control Using Multiagents.B. Horak, V. Srovnal, VSB – Technical University of Ostrava, Czech Republic

P-33 Flysos – Flight Embedded Control System for Ultra-Light Air PlaneV. Srovnal, J. Kotzian, VSB – Technical University of Ostrava,Czech Republic

P-34 Development of a Pneumatic Cushion with an Impact SensorY. Eguchi, T. Nakamura, Chuo University, Tokyo, Japan

P-35 Concept of an Active Front-Lighting Driver Assistance SystemT. Hesse, H. Shadeed, S. Strauß, J. Wallaschek, University of Paderborn, M. Götz, Hella KGaA Hueck & Co., Lippstadt Germany

P-36 Development of Leaf Picking Device for Cucumber Greenhouse ProductionT. Ota, S. Hayashi, K. Kubota, K. Ajiki, Saitama, BRAIN, Japan, J. Bontsema, E. J. Van Henten, E. A. Van Os, Plant Research International Ltd., Wageningen, Netherlands,

P-37 Development of the Gait Generation for the Walking Robot AlduroD. Franitza, A. Albadawi, University Duisburg-Essen, Germany

P-38 Methodology for Misfire and Partial Burning Diagnosis in Si EnginesN. Cesario, F. Tagliatatela, M. Lavorgna, ST Microelectro-nics, Arzano, Italy

P-39 Mathematical Modeling of Perfuration Resisting Force in an Osteotomy SurgeryT. Hyppolito, L. G. Trabasso, Institute Technological of Aeronautics, São José dos Campos, S. de Siqueira Rodri-gues, University of Brazilia, T. s. dos Santos, University of Campinas, Brazil

P-40 State of the Art and Development Trends in Wireless Sensor Applications Using Energy HarvestingB. Richter, J. Wallaschek, Heinz Nixdorf Institute, W. Wickord, ATHENA GmbH, Paderborn, Germany

P-41 Efficient Inverse Dynamics of a Parallel Robot with two Movable PlatformsA. Wagner, P. P. Pott, M. L. Schwarz, H.-P. Scharf, A. Köpfle, R. Männer, E. Badreddin, University of Mann-heim, P. Weiser, Mannheim University of Applied Sciences, Germany

P-42 Information Embedding and Extraction through Exposure Modulation for Electrophotographic Text DocumentsP.-J. Chiang, A. K. Mikkilineni, S. Suh, E. J. Delp, J. P. Alle-bach, G. T.-C. Chiu, Purdue University, West Lafayette, USA

P-43 AUV Control Architecture for Control Management of Embedded InstrumentationA. El Jalaoui, D. Andreu, B. Jouvencel, LIRMM, Montpellier, France

P-44 Macroscopic SMA Wire Bundle Actuator/Sensor System: Design, Measurement, Control ApproachR. Kratz, M. Stelzer, O. von Stryk, Technical University of Darmstadt, Germany

P-45 Modeling and Control of Shape Memory ActuatorsD. Hisseine, University Duisburg-Essen, Germany

P-46 Reconfiguration in Plug-and-Play Network of Embedded SystemsF. Uppal, R. Patton, C. Kambhampati, University of Hull, Great Britain

P-47 Experimental Results on Intelligent Fault Detection for Robotic ManipulatorsH. A. Talebi, Amirkabir University of Technology, Iran, R. Patel, University of West Ontario, London, Canada

P-48 Swing-up Control of Pendulum on Vibration StandY. Pan, N. Sao, K. Furuta, Denki University, Tokyo, Japan

P-49 Contribution to the Development of Active Compliant Lightweight Mechanism StructuresN. Modler, W. Hufenbach, K.-H. Modler, O. Täger, O. Renner, Technische Universität Dresden, Germany

International Program Committee (IPC) and Reviewers

Chair: K. Janschek (DE)Co-Chair: M. Tomizuka (US)

D. Abel (DE) L. Del Re (AT) G. Magnani (IT) G. Schitter (US)H.S. Ali (FR) K. Furuta (JP) C. Melchiorri (IT) K. Schlacher (AT) J. van Amerongen (NL) R. Gorbet (CA) M. Meng (CN) H. P. Schoener (DE) J. Anthonis (BE) R. Goodall (UK) R. Moheimani (AU) B. Siciliano (IT) M. H. Ang (SG) J. Grizzle (US) G. Morel (FR) R. W. Stark (DE)H. Asama (JP) A. Halme (FI) J. H. Oh (KR) M. Steinbuch (NL) J. Bals (DE) H. Hashimoto (JP) K. Ohnishi (JP) R. Siegwart (CH) T. Bertram (DE) B. Heimann (DE) R. Patton (UK) R. Sutton (UK) G. Bretthauer (DE) C. Hierold (CH) H. Peng (US) H. Thompson (UK) H. van Brussel (BE) M. Hiller (DE) N. Piat (FR) A. Tiano (IT)M. Buss (DE) J. Hu (TW) R. Reichel (DE) T. C. Tsao (US) C. Canudas de Wit (FR) R. Isermann (DE) G. Roberts (UK) A. Trächtler (DE)N. Chaillet (FR) H. Janocha (DE) S. Rock (US) G. van Straten (NL)I. M. Chen (SG) P. Kopacek (AT) K. Röbenack (DE) N. Xi (US)F.-T. Cheng (TW) C. Knospe (US) K. Roth (DE) H. Yang (CN) G. T. C. Chiu (US) A. Kugi (DE) M. Salapaka (US) B. Yao (US) D. I. Cho (KR) C. W. Lee (KR) R. Sanz (ES) J. Y. Yen (TW) B. Corves (DE) K. M. Lee (US) J. Sasiadek (CN)J. Dayan (IL) W. J. Li (HK) K. Schilling (DE)

Liaison OfficersH. Hashimoto (JP), IEEE K. M. Lee (US), ASME

Representatives from IFAC Technical Committees (TCs)TC 2.1 Control Design: L. Del Re (AT)TC 3.1 Computers for Control: R. Sanz (ES)TC 3.3 Computers and Telematics: H. Roth (DE)TC 4.1 Components and Instruments: D. I. Cho (KR)TC 4.3 Robotics: J. Sasiadek (CA)TC 6.4 Safeprocess: L. Nielsen (SE)TC 7.1 Automotive Control: L. Guzzella (CH)TC 7.2 Marine Systems: A. Tiano (IT)TC 7.3 Aerospace: K. Schilling (DE)TC 7.5 Intelligent Autonomous Vehicles: H. Asama (JP)TC 8.1 Control in Agriculture: G. van Straten (NL)

National Organizing Committee (NOC)Chair: F. Harbach (DE)

M. Ehinger (DE) M. Münchhof (DE)M. Kaufmann (DE) D. Westerkamp (DE)S. Kock (DE)

Organization by VDI/VDE-GMA A. Ringelmann (DE) D. Westerkamp (DE)

Mailing AddressPlease address all correspondence to:MECHATRONICS 2006VDI/VDE-GMA Mrs. A. Ringelmann P.O. Box 10 11 39 Graf-Recke-Str. 84D-40002 Duesseldorf D-40239 Duesseldorf, GermanyPhone: +49 (0) 211 62 14-2 28 Fax: +49 (0) 211 62 14-1 61Email: ringelmann@vdi.de

Social EventsRegistration: Monday, September 11th, 16:00 – 19:00

Tour 1: Tuesday, September 12th, 18:00 – 19:00 A guided walk though the beautiful old-town. Fee: included in the registration fee

Tour 2: Wednesday, September 13th, 18:30 – 22:30The Symposium dinner will be held during a boat trip on the river Neckar. Fee: EUR 80,00

Fare Well: Thursday, September 14th, 15:30 – 16:00

HeidelbergThe name stands for the world-famous Castle and a picturesque Old Town in breathtakingly beautiful surroundings.It stands both for Germany‘s oldest university and modern research facilities, for historic streets and a lively university atmosphere, for total relaxation and beautiful walks, plus stimulating international conferences and festivals. It also stands for the longest and one of the most attractive pedestrian zones in Europe.Please find further information www.cvb-heidelberg.de/

Travel InformationHeidelberg is located in central Germany and is easily accessible by rail, car or by aerplane.

By Plane: Being only an one hour’s drive away (80 km), Frank-furt Rhein-Main Airport (Flughafen) is within easy reach of Heidelberg. Airport Transfer is available: By means of the Airport Shuttle Service TLS, the Lufthansa Airport Bus Service or by train (Deutsche Bahn).

By Car: Drive along the Autobahn A5/A656 (Darmstadt-Karls-ruhe/Basel Highway) and take the exit “Autobahnkreuz Heidel-berg” or “HD-Schwetzingen”. Follow the signs to Heidelberg. Coming from the motorway: Leave the motorway towards main station, pass main station heading towards Heidelberg castle, then follow Kurfürstenanlage to Adenauerplatz. Having passed Adenauerplatz, go straight on into Gaisbergtunnel. Cars can be parked in the centre‘s parking decks. Coming form the directions of Neckargemünd: At Karlstor turn left into the Schloßbergtunnel and follow the direction Zentrum/Schloß. Cars can be parked in the centre´s parking decks.

By Train: Comfortable, fast, safe and environmentally friendly, Heidelberg is linked with high speed intercity trains, which bring you right into the city centre. Bus or Taxi connections ensure that you will reach the University from the main railway station.

Public transport at the main railwaystation: Bus lines 41 and 42 to Uniplatz or bus lines 11 (Karlstor) and 33 (Ziegelhausen). Further information regarding fares and timetables of local Heidelberg transport services, are available from the Ticket/ Information Office (HSB), situated on Bismarckplatz, from the bus drivers themselves, or www.hvv-heidelberg.de

Hotel Booking The tourist office “Heidelberger Kongress und Tourismus GmbH”, Ziegelhäuser Landstraße 3, 69120 Heidelberg, Tel.: +49 62 21 14 22 26, Fax: +49 62 21 14 22 22 has reserved a block of rooms for participants at the various hotels and has arranged special rates. The participants are asked to book their hotel rooms directly by visiting http://germany.nethotels.com/info/heidelberg/ifac/

Services VDI – Verein Deutscher Ingenieure e.V., hereinafter referred to as “VDI“, performs services of the type and scope pursuant to the event descriptions in the respective currently valid event program. VDI reserves the right to substitute speakers and/or make changes to the program sequence in exceptional cases.

Registration and Confirmation Registration must be sent in writing. It can be sent online, by E-Mail, fax or mail. Applications for registration will be dealt with in the order in which they are received. Registration will be confirmed.

Registration FeeRegistration fee (incl. VAT), before July 15th EUR 520,00Registration fee (incl. VAT), after July 15th EUR 580,00Tour 1: Guided City Walk, Sept. 12th free of chargeTour 2: Symposium Dinner and Boat Trip on the River Neckar, Sept. 13th EUR 80,00Tour 2: for accompanying person (spouse or companion in life only) EUR 80,00

Registration Desk:Ruprecht-Karls-UniversityNew University, FoyerUniversitätsplatz, 69117 Heidelberg, Germany

Opening Time:September 11th 2006: 16:00 – 19:00September 12th 2006: 08:00 – 17:30September 13th 2006: 08:30 – 17:00September 14th 2006: 08:30 – 15:30

Cancellation by VDI If an event cannot take place due to illness of a speaker, force majeure or other circumstances which VDI is not responsible for, there is no claim to the event being held.If an event is cancelled, VDI is obliged to reimburse the participa-tion fees that have already been paid. Other expenses cannot be claimed.

Photos © Heidelberger Kongress & Tourismus GmbH

Cancellation by ParticipantCancellation must be submitted in writing. It can be sent online, by E-Mail, fax or mail. If cancellation is made by the participant up to 14 days before the start of the event, an administration fee of 50 EUR will be charged. In case of cancellation later than 14 days before the start of the event, the full participation fee is payable as set forth in the invoice. The incoming mail stamp is decisive for the date of receipt. In this case, VDI will provide the event documents on request.It is possible to send a substitute participant. No cancellation costs are thereby incurred.

Conditions of PaymentParticipants from Germany: Payment by credit card or bank transfer after receipt of the invoice via regular mail. The invoice and the voucher will be sent to the participant via regular mail.Participants from countries other than Germany: Payment is possible by credit card only (Master Card, Euro Card, Visa or American Express). The invoice will be sent to the participant via regular mail.VAT: The VAT has to be paid by every participant because the place of contract fulfillment is Germany.Authors: At least one full registration fee must be paid for every accepted paper before June 19th, 2006. Otherwise the paper will not be considered in the final event program and will not be published in the event documentation.

Further informationDetailed and updated information is available under http://www.mechatronics2006.com. Please visit this webpage also for registration.

www.mechatronics2006.com

General Information

IFAC 50th Anniversary Celebration:

International Conference on Present and Future of Automatic Control

Heidelberg, Germany, Townhall

September 15th 2006

Scope:To celebrate the IFAC 50th anniversary a special event is planned for September 15, 2006 in Heidelberg, where IFAC was concei-ved during the „Internationale Fachtagung Regelungstechnik“ in 1956. The event includes presentations on the past, with particular emphasis on the present and the future of automatic control in general, both from the theoretical and the application‘s side as well as focusing on emerging areas. A panel discussion is planned to complement the lecture series, followed by a banquet. A special task force prepares several projects to document IFAC‘s history.

Preliminary Program

09:30 Opening addresses R. Isermann, IPC-Chair, Germany, W. H. Kwon, IFAC-President, Korea, D. Abel, Vice-President GMA, Germany,

R. von der Malsburg, Deputy Mayor of Heidelberg, Germany

10:00 IFAC and Its People S. Kahne, Embry-Riddle University, Prescott, USA, IFAC President 1993-1996

10:45 Break

11:15 Present Developments in Control Theory B. D. O. Anderson, The Australian National University, Australia

12:00 Present Developments in Control Applications K. J. Åström, Lund Institute of Technology, Sweden

12:45 Lunch

14:15 Industrial Automation: Situation and Trends P. Terwiesch, ABB Asea Brown Boveri Ltd., Switzerland

15:00 Emerging areas in automatic control and its role for engineering Panel discussion (6 speakers),

Chair: S. L. Jämsä-Jounela, Helsinki University of Technology, Finland

16:30 End of Anniversary Meeting

18:45 Reception at Heidelberg Castle

19:30 Banquet at Heidelberg Castle

Registration FeeRegistration fee incl. evening reception and banquet EUR 100,00

Accompanying person (spouse or companion in life only) EUR 70,00

As the capacities of the townhall and the castle are limited, registrations will be considered in the order of receipt. The registration is necessary by Sept. 5th 2006.

Further informationDetailed and updated information is available under http://www.vdi.de/ifac50. Please visit this webpage also for registration.

REGISTRATION FORMMECHATRONICS 2006, Heidelberg, 12th – 14th September, 2006

and/or50 Years of IFAC, 15th September, 2006

Please complete this form and send it via fax to the conference secretariat

Fax: +49 (0) 211 62 14-1 61

MEC

HATRONICS 2

006

MECHATRONICS 2006, 12th-14th September, 2006 Ref.: 338601 ✍Registration fee (incl. VAT), before July 15th 11 520,00 EUR

Registration fee (incl. VAT), after July 15th 01 580,00 EUR

Tours

Tour 1: Guided city Walk, Sept. 12th N3 Free of charge

Tour 2: Symposium dinner and boat trip, Sept. 13th (incl. VAT) N4 80,00 EUR

Tour 2: for accompanying person (spouse or companion in life only (incl. VAT)

Surname: First Name: N2 80,00 EUR

IFAC

50

50 Years of IFAC, 15th September, 2006 Ref.: 338602 ✍Registration fee incl. evening reception and banquet 01 100,00 EUR

Registration fee for accompanying person (spouse or companion in life only)

Surname: First Name: N5 70,00 EUR

SUM/Total amount of payment EUR

Payment by Credit Card is obligatory!

Eurocard/Mastercard VISA American Express

Card number: Expiry date (MM/YY): / Amount: EUR

If address is different from the address above, please fill in here:

With my signature I agree to the Standard Terms and Conditions of Business stated in the General Information

Date: Signature:

Acad. Title:First Name:

Surname:

Comp./Institute:

Department:

Country:

Post Code, City:

P.O. Box / Street:

Email:

I will present paper ID

Fax:Phone:

Date of Birth: DD/MM/YYYY/ /